One of the special features of A.R.I.S. is our 3-tier IR tracking design.   The three components of the 3-tier design are the Wii Remote IR Camera, Raspberry Pi Camera, and our IR Phototransistors.

Wii Remote IR Camera

While brainstorming various ways of detecting IR sources, we really wanted to implement an IR camera tracking source.  But with the budget, we were very limited on our options.   What we were looking for was range and data outputs that could be translated to movement of our robot.   Through our  research we found that Wii Remotes utilize a camera that outputs XY coordinates.   With an IR lens, the camera can detect an IR source and produce XY coordinates that can be translated into movements of the robot.  From there, the data we received was scaled so that we can pinpoint the location of the IR source and maneuver towards it.

Raspberry Pi NoIR Camera

Our idea behind the Raspberry Pi Camera was to have a positive ID system for the Wii Remote IR Camera.   The Raspberry Pi Camera acts as a dead reckoning or double checking device for the Wii Remote IR Camera.   In order to accomplish this, we use Open CV to recognize the image of the flame versus the image of the LED.   The data that is read is then translated to the Raspberry Pi and A.R.I.S. receives a positive ID or negative ID.   This enables A.R.I.S. to recognize the IR source quickly and react to the data input.

IR Phototransistors

The last tier of the 3-tier system is are the IR Phototransistors.  The purpose of the IR Phototransistors is a triple-check for IR sources.  During testing, we found the Wii Remote IR Camera has a view angle of about 70degrees.   This is a very small field of view.  Because of this, we had to implement IR Phototransistors just in case A.R.I.S. isn't able to see the IR source through the IR Camera.