Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez
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Project Purpose:
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Project Overview Create a robot that is able to collect tennis
balls either autonomously or manually.
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Goals and Objectives To autonomously or manually pick up tennis
balls. Recognize objects using a vision system. Able to keep track
of number of balls collected. Wireless control from a remote
control if its not on autonomous mode.
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Specifications & Requirements Robot cost around $700.00.
Weight less than 7 lbs. Ability to carry 3-5 tennis balls. Range of
120 ft. Battery life of around 1 hour.
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Project Components Vision System: To identify objects DC
Motors: For movements of the robot Batteries: To provide power to
all components of the robot to function properly Ball Collecting
Mechanism: To collect the tennis balls Wireless Device: To manually
operate the robot
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Chassis Design Custom Chassis Modeled in SolidWorks Built the
actual chassis using clear acrylic sheets Connect the robots
platform using L-brackets
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Paddle Wheel design. Built with PVC and clear acrylic sheet.
The system uses a DC motor to rotate the paddle in order to collect
the balls. Ball Collecting Mechanism
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Chassis Design
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ABC uses 2 Sharp IR Range Sensors. Each sensor eliminates the
10 cm minimum distance of the other. The sensors are located inside
the chassis, behind the wheel paddle. Ball Counter
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Drive Train
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Motors 2 DC motors for movement Operating Voltage = 12 volt
Operating Current = 90 mA Stall Current = 1.5 A Stall Torque =
123.20 oz.-in RPM = 120 Weight = 5.36 oz. Price = 21.95 each
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Wheels Rear Wheels 2 All Terrain Wheels Front Wheels 2 Caster
Wheel to provide balance
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Visual System Blackfin Camera: Color Detection Motion Detection
Compatible with WebBot Library It communicates via UART
SpecificationsBlackfin Camera ProcessorBlackfin BF537 Processors
Speed500 MHz Input Voltage3.3 V Current Draw (max)145 mA UART2
Number of Timers4 Frames per Second30 I/O pins16
Resolution640x480
Why atmega328: More Programmable Memory Previous experience
with atmega8 and atmega168 Already had programmer available. WebBot
Library: Functions library compatible with the 328 and with the
Blackfin Camera Simplifies programming process.
Microcontroller
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3 Microcontrollers: Simplifies testing of the different parts
separately Allows for the coding to be divided among the group Main
Controller: Brain of the robot, receiving and transmitting
information between the other two microcontrollers and the camera
Motor Controller: Receives input from the main controller or the
laptop(RC mode). Controls the input of the h-bridges. Counter:
Keeps count of the number of balls the have been loaded on the
vehicle and instructs the Main to return to the base once the goal
has been reached. Microcontroller Design
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Main Controller and Counter Schematic
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Motor Controller modes: Autonomous mode: Receives its input
from the main controller Controlling Truth Table: Pins Main
Controller/Motor Controller C3/C3C4/C4C5/C5Action 000Stop
001Forward 010Reverse 011Turn Right 100Turn Left 101Roller on
Forward 110Roller on Reverse 111Roller OFF
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Motor Controller Modes: Remote Control Mode: Receives its
inputs from a Laptop via XBee.
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H-Bridge: Receives the input from the motor controller and
provides the power to the DC motors. Protects the microcontroller
from any shorts from the motors. L298 from STMicroelectronics
Characteristics: SpecsL298 Logic Supply Voltage5V Voltage Supply
(motors)Up to 45V DC Current Supply per Channel2A # Channels2 PWM
Capable PinsYes Logical 0 Input VoltageUp to 1.5 V
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L298 Configuration Schematic: Diodes are fast response Schottky
diodes.
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Motor Controller with L298s Schematic:
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SpecsXbeeBlueSmirf Range300ft350ft Voltage3.3V4.5-5.5V Current
TX45mAUp to 120mA Current RX50mA40mA Idle current