Mercury robot was built as a competitive robot competition Istrobot 2005. This robot broke names of the solar system's fastest planet Mercury. In Roman mythology, Mercury was considered the protector of travelers, merchants, but also thieves.
For scanning black lines are used for UV sensors from inkjet printers (originally designed for measuring the quality of the paper), the sensor obstacle (assumed brick) is an industrial LED sensor dedicated to counting products on the treadmill.
The sensors are connected directly to the microprocessor PIC16F88, that controls the movement of the robot controller using the H bridge connected to a DC motor and gearbox, the wiring is taken from the construction of Chinese toy cars on the remote control.
The skeleton robot is built from several parts kit Merkur to the frame is attached to the control electronics of modular MLAB, good electrical conductivity of the metal frame is used to distribute the negative supply batteries to drive, despite major problems with reliability using original merkurácké engines (during development each engine had to be disassembled several times and glue torn sprocket on the engine).
For proper dynamism robot movement was necessary to ascertain the correct distance between the sensors to scan lines and the axis of the wheel, this distance corresponds to twice the anticipated medium-radius curved track. Also important is the wheelbase, it's true that the greater the less, the robot must in turn slow down, but it is also necessary to take into account the dimensions of the tunnel placed on the track.
The program works on the following principle. If the robot sees the line, the record under which the sensor sees it and goes straight. If you see the line and goes where he last saw her. If turns already too long, it means that the line lost. Then reverses, is moved straight forward and trying to find a line through a very cunning routine "zigzag".
Hugs obstacles is based on the assumption that the line of the barrier continues in the same direction as before. After the robot hits an obstacle pull back and centered on the line. Then obstacle blindly avoided. After rediscovering the line is supposed crossed the line and turns in the direction of bypassing that again centered on the line.
Author: Jakub Kákona