Final project presentation of ECE 561 project, CSU

1. Wireless Video Detection Vehicle In A
Robot Platform With Multiple Functions
Jiabao Jin
ECE student
Colorado State University
Instructor: Sudeep Pasricha

2. FINAL PROJECT REPORT
Introduction
This project proposed a
mobile platform with video
detection for a robot. This
vehicle can transfer videos to a
computer or a mobile device
and also be controlled by
wireless. The vehicle can avoid
obstacles through its motion
planning programs. The
writer utilizes Arduino Mega
2560 as its microcontroller.

3. FINAL PROJECT REPORT
Hardware Design
Microcontroller - Arduino Mega 2560
It needs 6.5 V ~ 12 V power and at the same
time it can produces 3.3 V and 5 V power
supplying for other devices or sensors that
are connected to it. There are 54 digital I/Os,
fourteen of which can be used as PWM
output and it is able to hold many devices.
Therefore, it is exceedingly adaptive to build
up a experiment platform. Otherwise, it has
six interruptions that are I/O 2(interruption
0), 3(interruption 1), 18(interruption 2),
19(interruption 3), 20(interruption 4),
21(interruption 5) respectively.

4. FINAL PROJECT REPORT
Hardware Design
Wireless Camera

5. FINAL PROJECT REPORT
Hardware Design
Ultrasonic Distance-Detection Sensors
I/O: VCC Trig Echo GND
distance=(sound velocity * time high level lasting)/2.

6. FINAL PROJECT REPORT
Hardware Design
L298N Control Actuators
Sensor Shield for Arduino

7. FINAL PROJECT REPORT
Hardware Design
Overall

8. FINAL PROJECT REPORT
Software Design
Firstly, if there is a human operation, the
microcontroller will choose to execute it
preferentially. Afterwards, it will judge if there
are obstacles or cliff based on the returning
values from the two ultrasonic distance detection
sensors. If yes, it will execute to turn left or turn
right or stop according to the parameter
condition. If no, it forwards. In the situations
without human`s control, it will turn right
preferentially and then forward. There is no
switch on the vehicle.

9. FINAL PROJECT REPORT
Software Design
Turning Directions
volatile int condition = 0;
void setup()
{
pinMode(31, OUTPUT);
pinMode(32, OUTPUT);
pinMode(33, OUTPUT);
pinMode(34, OUTPUT);
pinMode(48, INPUT);
pinMode(49, INPUT);
}
void turn _left()
{
digitalWrite(33,HIGH);
digitalWrite(34,HIGH);
digitalWrite(31,LOW);
digitalWrite(32,LOW);
analogWrite(5,240);
analogWrite(6,240);
}
Speed Differential Method
void turn_ right()
{
digitalWrite(33,LOW);
digitalWrite(34,LOW);
digitalWrite(31,HIGH);
digitalWrite(32,HIGH);
analogWrite(5,240);
analogWrite(6,240);
}
void stop()
{
digitalWrite(31,LOW);
digitalWrite(32,LOW);
digitalWrite(33,LOW);
digitalWrite(34,LOW);
analogWrite(5,0);
analogWrite(6,0);
}
void forward()
{
digitalWrite(33,HIGH);
digitalWrite(34,HIGH);
digitalWrite(31,HIGH);
digitalWrite(32,HIGH);
analogWrite(5,250);
analogWrite(6,250);
}
void loop()
{
if(digitalRead(2) == LOW || digitalRead(3) == LOW)
{
if(condition == 1)
{
turn _left();
}
else if(condition == 2)
{
turn_ right();
}
else
{
stop();
}}
else
{
condition = 0;
if(digitalRead(49) == 0)
{
forward();
}
else
{
stop();
}}}

10. FINAL PROJECT REPORT
Software Design
Ultrasonic Distance Detection
tan (90-a) =d/OA
-0.1<=tan(90-a)-distance2/OA<=0.1
digitalWrite(41, LOW);
digitalWrite(43, LOW);
delayMicroseconds(2);
digitalWrite(41, HIGH);
digitalWrite(43, HIGH);
delayMicroseconds(10);
digitalWrite(40, LOW);
digitalWrite(42, LOW);
float distance1 = pulseIn(41, HIGH);
float distance2 = pulseIn(43, HIGH);
//record time
distance1= distance1*170;
distance2= distance2*170;
//convert time to distances
Serial.print(" distance1:");
Serial.print(" distance2:"); // output distances
Serial.println(distance1);
Serial.println(distance2); //show distances

11. FINAL PROJECT REPORT
Testing Results
The speed will not cause things on the vehicle fall down. To slow down
the vehicle, it becomes a two-actuator one by setting both
digitalWrite(32,LOW) and digitalWrite(34,LOW) permanently.

12. FINAL PROJECT REPORT
Future Work
Transplant the whole work to a flying platform.
Transfer both audio and video concurrently and wirelessly.
Conclusion
In this final report, the I claim a wireless video-detection vehicle
based on a mobile robot platform with different functions extended. The
vehicle can transfer images to other mobile devices by wireless and also can
be controlled remotely. Afterwards, I proposed the hardware design and
software design of this vehicle and the platform. Finally, I talk about future
work and some places that can be improved.

13. FINAL PROJECT REPORT
References
[1] Arduino, official website,
http://www.arduino.cc/
[2] Kaicong Camera Forum, official website,
http://www.kaicong.cc/forum.php
[3] Robotic Fan, official website,
http://www.roboticfan.com/
[4] SuperDroid Robots, official website,
http://www.superdroidrobots.com/
[5] Chinese Arduino Community, official website,
http://www.arduino123.com/
[6] McComb. G, Predko. M. Design and Implementation of
Robot. Kexue Press. 2011.
[7] Begnning Arduino Programming. Arduino official tutorial.