Project OverviewProject Overview
Design a robotic rover IR sensing and tracking system
Implement a grabbing deviceFully autonomous robot powered by
two DC motorsImplement system to obtain the IR
emitting object
SBCSBC
TS5600 -Technologic Systems
133Mhz AMD Elan 520 (586) Processor
Compact flash booting
On Board DIO2 serial portsWiFi communication
via pcmcia card
68HC11K4 Microprocessor68HC11K4 Microprocessor
8 channel, 8 bit A/D converter
Pulse Width Modulation– Four 8 bit– Two 16 bit
Allows for Serial communication
Motor ControlMotor Control
Motor speed is directly proportional to applied voltage
Will supply pulse to control speedNeeds a minimum of 2V to be
activated
Grabbing DeviceGrabbing Device
Considering several possibilities depending on progress made
A) Linear Actuator (most likely)B) Robotic Arm (if time permits)
Power SupplyPower Supply
Buck Converter- voltage supplied by a battery (12.8-11.5V), controlled by the PWM chip to adjust the duty cycle
Need a constant +5V output for SBC and sensors
Comparator CircuitComparator Circuit
Add to notify the user when the battery is 25% charged to avoid completely discharging the battery
Give signal to SBC to shut down to prevent brownouts
When the voltage drops below 11.5V, LEDs will turn on- will be necessary to shut down the system and recharge the battery
IR SensorsIR Sensors
Use IR Receivers and phototransistors IR Receiver- sends a digital signal (+5V if
signal detected, 0V if no signal) directly to SBC
Phototransistors- Sends a analog signal to HC11 for a/d conversion (strength of signal will depend of closeness of object). Located only on the front side
Testing of sensitivity in progress…
Parts ListParts List
Microprocessor– 68M711K4HC11– XC9572– Three 74HC245– AT29C256 ROM– AS7256 RAM
Power Distribution– Battery– UC3525, TC427,
passive components
IR sensors– 12 TSOP1156 IR
receiver– 4 TEKT5400S
Phototransistor– 15 TSAL7600 IR LEDs– 2 AA batteries
SBC– WIFI card– Flash card– Flash reader
BudgetBudget
- Robot Assembly - $350
- SBC- $300- Flash Card Reader - $70- Battery + Charger- $200- Passive Components/ Perf Boards/Other - $75- HC11, HC245, CPLD, RAM, ROM - Free- IR Receivers, Phototransistors- Free- Other $50
____________________________________________________
Total $975
Milestones 1Milestones 1
Create a Software TestbenchWrite manual robot control softwareComplete Testing of full HC11
schematicComplete CPLD programmingDevelop IR system
Milestone 2Milestone 2
Create communication S/W for HC11Interface HC11 with SBC and motorsAdd bumper sensors
Division of LaborDivision of Labor
Joshua Rubin– SBC S/W, HC11 software
Alexander Chi– HC11 H/W and S/W, SBC
Alexander Starick– Sensors, CPLD, Power Supply, SBC, grabbing device
Ryan Ramos– Sensors, grabbing device, power supply, SBC
Completed TasksCompleted Tasks
HC11 awaits simple testing with ROMPower supply is completePrototype Puck completedLoading of Linux on SCB completedRobotic platform completed
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