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Long Range Vehicle Control (Super Tank). Jason Holmes Matt Wickesberg Matt Guenette Michael Piercy. Project Overview. “Battery Powered” “Remote Controlled” “Super Tank” Tank to be controlled wirelessly over the internet Major constraints: Power, real-time video. PSSC. - PowerPoint PPT Presentation
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Long Range Vehicle Control (Super Tank)
Jason HolmesMatt WickesbergMatt GuenetteMichael Piercy
Project Overview
• “Battery Powered”• “Remote Controlled”• “Super Tank”
• Tank to be controlled wirelessly over the internet
• Major constraints: Power, real-time video
PSSC
• An ability to send/receive/decode commands from a controller wirelessly
• An ability to control direction/firing capability of a vehicle
• An ability to autonomously avoid obstacles encountered by the tank
• An ability to provide sensor feedback to a wireless controller
• An ability to monitor a battery and prevent signal disconnection due to power loss.
Hardware Diagram
System Diagram
LRVC Server
Controller 1 Controller 2 Controller N
Vehicle 1 Vehicle 2 Vehicle M
FIRE
Android Tablet – “Virtual” Controller
Feedback/Error Text Box
Live Video Stream
Common GUI Components
Common GUI Components
Common LRVC Protocol Provides Services for Android Controller App.
Specific Vehicle Protocols
All communications (Vehicle and/or LRVC Protocols) aremade with TCP off of a TCP/IP stack through WIFI.
Tank Diagram
Fig. 1 – Vision
Front
Back
Fig. 2 – Drop Off Detection Fig. 3 – Wall Detection
Front
Back
Front
Back
Short Range IR Sensors Long Range IR Sensors attached to Stepper MotorsFor 180 degree rotation.
USB Camera
Sens
or P
lace
men
tSe
nsor
s
Computation Requirements
• Obstacle avoidance algorithm– Stepper/IR coordination– IR voltage translation
• Battery management algorithm
• Real-time video transmission
Peripherals and GPIO
• GPIO :– 8 (2 drive motors, 1 stepper, one firing)
• Peripherals– 4 channels of 10 bit ATD (IR sensors)– 3 channels of PWM (Switching Regs., Stepper)– 1 channel UART (RS232 connection)
Power ConstraintsPower Calculation Voltage (V) Current (mA) Power (W)
Pandaboard 5 800 4
STM32F103ZGT6 3.3 50 0.165
Drive Motors A 12 1100 13.2
Drive Motor B 12 1100 13.2
Stepper Motor 12 330 3.96
Turret Motor 6 200 1.2
Total 3580 35.725
Total with 10% loss 39.2975
Parts ChoicesPart Part #
Full-Bridge Motor Driver Dual - L298N COM-09479IC Stepper Motor Controller 20 DIP 497-1394-5-NDStepper Motor with Cable ROB-09238
Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F
SEN-08959
Infrared Proximity Sensor Long Range - Sharp GP2Y0A02YK0F
SEN-08958DC/DC Converters & Regulators APXW005A0X3-SRZCoulomb Counter BQ26231Ryobi 12v drill - 2 batteries and charger HJP002KLogitech Quick Cam QuickCam Pro 9000Pandaboard UEVM4460G-02-01-00
Microcontroller Choice
STMicroelectronics STM32F103ZG– ARM 32-bit Cortex-M3– 72MHz– 1MB Flash– 4 16-bit Timers with PWM– 2 I2C– 5 USART– 3 12-bit 16-ch A/D Converter– Plethora of GPIO