Bordschrijfrobot

Werking

Voordat de bordschrijfrobot in gebruik kan worden genomen, moet eerst de grootte van het bord (black/white) door de robot worden geregistreerd m.a.w. het kalibreren van de positiesensor(en). Dit wordt gedaan door de robot linksonder op het bord te zetten, waarna hij vervolgens een rondje maakt langs de randen van het bord om voor zichzelf een zogenaamd ‘grid’ te vormen en zijn positie verder in het proces nauwkeurig(er) te kunnen bepalen. Daarnaast is het belangrijk dat er een bluetooth verbinding is gevormd met de telefoon van de betreffende gebruiker voorzien van de bijbehorende applicatie én een microfoontje is aangesloten.

Eenmaal de bordschrijfrobot ge-initialiseerd /gekalibreerd, kan deze in gebruik worden genomen. Spraak in de microfoon, komend van de gebruiker, wordt door de applicatie op de mobiele telefoon verwerkt en omgezet naar tekst/symbolen (speech to tekst). Vervolgens vind er signaalverwerking plaats om deze informatie via bluetooth naar de bordschrijfrobot te sturen. De bordschrijfrobot zet de ontvangen informatie om in commando’s voor de motoren en actuatoren, die er samen voor zorgen dat de juiste tekst/symbolen op het bord verschijnt/verschijnen.

Specifications

rev 1

Category	Details	Notes
Remote	Microphone	For imput of commands.
	Battery	Probably AA (rechargable)
	Buttons	For clearing all. Selecting certain areas of the board. Saving all data on the board. And push to talk.
Robot	Magnets	To keep the robot attatched to the board. Not to tight so it is hard to move but should never fall off.
	Computer	To manage position, commands, drawing, calibration etc.
	Connection	With the remote, probably Wifi or Bluetooth depending on the battery lifetime.
	Wheels/Continuous track	Depending on what works the fastest and makes less noise. Should also not interfere with the already written text.
	Battery	Should cover about 8 hours.
	Markers and wiper	Since printing on the board is not an option we need a various selection markers and a wiper.

Category	Part	Elaboration
Markers	Black whiteboard marker	Easy restockable markers for whiteboards.
	Red whiteboard marker	The markers are installed on the side of the robot so it can be read faster. The ones not in use are not against the board and capped.
	Blue whiteboard marker
	White chalk marker	Chalk markers for blackboards. These should be able to spin to make dots.
Wiper	Board wiper	Also place on a side and can just like the markers be lifted from the board when not needed.
	Whiteboard cleaner	Could be added to help clean the board better.
Computer	Speech to text	To translate the users sentences into text and to receive commands for actions.
	Software	Plot , draw amd callibrate equations, diagrams, graphs and other mathmetical functions.
	Memory	Store previous work for fast repetitive access.
	Wheels/Continuous track	Should be tested to see what works best regarding; speed, noise, interference with board, packaging for travel, weight.

rev 2

rev 2 of the specifications of the robot.

Category	Part	Elaboration
Robot	Size	24x24x8 cm (LxWxH)
	Handle	2 handles with a height of 3 cm and a bar at one side to recognise the top position.
	Magents	A multiple of 4, Neodymium magnets, placed along the sides. Size and amount depending on force needed.
	Wheels	2 sets of 2 omni wheels. Every set placed diagonally across and every set 90 degrees turned.
		This way, a set of 2 wheels diagonally oposite will be used to drive in a single direction and the other set is used to drive in the other direction.
	Motors	Each wheel is connected to a stepper motor to precisely move the cart around and keep track of the position.
	Writer	A stepper motor is used to precisesly drive a screwthreaded axle that moves the penholder in 1 dimensional direction.
		2 extra axles are used to guide the penholder block.
	Pen holder	Holder is slightly tilted and has multiple holder shafts for markers. The holder can be rotated to select another marker.
		A servo in the block is used to rotate the markers.