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Outline Introduction Design Overview
Beacon Blimp
Hardware Software
Difficulties and Risks Testing Strategy Weight Constraints Cost analysis
Introduction Helium-supported, self-propelled
autonomous blimp Maintains an altitude of 1.5 meters Seeks out beacon that broadcasts an
infrared signal at 38KHz Able to detect beacon at least 7
meters Lands within 40cm of target beacon
Beacon LEDs
TSAL6100 - 10 degree beam TSAL7200 - 20 degree beam
555-timer (LM555CM) Create 38KHz pulse
6V Li-Ion Batteries (2CR5) with 5V Voltage Regulator (KA7805)
Drivers (SN74LS244EW) Supply up to 8 IR LEDs each with
sufficient current Hemispherical configuration
Profile View
Sensor Operation Two IR detectors for
direction One IR detector for
determining if beacon is found
One ultrasonic range finder for altitude determination
IR Sensor
IR BeaconUltrasonic Range Finder
Profile View
Overhead View
Infrared Sensors Panasonic PNA4611M
5V Operating Voltage Detects pulses of 38KHz at a
wavelength of 940nm Maximum typical reception
distance of 16 meters Typical current consumption
of 2.4 mA Active-Low TTL output (0-5V) <1 gram in weight
Ultrasonic Range Finder MaxSonar-EZ-1
5V Operating Voltage 16cm – 6.45 meter range
<16cm ranges as 16cm 2.5cm resolution Typical current consumption
of 2 mA 49ms sample interval Outputs
Serial Analog (10mV/2.54cm) PWM (147uS/2.54cm)
4.3 grams in weight
Blimp Mobility
Altitude Control Vertical-axis motor
Propulsion/Direction Control Two motors on the horizontal plane capable of
independent rotation in both directions
Profile View Overhead View
Propulsion/Direction ControlAltitude Control
Propulsion Assembly Motors
1.5V Operating Voltage 22mA consumption 6400rpm 4.0gcm torque
U80 High thrust propellers
Total weight of 36 grams
Power Supply 6V Lithium-Ion Rechargeable
Battery (2CR5) 48.5 grams in weight 600 mAh
5V Voltage Regulator (KA7805) Input: 5V-35V Output: 5V up to 1A
1.8V Voltage Regulator Input: 3V-26V Output: 1.8V up to 0.5A
Microcontroller Freescale MC9S12DT256
16-bit device 256KB Flash 4KB EEPROM 12 KB RAM 2 10-bit, 8-ch ATD 16 discrete I/O (Port A, Port B) And more…
User Interface and Emergency Tether
A single power switch will start blimp search pattern
To ensure safe operation, the blimp will always remain tethered
A strong tug will release the power cut-off pin
Permanent Connection
Power Cut-off Pin
Blimp System Diagram
Power Supply
6V Li-Ion Battery(Panasonic 2CR5)
5V Voltage Regulator(KA7805)
+
1 2
-
3
MC Interface
Microcontroller(CSM12D)
Altitude Sensor
Ultrasonic Range Finder(MaxSonar-EZ-1)
+5VGND AN
GND
5V
Range Finder SignalAnalog (10mv/inch)
Bearing IR SetIR Detector
(PNA4612M)IR Detector
(PNA4612M)1 2 31 2 3
Right IR Signal TTL(0-5V)Left IR Signal TTL(0-5V)
L L
ED
R L
ED
Overhead IR SetIR Detector
(PNA4612M)1 2 3
O L
ED
Overhead IR Signal TTL(0-5V)
Propulsion/Direction Control
Propeller Motor
1.8V Voltage Regulator(Tl760M18)
GND
6V
Propeller Motor
H Bridge(ZHB6718)
1 2 3
H Bridge(ZHB6718)
6 2
5 7
+ -
6 2
5 7
+ -
Prop/Direction Signals (8 bits TTL)
1,3,4,81,3,4,8
Altitude Control
Propeller Motor
H Bridge(ZHB6718)6 2
5 7
+ -
1,3,4,8
Alt Ctrl Signals (4 bits TTL)
Port A0-7
Port B0-3 Port B4 Port B5 Port B6
Port AD00
Pow
er S
W
Em
erge
ny
Cut
off
Pin
AlgorithmSystem
Start
Altitude Low?
Increase Altitude.Yes
Altitude High?
Decrease Altitude.
No
Yes
Overhead Detected?
ShutdownDecrease Altitude.Yes Landed?
No
Yes
Left IR Detect?
Right IR Detect?
Turn Left
Turn Right
Yes
Yes
No
No
No
Right or Left IR Detect?
Yes
Turn RightNo Increase Loop
Proceed ForwardLoop
Count = Loop
No
Yes
Set Loop to 1
No
Right IR Detect?
No
Yes Proceed Straight
Increase Loop Count
Set Loop count to 0
Turn Right
Difficulties and Risks IR Pollution/Reflections
Infrared Guards Digital Filter/Software Filter
Weight Limitations Strip non-essential components
Maintaining Neutral Buoyancy Maintain helium pressure Ballast
Difficulties and Risks (cont) Air Currents
Avoid areas with noticeable air currents
Inverted Airfoil Effect Mount Fins Use short thrust bursts
Insufficient Power Reduce power consumption Increase battery power
Testing Strategy Module Tests/Interface Tests
IR Ultrasonic components Propulsion Power
Integration Tests Blimp Beacon
Bench Tests Field Tests
Weight ConstraintsPart Qty Individual
Weight (g)Total Weight (g)
IR Sensors 3 <1.0 1.0
Ultrasonic Range Finder 1 4.3 4.3
H-bridges 3 <1.0 1.0
Blimp Propeller Assembly/Motors/Propellers 1 33.0 36.0
Freescale CSM12D 1 38.0 38.0
Indicator LEDs 3 <1.0 1.0
Li-Ion Battery 1 48.5 48.5
1.8V Voltage Regulator 1 1.0 1.0
5.0V Voltage Regulator 1 1.0 1.0
Envelope 1 63 63
Weight available for Additional Logic Components/Interconnections, mounts, and landing gear.
N/A ~55.2
Total 250
Cost AnalysisPart Supplier Qty Individual Cost Total Cost
IR Sensor (PNA4612M) www.digikey.com 3 $1.27 $3.81
Ultrasonic Range Finder (MaxSonar-EZ-1) www.acroname.com 1 $25.00 $25.00
IR LED (TSAL6100) Reynolds Electronics 30 $0.70 $21.00
IR LED (TSAL7200) Reynolds Electronics 30 $0.65 $32.50
H-bridges (ZHB6518CT) www.digikey.com 3 $3.70 $11.10
RC Toy Blimp (includes motor mounts an motors)
www.rctoys.com 1 $59.95 $59.95
Propellers (U80) FXAeromodels 3 $1.75 $5.25
Freescale CSM12D Freescale 1 $120.00 $0.00
6V Li-Ion Batteries and Charger (KIT2CR5)
Thomas Distributing 1 $29.97 $29.97
Additional 6V Li-Ion Battery (2CR5) Thomas Distributing 2 $14.97 $29.94
1.8V Regulator (TL760M18) Radio Shack 2 1.65 $3.30
5.0V Regulator (KA7805 Radio Shack 1 1.65 $1.65
Indicator LEDs Team 3 $0.14 $0.00
Additional Logic Components/Interconnects
Team N/A $N/A $0.00
Drivers (SN74LS244EW) Mouser Electronics 6 $0.77 $4.62
Clock (LM555CM) Mouser Electronics 1 $0.27 $0.27
Helium Party City N/A ~$0.30/cu.ft. $3.00
Total Cost N/A N/A N/A $231.36