Wireless Surveillance Vehicle Lance P. Riegert Rodrigo A. Urra Steve C. Wilson September 18,...

Wireless Surveillance Vehicle

Lance P. Riegert

Rodrigo A. Urra

Steve C. Wilson

September 18, 2007 Wireless Surveillance Vehicle 1 of 20

Senior Design Project – Fall 2007

Agenda

• Project Description and Requirements• System Overview• User Interface• System Hardware

– ALIX.1C Microcontroller– HCS12 Microcontroller– DC Motor Drive– Speed Detection– Power

• System Integration• Testing Strategies• Cost• Questions

September 18, 2007 Wireless Surveillance Vehicle 2 of 20

Project Description & Requirements

September 18, 2007 Wireless Surveillance Vehicle 3 of 20

Surveillance Vehicle• Controlled over the Internet• Detect & control speeds: 2 forward, 1 reverse• Turn left & right• Rotate mounted camera & transmit feed to client• 8-hour battery lifespan• Power-saving mechanisms

System Overview

September 18, 2007 Wireless Surveillance Vehicle 4 of 20

Logitech QuickCam

Primary Microcontroller: ALIX.1C

WLM54G23 WiFi Card

Secondary Microcontroller:

HCS12

Drive DC Motor & H-Bridge

Steering DC Motor &

H-Bridge

Servo

To rear axle for speed/direction

control

To front axle for steering

Serial Port

MiniPCI Port2

USB Port

Ethernet Port

For testing/configuration

Send/Receive data to user

PC

Router

Internet

Client Workstation

PWM 1

PWM0PA0PA1

Timer5

PA2PA3

User Interface – offline

September 18, 2007 Wireless Surveillance Vehicle 5 of 20

User Interface – online

September 18, 2007 Wireless Surveillance Vehicle 6 of 25

System Components

September 18, 2007 Wireless Surveillance Vehicle 7 of 25

DC Motor 1 (Steering

Axle)

USB CameraServo 1

(Cam. Position)

DC Motor 2 (Speed Control)

Alix.1C Microcontroller

Board

HCS12 Board

CF card

miniPCI Wireless

Card

H-Bridge

Wireless Antenna

System Specifications

September 18, 2007 Wireless Surveillance Vehicle 8 of 20

CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

1

2

3

4Timer5

Serial

PA0

5

6

7

8

Vcc1

0

HCS12

1

2

35V

4PWM1

PA1

PA2

PA3

PWM0

5

6

7

8GND

0

9.2 V Battery

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

IN11

IN22

3IN3

4IN4

OUT1

OUT2

OUT3

OUT4

5

6

7

8

0

EN11

EN22

3VS

4VSS

OUT3

OUT4

GND

5

6

7

8

0

L293D

6 V Battery

M

M

Rear Driver Motor

Front Steering Motor

WebCamera PositionServo Motor

U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

ALIX.1C Microcontroller

• Power– 12V DC Battery

• Interfaces– miniPCI Wireless 802.11 Card– USB Logitech QuickCam– CompactFlash Card (OS &

Software)– Serial to HCS12

• Software Responsibilities– Wireless Interface– Camera Interface– Transmit Camera Video– Pass Commands to HCS12

September 18, 2007 Wireless Surveillance Vehicle 9 of 20

CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

HCS12 Microcontroller

• Power– 9.2 V Battery Pack

• Interfaces– PA0, PA1, PWM0 to H-Bridge for Drive Motor– PA2, PA3 to H-Bridge for Steering Motor– PWM1 to Servo for Camera Angle– Serial Port to ALIX.1C– Slotted Optical Switch to Timer5 Port

• Software Requirements– Drive Vehicle Forward, Reverse, Left & Right– Detect and Adjust Speed– Control Camera Angle

