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

CurrentlySweeping 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?