BABY DUCK Chenlu SunMAE

IDEA

A baby duck looking for her mom

Functions: Basic motion Obstacle avoidance Distance keeping Color tracking

LAYOUT

STRUCTURE

Micro Controller Unit ( MCU )

Sensors

Human feedback

Communication

Motors

MICRO CONTROLLER UNIT (MCU) Atmel Xmega 128A1

SENSORS

Webcam

Sonar

Photoresistor

SENSORS - WEBCAM

iPhone:iOS 6 App

Laptop: OpenCV 2.4.4 + Visual Studio 2012

IP address

Video capture

SENSORS - WEBCAM

SENSORS - WEBCAM

SENSORS - SONARTC Sonar rigger signal

IO port input interrupt M(L/R) { Read TC M(L/R)_Distance = average of 20 history data M(L/R)_Distance > 800 Obstacle detected}

If (M_Detected) { Slow down or back If L_Distance > R_Distance + ∆ , turn left If R_Distance > L_Distance + ∆ , turn right}

If (L_Detected), turn right

If (R_Detected), turn left

M

L

R

SENSORS - PHOTORESISTOR

Dark

Beep

Stop

ADC problem

HUMAN FEEDBACK

LED Show status of three sonar sensors If M ( L / R ) _Detected, turn M ( L / R ) _LED on

COMMUNICATION

Blue Tooth

Built-in Blue Tooth

Blue Tooth Slave Module

MOTORS

Two motors Rear-wheels driving

speed control Front-wheel turning

Work with gears position control

Motor driver IC Dual drivers PWM input – easy control

× 2

+

THIS IS NOT THE END

OpenCV

Atmel

Spark Fun

T-Tech

webcam

START Lowe’

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