CheBot III 2011/01/15
Last summer, I did it.
I ordered parts from all over the world and put them together. It’s just a hobby project, and there is no plan for it. It just evolved. Although I have very little time at the moment, I am willing to extend hardware and software in the future.
Why is it called “CheBot III”? Well, it’s not really my third robot, but I just thought the name sounds cool. CheBot I would be a small remotely controlled vehicle I built some years ago, and CheBot II is a small prototype using six legs, just for testing the wireless motor control.
CheBot III consists of two parts: The robot, and the remote control.
- Core: Arduino Mega (using an ATmega1280 microcontroller at 16 MHz)
- Base: RP5-CH02 robot chassis with rubber tracks
- Adafruit Motor Shield for driving two DC motors
- Adafruit Wave Shield with SD slot for wave playback and recording and SD card access, plus external amplifier
- APC220 wireless module for communication with remote control
- Wireless camera with microphone, tiltable using a servo motor, plus 6 infrared LEDs for night vision
- Light sensor
- Extra microphone for recording
- Gripper, driven by a servo motor
- URM37 ultrasonic range finder, rotateable using a servo motor
- Infrared range sensor for detection of lower obstacles
- Monochrome graphic LCD display with 128×64 pixels
- 5 white LEDs with adjustable brightness, plus a red, green and blue LED
- 9,6 V battery with 3800 mAh
Remote control [Top]
- Core: Arduino Duemilanove (using an ATmega328 microcontroller at 16 MHz)
- Base: Old box from a KOSMOS kit
- Monochrome character LCD display with 40×4 characters
- LCD Smartie serial LCD controller board from SureElectronics – a bit hacked since it was originally designed for USB connection
- Cheap no-name display with two composite video inputs, one connected to the microcontroller (using TVout library), one connected to the receiver for the camera
- APC220 wireless module for communication with robot
- DFRobot Input Shield with analog joystick and two buttons
- 4×4 keypad
- 9,6 V battery with 3800 mAh
The robot has several programs, which can be chosen using the remote control:
- Full remote control
- Moving the robot
- Opening/closing the gripper
- Adjusting the lights
- Rotating ultrasonic sensor
- Tilting the camera
- Playing a sound from the SD card
- Displaying a bitmap from the SD card
- Playing a recorded sound track
- Audio recorder – for recording tracks and later playing them in full remote control mode
- Route recorder – for recording a move route or replaying it
- Simple avoider – moves forward and then moves diagonally backward when the infrared sensor detects an obstacle
- Ultrasonic avoider – a bit more intelligent; uses the rotatable ultrasonic sensor to detect and avoid objects earlier
More programs will follow.
In all programs, the camera’s image can be viewed using the composite display on the remote control.
Some time ago, I added a “watch control mode”, in which the robot can be controlled using the accelerometer of the EZ430 Chronos watch by Texas Instruments instead of using the remote control.