One of the system requirements was to construct a pan-tilt unit for the camera which would be mounted on the turtle bot. This unit would enable the system to track and follow the head pose of the human resulting in a better photograph and also giving the system 2 additional DOFs.
Following requirements were listed out for the pan tilt camera unit design:
• Universal camera mount (for limited number of camera types)
• No zooming axis
• 2 axis rotations: ( 1 Pan axis, 1 Tilt axis)
• Manual elevation.
• Low self-weight
• Sustainable to 500gm camera weight (with 1.3 FOS)*
• Height from surface 4.5 Ft.
• Able to recognize face of person 5 Ft. to 6.5 Ft. height • Range of operation: -90 to +90 deg [Pan motion] -tan-1 (1/ (2R)) to tan-1 (1/R) Tilt motion, in deg]
where ‘R’ – Distance between the pan tilt camera and the human face.
We upgraded our pan tilt unit with a new design. Shown below is the Rev2 of the design.
The complete CAD model consisting of the Turtle-bot, pan til camera unit along with elevation axis has also been designed.
To test the design stability, we planned to 3D print one pan tilt unit before machining them.
