Wireless Surveillance Vehicle Lance P. Riegert Rodrigo A. Urra Steve C. Wilson September 18,...
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Transcript of Wireless Surveillance Vehicle Lance P. Riegert Rodrigo A. Urra Steve C. Wilson September 18,...
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