No.1 吕腾浩 No.2 朱宇豪 No.3 蒋昊铮 No.4 柴巧会BIOSYSTEMS ENGINERRING, ZHEJIANG UNIVERSITY,Potted Plants Display Robot,CONTENTS PAGE,Unit1 Localization System,Unit2 Mechanism,Unit3 Machine Vision,Unit4 circuit and self-tracking system, * ,TRANSITION PAGE,Unit1 Localization System,Unit2 Mechanism,Unit3 Machine Vision,Unit4 circuit and self-tracking system,What are potted plants？,infrared sensors + capacitive proximity sensor,Localization system - How to how to sense the position of potted plants initially and get close to them,infrared sensors short response time and small emssion angle ( less than 5）capacitive proximity sensor very precise and sensitive to non-mental target ( pots are usually made of plastic or ceramic),In my design , there are two pairs of infrared sensors and one capacitive proximity sensor that should be installed in the robot . I plan to put infrared sensors in the middle and left front of the robot , and put capacitive proximity sensor in the middle front of the robot .,The installment of sensors,With the robot moving sideways , firstly two pairs of infrared sensors emit infrared signals and detect whether potted plants exist in the right front of sensors. When the sensors receive the infrared reflected by the pots , robots will stop and move forward for the pots . Then when robot gets close enough to the pots , capacitive proximity sensor will control the robot to stop and execute next steps like grabbing .,Only one object in front of robot In this case , its easy for us to detect , approach and grab the potted plants A because there is no other obstacles disturbing robots work . The infrared sensor A doesnt receive reflected signals and the infrared sensor B receives signals reflected by pot A . Obviously robot can directly move straight for the pot A and grab it in this situation .,Pot A in front of robot but Pot B as an obstacle In this case , its easy for us to detect potted plants A but not easy to approach and grab it because pot B as an obstacle disturbing robots work. The infrared sensor B receives signals reflected by pot A. However , the infrared sensor A receives signals reflected by obstacle B , which can help control the robots and avoid moving forward .,Pot A in front of robot and Pot B behind Pot A In this case , sensor A receives the signals reflected by pot B and it mistakes pot B for an obstacle . Infrared sensors have the function of distance measurement because the intensity of reflected signals shows a positive correlation with distance . If sensor B receives stronger signals , we can guess pot A is closer than B , robot can move straight for A and grab it . Otherwise pot B is closer than A and robot can not move straight .,If sensor B doesnt receive signals , robot should keep moving sideways . If sensor B receives signals and sensor A doesnt receive signals or its received signals are weaker than sensor B , robot can move straight for the potted plant and grab it . If sensor B receives signals and sensor A receives stronger signals than sensor B , robot should keep moving sideways .,The module of infrared emission consists of a simple amplifier and transistors circuit .,The circuit of infrared emission,When the receiver senses the reflected signals , it will set up current whose intensity has positive correlation with the intensity of signals . After the amplifier circuit , analog-voltage will be produced and convert an input in the single-chip.,The circuit of infrared reception,The communication circuit depends on serial data communication . The single-chip receives and process the data and then convey the control data to executive module .,The communication circuit of infrared sensor,The control circuit of capacitive proximity sensor consists of the radio frequency oscillating circuit and detective plate .,The control circuit of capacitive proximity sensor, * ,Unit1 Localization System,Unit2 Mechanism,Unit3 Machine Vision,TRANSITION PAGE,Unit4 circuit and self-tracking system,In order to enhance the market competitiveness of enterprises, Netherlands develops their automated production equipment systems dramatically.,In the section of potted plant transport, there are three main ways to transport.,2.1 Introduction,When it turns to the potted plants which are required to be displayed in the school or in the square, these devices can not be used. What s more, this work can be tiring and boring. As a result, it is necessary and important to invent an new robot .,2.1 Introduction,2.2 Work Objects,Work Objects,pot in ruins,potted plant,two functions,transplant the potted plants and display them in the designed order,shovel the pot in ruins as well as the plant and the soil.,2.3 Design plan,The key components of the robot are end-effector, manipulator, actuator,sensor, traveling devices, control device and elevator-platform.,