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Surveying Investigative Transportable Cartographical Helper? Sitchest Ish That Chu Heard? “…we’re going to retrofit it.”. SITCH CDR. Receiving. Sensory. Processing. Transmitting. Data Storage. Motors. Transmit. Receive. ROBOT. BOOSTER. Receive. Transmit. - PowerPoint PPT Presentation
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SITCH CDRSurveying Investigative Transportable Cartographical Helper?
Sitchest Ish That Chu Heard?“…we’re going to retrofit it.”
Receiving
ProcessingSensory Transmitting
MotorsData Storage
Transmit Receive
Receive Transmit
Transmit Receive
ROBOT
BOOSTER
USER
High-level Functional Diagram
High Level Control: Commanding and Processing Movement and Environment
CPUsoftware Distance/ angle Image processing
Mapping Database
High-Level Software Design
ARM Cortex M-3
Object
Camera and Laser
Spy Camera
BRAIN
Magnetometer
UltrasonicSensors
SPINE
ARM M-0Motor
Controller
User
Motors
Remote Control
Analog Preprocessing
Circuit
Servo Motor Transmitter
ReceiverTV
Receiver
Spy Camera
Ultrasonic Range Finder Finds objects that may have been
missed by the laser. Allows basic object avoidance while the
rover is in motion. Model: LV-MaxSonar-EZ0
Status: Basic testing with Arduino-uno completed – developing interface for M0
Cortex M-3 Handles image processing and location
awareness. Sends position data to lower level motor
control loops.
Status: Developing camera interface.
CMOS Camera
CMOS Schematic EAGLE
Laser Range Finder Theory
Remember me?
This worked.
This Was Put Together
Calibration Data
Quite Grainy, Similar to how the CMOS camera will see imagesCMOS won’t have as many random colors
Took Pictures
Applied a Sharpening Function
Quite grainy
But the spot is brighter
After a Threshold Filter 21 Inches
measured 56.97cm
calculated 22.4291339
inches 6% error
A Few Examples
91.44 cm
After 90.387 cm Calculated -1.15% error
Tried to Expand to Line Laser
Not very bright Used water Different laser
on its way
Room For Improvement
A line is visible Not mapped to angles Lost data
3 pts to 1 Great progress
High level goalwe have other options
Path Finding To be implemented after scanning and
image processing. Initially, perform rudimentary scan and
move aimlessly between obstacles. Ultimately, be able to negotiate past objects
to reach a waypoint. This waypoint may be provided with vector data
from stored encoder/magnetometer data.
Status: In development.
Low Level Control: Providing Fine Motor Control and Dead Reckoning
RC Receiver Waveforms
Zero point: Duty Cycle is 8%
Minimum point:Duty Cycle is 5%
Maximum point: Duty Cycle is 11%
Wireless Decoding Receiver’s output must be digitized and
encoded using the correct modulation ADC will be used to measure the output
of signal averager and output the corresponding modulation to the motor controllers
Schematic of the Signal Average Circuit
ARM Cortex M-0 Separate chip chosen to diversify
processing abilities. Simple motor control option. Designed to handle control loops. Hope to guarantee high responsiveness
of all sensors, computer and control systems.
Specific Model: LPC1114FHN33/302 Status: Initial development.
Distance Encoder Basic device for measuring distance
travelled. Use paired IR LED/phototransistor and
ADC to measure pinwheel rotation.
Status: Hardware complete.
Distance Encoder Schematic
Motor Controller Current design based on 2 banks of 4
redundant L298N with opto-isolation.Each chip handles 4 amps with 2 parallel H-
bridges.32 amp total current handling.
If revised, it will be printed on PCB and based instead on H-bridge gate drivers and power MOSFETs.
Status: Fully functioning, but not ideal.
Motor Controller Schematic
Magnetometer Digital 3-axis magnetometer. Measures strength of magnetic field in
various directions with a highest field measurement resolution of 0.015 µT
Precise angular position determined through inverse tangent algorithm.
Communicates through I2C. Accurately determines location and
orientation. Status: Developing interface.
Magnetometer – Finer Details Model No: LSM303DLH Breakout board from SparkFun
Power: Energizing Diverse Systems
Devices to Power on the Robot Motor Controllers Radio Receivers and Video Transmitters Servo Motor (at least one) Processors Laser Cameras Magnetometer Ultrasonic Range Finder
Powering The Robot Powered directly by a 7.4 V (2 cell)
Lithium Polymer Battery 1st Choice - 6000mAh, 70C 2nd Choice - 12000mAh, 40C 3rd Choice – 2x 6000mAh, 30C
Powering Bot Movement
7.4V, XXX mAh, xxC2 cell LiPo
Driver Motor Controllers Motors
5V Voltage Rail Will be realized with a LM7805 voltage
regulator chip. Can supply up to 1.5 A of current
Status: Testing and laying out in Altium
3.3V Voltage Rail Will be realized with a LM317 voltage
regulator chip Can supply up to 1.5 A of current
Status: Testing and laying out in Altium
3.3V Voltage Rail Schematic
MC34063A Chip – Boost Mode
Hi-Level Powering Diagram for Sensors
3.3V Voltage Rail
Step-up Voltage
Converter (12V)
Batteries
5 V Voltage Rail
CMOS Camera
Magnetometer
Video Transmitter
ARM M-0 Cortex M-3
Ultrasonic
RC Receiver
Laser
Power Consumption
Servo Motor Unable to find
datasheet Tested using
Arduino Uno, collected experimental data
Ready for integration with M0
Duty Cycle (%) Angular Position (degrees)
3.25 10
5.3 50
7.4 90
9.45 130
11.5 170
Servo PWM Signal InputVpp=~3.3V, f = 50Hz
Switching Microprocessors
C2000 Piccolo F28035 ARM Cortex-M0
Cryptic sample code Unhelpful documentation Steep Learning Curve
More intuitive Useful sample code Existing knowledge
Progress with ARM Cortex-M0 Currently
Sweeping PWMWorking ADC test function
GoalsWrite functions to increase user controlCommunicate with other modules
Video Camera Transmit video feed From Amazon, lacks
documentation Status: Transmitter
+ Receiver work – now we need to interface power supply and camera
PCB Plan to lay out a board containing
voltage rails and the boost converter In the future include an ARM Cortex M0. Finalizing first draft of this PCB before
the end of this week
Planning: What the future holds
Design Goals Module Low Medium High
Power -Buy Chips-Etch PCB
-Buy Controllers-Design Converters
-Design all
Sensing -Stereoscopic -Single Laser and Camera
-Line laser
Image Processing
-Stereoscopic -Distance and angle from single laser -From line laser
Board Layout -Etch analog control circuit
-Print control circuit -2 processors 1 board
Motors -Elbow grease -Servo Motor moving sensor
-Moving 2 dimensions
µproccessing -RC Analog -ARM or FPGA -2 ARM processors
Booster -None -Increase operating range
-Multiple boosters
Collision Sensing
-None -Ultrasonic -None
Milestones and Expo Milestone 1:
RC control Motor drivers Magnetometer
Milestone 2:Laser range finding tower Ultrasonic
Expo: Path finding
Current Development Finalize first revision of PCB Start constructing the mounts for the
laser range finder and motor drivers Integrate motor drivers with the M-0
control and batteries
Budget
QUESTIONS?