Continue Automated Mining Robot

In the continue section of the automated mining robot,
I investigate deeper side of the automated mining robot.
There are still lots of thing that can customize and investigate more about the mining robot.

As I introduced using light sensor in the contemplate section, the continue section investigates about the darkness and lightness.
By adding ultrasonic sensor and light sensor together, the automated mining robot can decide where to go depends on the distance and also the lightness.
For example, light sensor will be helpful to find where the place is close or open.
Moreover, there are three condition which can be checked by the robot.
Darkness: to be sure the it is in the main shaft
Light: to know when it has found an opening
Condition: between darkness and lightness in case other conditions should be added and checked.

Also, the continue section talks about the emergency stop.
Because mining shafts is under full of dangerous condition, the sensor will help to immediately stop the robot, when the dangerous thing is sensed (for example, hole or huge object).

For example, touch sensor can be very helpful, in order to save the robot from crushing and destroying the robot itself. When the bumper is pushed, the robot will act emergency stop, and the robot will be saved.

PS: First picture is Automated Mining Robot with light sensor

Second picture is showing the emergency stop

Contemplate Automated Mining Robot

The robot knows which way to continue mining by using the ultrasonic sensor.
I use the switch block to decide which way to keep mine.
The robot will take two records of ultrasonic sensor comparing values of left and right.
The robot will decide which way to turn by comparing values.
I of course use the switch block to decide.
For example, when the value of right is higher than value of left, then the robot will turn left.
Then, when the value of left is higher than value of right, then the robot will turn right.
The value is measured by how far away the wall from the ultrasonic sensor is.

By this function, which measures the value of the distance, and deciding which way to go, the robot can decide which side to keep mining.
This technology is helpful to anywhere, which requires distance measurement and right or left decision making. Besides mining, it will helpful to complete maze (to find the free space).

In addition, besides ultrasonic sensor, other ultrasonic sensor is very helpful too.
For example, sound sensor will help to go to the place, where the sound is heard.
And the light sensor will helpful to go to light or dark place.

Constructing Automated Mining Robot !!!

In this project, I have to build automated mining robot, and investigate about it.

First of all, I need to build the robot.
During building the robot, I met many new functions of the robot, that I did not know.

The shape of the mining robot was totally different with the NXT robot. For mining robot, the NXT is flat and lying over the base (wheels, and supports, which holds NXT). This robot has total of 4 wheels, and looks strong and heavy. Moreover, the robot uses 3 motors, 2 for wheels and 1 for ultrasonic sensor.

When the robot moves, the ultrasonic sensor is made to be movable. There is a black circular base, which holds the ultrasonic sensor. And this base is connected to two cross sticks, which rotates the base. By this function, the robot is able to make the ultrasonic sensor to move.

Moreover, because the motor is reversed, in order for the robot to go forward (front: ultrasonic), the motor has to rotate the wheels backward.

First picture shows the base of the robot, which is without the NXT.
Second picture shows the completed robot, with NXT.
As you can see, the left side is the front of the robot, which is with ultrasonic sensor.

Chapter 12: Decisions, Decisions

This chapter 12 introduces the final block in the Common Palette.
The final block called switch block.
The switch block allows the robot to do more than two different actions, depends on what the sensor has sensed.
The switch block is worked by the sensors, and digits.
For sensors, the switch block will have two different action, whether the sensor has sensed something or not sensed anything.
For digit, the robot can go to more complicated, which sensors are more organized, and can do more than two different actions.

For example, when the robot is using the light sensor switch block.
I can use the switch block to make the robot, to go forward, when the sensor senses light, and stop when the sensor senses dark. The switch block easily allows you to program and make the robot to performs.

The switch block is siginificantly important, when the robot is going to be automated, and under the condition when the robot has to choose what to do, and do action by its decision.

In addition, the switch block makes the robot more human like, where it collects data by itself, and decide what to act, and do it by itself.

Video for Obstacle Course

Obstacle Course Day 4: Finale

The final report for the obstacle course!!!
Now, I have accomplished the obstacle course.
Last time, I reported that the my robot is stopped at avoiding the object.
I made a program for that, and made my robot to senses 10 cm before,turn right, go forward, turn left, go forward, the stop at black line.

But the one problem made to me to fail the test for obstacle course.
I could not figure out, how to make the robot to avoid the object, when the robot senses the object, and just pass through, when the robot did not sense the object. It was hard, and I spent lots of time with it. Finally, I found out the way to make the robot to do that action. I have to use the switch block of ultrasonic sensor. When the ultrasonic sensor senses the object, the robot will straightly go into the action, which the robot will avoid the object. When the ultrasonic sensor does not sense the object, then the robot will just straightly go forward and stop at the black line, without avoiding object, because there is no object to avoid.

Finally, I retest the obstacle course, and succeed to finish it.

The picture shows the final robot, which I used for obstacle course.

Obstacle Course Day 3: Test

Until now, I have accomplished 70% of the Obstacle Course. My robot can go from starting with clap, stop in the box for 5 seconds, then bumps the wall and turn right, then go forward and stop when the ultrasonic sensor senses the wall.

I now tried to do the part, where my robot has to sense, then avoid the object. It is hard, as my robot has to function and lots of turning and sensing.

I am right now stuck with the part where the robot has to turn right, go forward for little bit, then turn left, after sensing the object by ultrasonic sensor.

I think I can finish until the dead line, but does not feel fully ready to complete the challenge.