ABSTRACT

MECHANICS

ELECTRONICS ABSTRACT

SENSORS

ACTUATORS

POWER SUPPLY

RADIO MODEM

SOFTWARE




SEITE IN DEUTSCH 		D001 is a small autonomous robot suitable to exploring human indoor habitats unattended. Controlled by a microcontroler it explores his enviroment with sensors, that based on different physical principals. Wireless watching the robot behavior and (if necessary) remote control is available through a radio modem.
This is my first robot project, inspired by Flynn and Jones book "Mobile Robots. Inspiration to Implementation" and many interesting plublications in the internet. 		UPDATES
07-Aug-04. Pages updated.

21-Oct-01. Abstract-Page updated.

11-Mar-01. The Abstract-Page is opened.

21-Feb-01. The Page is placed in the Roboterwelt WebRing.

03-Feb-01. The D001-Page goes online.
  FEATURES
  • mech. dimensions: 30cm diameter, 12cm height
  • processor board: intel 80C51GB (12,288MHz), 32K RAM, 32K EPROM
  • differential drive with 2 gear motors, max. 1km/h
  • collision detection by micro switches, stimulated from a plexiglas shield
  • collision avoidance via IR reflex sensors (measurement of ambient light at the same time)
  • speed regulation and odometry using wheel encoders
  • bidirectional connection D001 - PC via radio modem (BIM, 433MHz) or RS232
  • 2 lead-gel batteries 12V/1,2Ah allows 2...24h autonomy

Henry Dankert
Berlin
Created: 03. February 2001

hd_net@urmel.in-berlin.de 		Animation
 (If your browser don't support Flash, try to load this animation.)

You see D001 in the development phase. The EPROM simulator on the top of the robot is good to see.