T . ( B9-0028 )
& Controllers for motorized tread sections
5v voltage regulator for running the control boards. It came
as a kit. Very easy to put together and works great.
of the four batteries I'll be using. I'l have a 24v system
for motors, and two 12v systems for audio and everything else.
a another shot of under the knee plate. You only notice the
antennas if you get down low...or if you're a very, very, short
Here you can see inside the knees. There's a sensor board
for each of the four antennas. An antenna is mounted on the
front and back of each knee plate.
using the Thereminvision sensor system of object avoidance.
The technology is old and based on the Theremin sound machine used
in old scifi films like Forbidden Planet. It uses capacitance
to detect objects. Each of the four antenna senses an object
base on density and compares what it finds to the other three.
The program will use this info and tell the bot which way to go.
This pic shows my knees ready to test the sensors. I'm using
12v motors for the testing.
you can see the antennas. Any rod will work as long as it's
securely fixed in place. I used brass. Positioning them
horizontally works will for two reasons. One, it fits the
B9's design better, and two, it will work well to keep our pal from
doing a header down stairs. I'm not sure how well it will
work for avoiding overhanging objects above the waist.
using the Roboteq motor controller for treadsection. There
are cheaper ways to go but this has some nice safety and diagnostic
features that may be handy. It will be interesting to see
how this will work with the OOpic.
this has nothing to do with the drive system. This is one
of the fans I'm using for cooling and keeping air moving. My
bot will glow blue and show through the back vent. I've got
very opac acetate covering the inside of the back vent. It
looks black if the bot is powered down. You can also see the
OOpics that run the arms, bubble, and radar. On the left is
a 12v and 5v power board and a small board I made that limits the
switches on the arm assemblies.
view of the WCM. The OOpic-R has a serial port which is needed
for the Roboteq. I don't have a pic here of the wireless handheld
will in future posts. It's about the size of a deck of cards
and has three modes. I'll use one mode for the autonomous
program, one for the R/C program, and one for a future program.
my antenna for the WCM/WHC. It will be mounted between the
legs. You'll hardly notice it but it will give me greater
range and a clear signal. (I hope)
close up of one of the four sensor boards. Notice the trim
pot for tuning the antenna signal.
This is only partially complete. I'm using the OOpic-R with
Totalrobots wireless communication module. (the
black box on top) This
way I can have an autonomous robot, and an R/C like over-ride.
It's not like I can pick up my buddy and move him if he gets tangled
in a chair so I wanted to control his movement if need be. The
board on the right is the Thereminvision board. The acrylic
base will also have the voltage regulator and a third small board
for the PAKVII chip needed to translate signal from Theremin to
OOpic. The WCM came with a small whip antenna which I swapped
out for a coax.