Grab 'N Go-Bot

Problem Statement

With the return of in-person, on-campus activities the need for masked or distanced dining options has increased. This is especially true of communal areas meant fo​r group collaboration. The system will be able to bring food from in-building dining areas to offices and study rooms to support a healthy working environment. 

Specifications

  1. Allow user to select delivery location
  2. Move independently from origin to delivery destination
  3. Securely transport a meal
  4. Recognize obstacles in movement path and stop before collision
  5. Notify user once delivery location is reached

The Team

Nicholas Buckley

Team PCB Lead
EE

Mathew Moschella

Team Software Lead
EE

Anse Saint Louis

Team Budget Lead
EE

Michael MacKay

Team Coordinator
EE

Images

Original Idea Design

This was the original design made during the summer

PDR Design

Diagram from the PDR stage

Hardware Diagram

Hardware Diagram from CDR

Software Diagram

Software Design from CDR

Original PCB Design

First Iteration of PCB Design used during CDR

Final PCB Design

Final Iteration of PCB used in FPR
COMING SOON

FINAL DEMO VIDEO 

https://drive.google.com/drive/folders/1qp9ITbKwcoohRQA8x26F2-5gswB33aqz

PDR SLIDE DECK

MDR SLIDE DECK

Sample Headline

Sample Headline

CDR SLIDE DECK

Sample Title

Sample Text

Sample Title

Sample Text

FPR SLIDE DECK 

List of Hardware and Software

1m IR Sensors (GP2Y0A21YK0F)

Long Range Sensors used to detect obstacles 30cm in front of the Grab 'N Go-Bot

10cm IR Sensor (GP2Y0D810Z0F)

Short Range Sensors used to detect a drop of 10cm below the Grab 'N Go-Bot

12V DC Motors 

Motors used to move the Grab 'N Go-Bot

ATMega328P

Microcontroller used to get input from sensors and control motors

Motor Driver (TB6612FNG)

Driver used to control motor movement

5V Buck Converter

Buck Converter used to keep a constant 5 volts to systems

Batteries used to mobile power Grab 'N Go-Bot

3S Batteries

Computer system used to remotely control Grab 'N Go-Bot

Raspberry Pi 3B

Lock to secure container

Solenoid Lock

Camera used to detect Aruco Tags

RPi V2 Camera

The Raspbian OS provides the system support for the Raspberry Pi’s Function, Which uses the Camera for localization, GPIO for supplementary motor control, and wifi and bluetooth for user communication for delivery functionality.

Raspbian OS

Programming language used to run the Raspberry Pi and generate Aruco Tags

Python 3
Open CV 2

OpenCV2 provides the functions and libraries for utilizing the Aruco tags through a python script, which is used for providing distance and orientation measurements for positioning and course correction.

Aruco Tag Library

Computer system used to remotely control Grab 'N Go-Bo

DEMO DAY POSTER

Sample Headline

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