my vacuum robot我的吸尘机器人

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1、26TuckerDUSTYTheIntellivacAaronTuckerIntelligentMachineDesignLaboratorySpring200526TuckerTableofContentsAbstract3ExecutiveSummary4ReportonDustyIntroduction5IntegratedSystem6MobilePlatform8Actuation10Sensors12Behaviors20Conclusion2226Tucker3.AbstractDesignedasanaidforin

2、dividualswhoareunableorunwillingtovacuumtheirhomes,Dustyisafullyautomaticvacuumingsystem.Abletoavoidbumpingintodelicatefurniturewhilegettingcloseenoughtocleanaroundit,Dustyleavesnospotuntouched.Equippedwithanarrayofhigh-techsensors,Dustycansensefurniture,walls,andevenp

3、eoplewalkingnearby.EvendustbunniesalongfloorboardsarenomatchforDusty.Hisneckpansleftandrighttosuckupallthenastiesonyourfloor.Operationissimple.Justturnhimonandwatchhimgo!Dustybeginsbyroamingfreelyaroundtheroom,gettingasenseofhissurroundingsandtheamountofdirtintheroom.W

4、henhefindsaparticularlydirtyareahestopsandentersspotcleaningmode,meticulouslyvacuuminginthatdirtyarea.Oncesatisfiedwiththatarea’scleanliness,hemovesoninsearchofmoredirt.Featuringrechargeablebatteriesandaneasy-to-emptydustchamber(nobagstoreplace!)Dustyistheperfectreplac

5、ementtoatraditionalvacuumcleaner.26Tucker4.ExecutiveSummaryDesignedasanaidforindividualswhoareunableorunwillingtovacuumtheirhomes,Dustyisafullyautomaticvacuumingsystem.Emergingproducts,suchastheRoombadevelopedbyiRobot,haveonlybeguntoexplorethecapabilitiesofautomatedvac

6、uuming,andcostseveralhundreddollars.Thegoalofthisprojectwastomakeacapablevacuumrobotfromanexistingsmallvacuumcleaner.DustyisconnectedtoaDirtDevilSweeperVacsoldforunder$40atgrocerystores.Dusty’selectronicarchitectureiscenteredonthecapableAtmelAtmega128microcontroller.Du

7、sty’smainactuationisaccomplishedthroughapairof200RPM,12VmotorsavailablefromJamecoElectronics,andageneralpurposeservothatrotatesthevacuumsnozzle.DustyhasbeengiventwoSharpGP2D120InfraredSensorsandtwoDevantechSRF04UltrasonicRangeFinderunitsforobstacleavoidance.Dustyhasasp

8、ecialsensorthatallowsittomeasurethedensityofsmallparticulatesusingphotoreflection.TheSharpGP2Y1010AUismountednearthef