Experiment-IR sensor object detection
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1:Experiment: to test the distance of IR-emitting and the overlap between two IR-receivers
1.1 Test environment:
Refer to attachments. The conical mirror is made by tinfoil paper and use transparent plastic tube as its holder.( to make the mirror maybe a bit of complex, so we can use 8 emitters with 50 degree instead of one emitter. The cost perhaps is 0.2*8=1.6 Yuan)
1.2 Result:
1): on the condition of conical mirror on top of one emitter,there can be 360 degree infrared. Maybe we should use a transistor to drive the emitter.
2): can control the intensity/distance of emitting infrared by adjusting the duty of 38K wave. (1/3 duty has the strongest intensity. Because of using LED as the indicator of receiver,the small duty of emitting pulse can't impact on the reviver.) And the distance can be controlled from 2cm to more than 15cm.
3): two IR-receiver(viewing angle is 90degree) fixed with 80-90 degree from each other can form gap and overlap viewing area.
4): for relative location, there is a problem that the reflecting infrared from other objects will disturb locating. In order to reduce the impact, we should control the unidirectional distance of emitting infrared to 10-15cm(2-3 times as length as the robot ).
2: Tasks
(I think we should consider the division of tasks to accelerate the project.)
2.1 Hardware tasks
1)to design sensor part (one emitter with conical mirror and four receivers; another: use eight emitters as one 360 degree emitter)
2)to Make 3-5 proto-robots basing on the arduino-uno.
2.2 software tasks
Functions Tasks Moving
move forward,backward rotate clockwise,anticlockwise small swing and return to the original state. (in order to locate) move with different speed (low speed)
Near Detecting
To get the unique ID for robot To get the chance to send near-detecting message. to send and receive the infrared that includes the self ID. To control the radiant intensity of emitter. Less than 5cm to record who or what is nearby
Relative Locating
To get the chance to send locating messages. to send the broadcast message of 'I am ID'. to send the p2p message of relative location from the neighbouring robot to myself. to record the relative direction
Message Transferring
to make the protocol for communication To get the chance to send messages.
general
to make the software architecture. users can define new rules in the condition-action table.
