Post on 20-Jan-2016
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