WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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Sensors and Peripherals

Overview

This page will explain the sensors and peripherals of the WALL-E project, and the brainstorming involved to the design choices and objectives of WALL-E

Components List

  • Romi Pololu Motors w/ Encoder x2
  • BNO055 IMU
  • HCSR04 Ultrasonic Sensor
  • OV2640 ArduCam Camera
  • MG90s Servos x4

Component Description and Use

  • Romi Pololu Motors: With have experience working with these motors with a previous differential drive robot, we felt comfortable creating motor drivers for these motors in C++ and followed similar PCB design aspects in order to achieve their full use.
  • BNO055 IMU: The IMU portion was also decided on due to having prior experience with the IMU as well as for the purpose of using the yaw/heading data for positional corrections and turning corrections for our PIDController.
  • HCSR04 Ultrasonic Sensor: This device was also selected for detecting objects at a certain range using the device as a threshold marker for speed and motor control when approaching an object.
  • OV2640 ArduCam Camera: This aspect of our design choice was made in order to give WALL-E more of a challenge and different aspect. The use of the camera was to be used for basic object detection or specific color detection, without the use of heavy API such as OpenCV.
  • MG90s Servos: The servos were a design choice that was adapted from the original designer of the WALL-E CAD model. The purpose of these servos would be to move the arms and hands in order to create the holding and lifting aspect of WALL-E.

Peripheral and Sensor Locations

WALL-E Component Housing Area

WALL-E HOUSING

Camera

WALL-E Camera Placement
  • Camera is located in the WALL-E eye socket. To learn more about the design visit the Mechanical Design page.

Ultrasonic Sensor

WALL-E HCSR04 Placement
  • The Ultrasonic sensor is located within the front panel of WALL-E To learn more about the design visit the Mechanical Design page.

Motors

WALL-E Motor Placement
  • The motors where placed directly underneath the bottom panel on a custom mount which you can learn more in depth at the Mechanical Design page.

Servos

WALL-E Servo Placement
  • The servos are placed closely near the arm area on the side panels of the WALL-E body.