A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer,...
-
Upload
steven-wright -
Category
Documents
-
view
216 -
download
0
Transcript of A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer,...
![Page 1: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/1.jpg)
AUTONOMOUS RESCUE VEHICLE(TEAM 10)
Team members: Julia Liston, Vipul Bhat,
Krithika Iyer, Ruiyang Lin
![Page 2: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/2.jpg)
PROJECT OVERVIEW
Our team’s goal is to build a prototype of a robot that can: Use GPS to locate a lost person Autonomously navigate towards the person Lead him or her back to a safe location, which is
the starting location of the robot
![Page 3: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/3.jpg)
PSSCS
An ability to move and steer using appropriate motors and drive systems
An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module
An ability to receive and process GPS coordinates on the robot and move toward the given coordinates
An ability to detect obstacles and navigate around them using ultrasonic sensors.
An ability to monitor the battery level of the robot
![Page 4: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/4.jpg)
BLOCK DIAGRAM
![Page 5: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/5.jpg)
BLOCK DIAGRAM (CONTINUED)
+3.3 VPower
Supply Module Microcontroller
RF Transmitter
Module (Xbee Pro)
GPS ModuleUART (9
bit)
PWR _CTR
Rescue-Point Transceiver
![Page 6: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/6.jpg)
COMPONENT SELECTION
![Page 7: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/7.jpg)
COMPONENT SELECTION (CONTINUED) Microcontroller
2 PWM 2 UART Minimum 4 ATD Minimum 14 digital I/O pins Fast to handle data input (At least 32-bit
preferably, with CPU at least 50MHz) 3.3 V operating voltage
Final choice: PIC32MX120F032B for Robot and for the rescue point transceiver.
![Page 8: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/8.jpg)
COMPONENT SELECTION (CONTINUED) Motors
Enough torque to handle rugged terrain Steady state current relatively low to reduce power Built-in gear box to simplify design Chose: Dagu 25D Motor with 34:1 Gearbox
GPS receiver Accurate locating capability Relatively inexpensive Communicate through UART Chose: ADH Technology - GPS-11571
RF module Long range communication (6 miles) Conform to FCC requirements Chose: Digi International Inc - XBP09-DPSIT-156
![Page 9: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/9.jpg)
COMPONENT SELECTION (CONTINUED)
Ultrasonic Sensors: Easy to use ATD High Resolution Cost-effective Chose: Maxbotix LV-EZ4
H Bridge Delivers up to 5 A continuous Low turn-on resistance Built-in circuit protection Chose: TLE5206
![Page 10: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/10.jpg)
PACKAGING
Constraints Traverse rugged terrain Lightweight and Sturdy Room for PCB and off chip peripherals Minimize cost Looks cool
![Page 11: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/11.jpg)
PACKAGING (CONTINUED)
Batteries
PCB
Ultrasonic
Sensors
GPS
![Page 12: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/12.jpg)
PACKAGING (CONTINUED)Rescue-Point Transceiver
![Page 13: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/13.jpg)
SCHEMATICS (ROBOT)
![Page 14: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/14.jpg)
SCHEMATICS (ROBOT)
![Page 15: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/15.jpg)
SCHEMATICS (ROBOT)
![Page 16: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/16.jpg)
SCHEMATICS (ROBOT)
![Page 17: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/17.jpg)
SCHEMATICS (ROBOT)
![Page 18: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/18.jpg)
SCHEMATICS (ROBOT)
![Page 19: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/19.jpg)
SCHEMATICS (ROBOT)
![Page 20: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/20.jpg)
SCHEMATICS (TRANSCEIVER)
![Page 21: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/21.jpg)
SCHEMATICS (TRANSCEIVER)
![Page 22: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/22.jpg)
PCB LAYOUT (ROBOT)
![Page 23: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/23.jpg)
PCB LAYOUT (TRANSCEIVER)
![Page 24: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/24.jpg)
PCB LAYOUT (MICROCONTROLLER)
Robot Transceiver
![Page 25: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/25.jpg)
PCB LAYOUT (TRANSCEIVER POWER SUPPLY)
3.3 Volt Ground
![Page 26: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/26.jpg)
PCB LAYOUT (ROBOT POWER SUPPLY)
3.3 Volt
![Page 27: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/27.jpg)
PCB LAYOUT (ROBOT POWER SUPPLY)
-3.3V
![Page 28: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/28.jpg)
PCB LAYOUT (ROBOT POWER SUPPLY)
Digital Ground
![Page 29: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/29.jpg)
PCB LAYOUT (ROBOT POWER SUPPLY)7.2Volt
![Page 30: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/30.jpg)
PCB LAYOUT (ROBOT POWER SUPPLY)Motor Ground
![Page 31: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/31.jpg)
PRELIMINARY SOFTWARE DESIGN
Completed testing: Can transmit and receive with UART ATD PWM – Motor control Timing modules and interrupts
Future design: Motor control Navigation algorithm – ultrasonic sensors Process GPS data Transmit and receive with RF module
![Page 32: A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin.](https://reader030.fdocuments.in/reader030/viewer/2022033106/56649e5e5503460f94b575c0/html5/thumbnails/32.jpg)
TIMELINETimeline 8 9 Spring Break 10 11 12 13 14 15Week 1-Mar 8-Mar 15-Mar 22-Mar 29-Mar 5-Apr 12-Apr 19-Apr 26-AprSoftware (Basic subroutines)
Ultrasonic RF Module GPS Motor Control IR
Software (Debugging with hardware) Debugging Navigation Debugging GPS and RF communication
Hardware Proof Final PCB Motor Testing PCB Population & Testing
Final packaging Prepare for Final Design Presentation