Smart RoverAaron Westphal

Ben MerkelJoe Merrill

Mike Wissolik

Baseline Project ObjectivesDesign and develop an unmanned rover. Ability to:

Receive data via central computer. Locate GPS coordinates. Locate heading via a digital compass.

Micro Processors on board provide ‘smarts’. Tank-like Motor control and motion. Completely scalable and upgradeable

platform. Create a simple and effective user

interface.

Purpose Incorporates a

plethora of design task.

Mechanical EE CS System integration

Unmanned mobile devices have become the workhorse for many industries.

Outline of Approach Define Functionality. Establish means and methods. Delegate responsibilities.

Mike and Aaron – Processor functionality (Smarts)

Ben and Joe – Hardware and EE development

Construction.

Target Consumers Open design Allows for a wide

range of duties: Military Mining Geological Surveying Utility Companies Much More

Potential to be very profitable.

User interface

Micro Processors PIC 16F876 Feature:

USART (single) I2C bus interface ISP and debugging. A/D converter

All powered off single clean switching power supply.

Modularity Each feature controlled by it’s own PIC. A “Bus Master” PIC will control data flow

between different PIC’s. The actual bus will be implemented via

I2C. This allows us to:

Add any functionality provided it has it’s own PIC.

Be completely scalable and upgradeable. Allow for after market add-ons with no change

to original platform.

PC RF Link

PIC

IIC Bus

PIC

Digital Compass

Bus Master

GPSMotor Control

Additional PIC’s

Expandability

Motors

PIC

Block Diagram

PIC

Expandables Ability to store positional and

environmental data via EEPROM: Obstruction data. Mine location data.

Additional roaming modes: “smart mode”: Navigate from point to point

while avoiding known obstructions. “Aquire Mode”: In case of RFCOMM loss,

search for obstructions without being told to.

Sonar, radar, camera, audio.

Motor Control Tank like design

offers more versatile solution.

Speed control. (D/A) Feedback. (A/D) Digital to analog

interface.

GPS UART HCI to unique PIC Provides latitude and

longitude information to system

High accuracy and ability to operate in any location/environment

Thousands of updates every second allow for continuous direction calculations

Digital Compass Digital Compass

provides bearing of rover.

Controlled by same PIC which controls GPS and will relay information to motor control PIC

Interfaced over IIC bus or UART

RF COMM RS-232 emulator

provides low cost and easy to implement RF link.

Self contained unit including power supply eases system integration and reduces power constraints.

Manufacturability Manufacturability

is low cost since the basic rover never changes

Once rover and peripherals are qualified, there is no need to re-qualify the rover in any configuration

Safety This project will be safe to the end

consumer When working with power tools

eye protection will be worn No user voltages above 14 Vdc No sharp objects exposed All electronics can be concealed

Impact on Society Pave the way for unmanned low-

cost customizable vehicles Put existing technologies to

practical use for innovative applications

Upgradeability allows for limitless possibilities

Schedule

Risks Communication problems

with many PICs on same I2C bus

Under designing the powered chassis disallowing adequate mobility

Magnetic interference on compass accuracy from permanent magnet motors

Lack of resolution on available GPS boards

Contingency Add more functionality to single

PIC to lessen need for other PICs Use proven chassis that has been

prefabricated Alternate source of directional

information