ppt课件-irobotroomba780.pptVIP

1. By a show of hands who remembers what a robot’s degree of freedom is? Can anyone tell me? 2. By a show of hands who remembers what a robot’s work envelope is? Can anyone tell me? 3. Can anyone name one of the five main parts of a robotic system? By: Mr. Beese Task Performed The iRobot Roomba 780 is designed to replace human operated vacuum cleaners. The Roomba 780 performs vacuuming functions on its own. It can be programmed to automatically start vacuuming according to a set schedule, or you can set it in the middle of the floor and press the clean button Primary Use, Work Envelope and Degrees of Freedom The Roomba is primarily used on carpet, hardwood, tile and linoleum flooring. The work envelope for the Roomba varies upon the room that it is placed in. Also If lighthouse virtual walls are used the work envelope will be altered. The Roomba has 4 degrees of freedom, uses a main brush to pick up debris, uses a edge brush, and two wheels for movement back, forth, left and right Roomba End Effectors Vacuum Brushes Wheels How the Roomba is Taught. The Roomba is preprogrammed with a cleaning pattern from the factory. The Roomba also has an infrared sensor that it uses to plot out room size. Once the room size is determined it uses the preprogrammed cleaning pattern to clean the measured area. Roomba Sensors The first sensor: Roomba uses an infrared sensor to plot out room size and locate charging dock. The second sensor: Roomba uses a cliff detection sensor. Basically, it allows the Roomba to get close to the edge of stairs without going over the edge. The Roomba also employs Dirt Detect 2, an optical and acoustic sensor, to find debris for cleaning The Roomba has wall following sensors that allow the Roomba to track and follow a hard wall. The Roomba utilizes a touch cushion sensor that helps the Roomba move around obstacles it encounters. Advantages Disadvantages Vacuums for you relieving you from the tedious task of vacuuming More Expe