September 18, 2007 Wireless Surveillance Vehicle 10 of 20

DC Motor Drive

September 18, 2007 Wireless Surveillance Vehicle 11 of 20

U 3

L 2 9 3 D

27

1 01 5

19

361 11 4

1 68

I N 1I N 2I N 3I N 4

E N 1E N 2

O U T1O U T2O U T3O U T4

V S SV S

V C C

P T2

H C S 1 2

D riv e M o t o r

M O TO R D C

12

P W M 0

H C S 1 2

V c c

H C S 1 2

S t e e rin g M o t o r

M O TO R D C

12

P T0

H C S 1 2

P T1

H C S 1 2

P T3

H C S 1 2

Speed Detection

September 18, 2007 Wireless Surveillance Vehicle 12 of 20

U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

Speed Detection

September 18, 2007 Wireless Surveillance Vehicle 13 of 20

Interrupt caused by dark slot

blocking slotted optical switch

Calculate Duration = CurrentTime – StartTime

Store Duration to Memory Queue (Size of 8)

Set StartTime = CurrentTime

Average 8 Entries in Memory Queue to get Current Speed

Is Current Speed > Expected Speed Reduce PWM0Yes

Is Current Speed < Expected Speed

No

Increase PWM0Yes

N = 0

No

Delay

Flowchart for Interrupt Handler Flowchart for Background Job

Power

September 18, 2007 Wireless Surveillance Vehicle 14 of 20

CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

1

2

3

4Timer5

Serial

PA0

5

6

7

8

Vcc1

0

HCS12

1

2

35V

4PWM1

PA1

PA2

PA3

PWM0

5

6

7

8GND

0

9.2 V Battery

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

IN11

IN22

3IN3

4IN4

OUT1

OUT2

OUT3

OUT4

5

6

7

8

0

EN11

EN22

3VS

4VSS

OUT3

OUT4

GND

5

6

7

8

0

L293D

6 V Battery

M

M

Rear Driver Motor

Front Steering Motor

WebCamera PositionServo Motor

U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

System Integration

September 18, 2007 Wireless Surveillance Vehicle 15 of 20

Logitech QuickCam

Primary Microcontroller: ALIX.1C

WLM54G23 WiFi Card

Secondary Microcontroller:

HCS12

Drive DC Motor & H-Bridge

Steering DC Motor &

H-Bridge

Servo

To rear axle for speed/direction

control

To front axle for steering

Serial Port

MiniPCI Port2

USB Port

Ethernet Port

For testing/configuration

Send/Receive data to user

PC

Router

Internet

Client Workstation

PWM 1

PWM0PA0PA1

Timer5

PA2PA3

Command & Video Transmission

September 18, 2007 Wireless Surveillance Vehicle 16 of 20

TCP (commands)

FTP (video/screenshots)

Linux Distro

Spook

C Server

ALIX.1C

Testing Strategies

September 18, 2007 Wireless Surveillance Vehicle 17 of 20

1. Hardware– ALIX.1C HCS12 serial interface

– ALIX.1C 802.11 Internet connection

– ALIX.1C webcam recognition

– HCS12 output voltages

– Vehicle control (Steering, Speed)

2. Software– Client server command transmission

– Client Spook video transmission

– HCS12 response to serial stimulus

3. Incremental System Integration

Cost Estimates

September 18, 2007 Wireless Surveillance Vehicle 18 of 20

Component Commercial Cost Our Cost

Vehicle $30 $30

Logitech Quickcam Web Camera $30 -

ALIX.1C Microcontroller $150 -

Motorola HCS12 Microcontroller $150 -

Wireless Network Interface Card $40 $40

Servomotor (1) $30 -

Rechargable 12V Batteries $140 $140

CompactFlash Cards $30 $30

USB CompactFlash Card Reader $15 $15

44-pin to 40-pin Cable for Linux Installations

$10 $10

H-Bridge $10 $10

Shaft Encoder $10 $10

Wires and DC power plug $10 $10

TOTAL $655 $295

Possible Difficulties

• Obtaining stable video frame rates• Vehicle recovery if outside of wi-fi radius• Keeping aligned steering• Maintaining stable speed control• Implementation of power-saving features

September 18, 2007 Wireless Surveillance Vehicle 19 of 20

Questions

Questions?

September 18, 2007 Wireless Surveillance Vehicle 20 of 20