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Advanced Drink Delivery Robot Design: RoBeDeS Overview and Operational Behaviors

This summary outlines the design and operational behavior of RoBeDeS, an innovative drink delivery robot developed by David Ladolcetta in Summer 2007. The platform is structured in three layers, featuring essential components like motors, sensors (SONAR, PIR, CdS), and an LCD display. The robot is programmed for various behaviors, such as person tracking, obstacle avoidance, and drink removal detection. With its integrated sensors and servos, RoBeDeS effectively navigates its environment to deliver drinks while ensuring safety and efficiency.

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Advanced Drink Delivery Robot Design: RoBeDeS Overview and Operational Behaviors

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  1. IMDL Summer 2007: RoBeDeS by David Ladolcetta

  2. Summary • Platform • Sensors • Behaviors

  3. Platform Design • 3 layers

  4. Bottom Layer • Motors and wheels mounted below • Bumper attached to front • Servo add-on Board • MAVRIC board • 3 Battery Packs • SONAR • JTAG

  5. Middle Layer • Drink platform • CdS Cells under drink • Status LED array

  6. Top Layer • Drink stabilizer • Pyro Sensor • LCD screen

  7. Sensors • Bump • Sonar • CdS • PIR

  8. Bump • Backup Obstacle Avoidance • 3 on front • Bumper connecting all three • Coat hanger inside Rubber weather stripping • 1 on back for reverse Obstacle avoidance

  9. Sonar • Main Obstacle avoidance • Mounted to minimize middle blind spot and maximize angle of viewing

  10. CdS Drink detector • Senses amount of light • 3 mounted under middle layer under drinks • AD reads ~250 when covered, <100 when uncovered

  11. Pyro Infra Red (PIR) • Hacked Wal-Mart Motion detecting night light • Senses moving heat • Mounted on a sweeping servo to get relative motion from static people • Cardboard “Cone” to narrow field of vision

  12. Behaviors • Person seeking • Obstacle avoidance • Person Tracking • Drink removal waiting • Tray empty

  13. Person seeking behavior • The robot moves forward while panning the servo back and forth 120 degrees • Continuously checks PIR on AD port 0 for any value above 170 and below 100 on a 0-255 scale. If triggered, enters person tracking mode. • Simultaneously checks for Sonar or bump sensors – if triggered, enters obstacle avoidance mode

  14. Obstacle Avoidance Behavior • When sonar or bump sensors trigger • Stops motors • Moves backward for 1 second • Turns randomly left or right 90 degrees • Moves forward and returns to Person seeking mode

  15. Person Tracking Behavior • When pyro triggers meaning a person (or other heat source) is found • Reads direction servo is facing and turns platform toward that direction • Moves forward and continues sweeping servo • If person is within +/- 15 degrees of center keep moving until sonar detects something within 3 in. • If person is outside of threshold, robot will adjust platform direction accordingly

  16. Person Tracking (cont’d) • If person is not found after 3 full sweeps then robot spins ~400 degrees to re-find person, then adjusts accordingly when found • If person is fully lost, returns to Person seeking • Once sonar detects person within 3in, stops movement and enters waiting mode

  17. Waiting Behavior • Continuously checks CdS cells on AD port 1-3 to detect any removal of a drink • Once drink is removed or if no drink is removed after 8 seconds, RoBeDeS turns 180 degrees and returns to person seeking mode • If drink is removed and no more drinks remain, enters tray empty mode

  18. Tray Empty Behavior • Turns 180 degrees • Finds nearest wall • Shuts AD off and blinks signifying it needs to be refilled and reset

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