Transcript A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed.

A Beacon-Sensing, Path Finding Robot
Operating in a Crowded Environment
JEEVES the Robot Butler
Team JEEVES
Daniel Steffy, Alissa Halvorson, Bogdan Pisica,
Christopher Pearson, Hameed Ebadi
Current Status
• Ultra Sonic Sensors working
• DC motor movement
• Chassis implementation
Hameed Ebadi
Milestones
Milestone I
• 3 weeks away
•PCB complete (perhaps minor bugs)
•Robot able to maneuver through user
command
•Calibration system implemented
•Shaft extender for motor
Milestone II
•6 weeks away
•Bug free PCB
•Robot able to detect beacon signal and traverse to it
•Dynamic Object Detection
Hameed Ebadi
Goals
• 9 weeks away
• Beacon detection
• Path finding algorithm w/ object detection
implemented
Hameed Ebadi
Functional Decomposition
Robot Level 1
Robot
Power
Control Signal
3.3V
Optical Sensor
3.3V
Microcontroller
Sensors
BPD
RFID
Reader
PWM
Directional Data
From Beacon
Motors
24V
State Machine
Motor Controller
Directional
Sonar
Hameed Ebadi
Functional Decomposition
Motors Level 2
Motors
Control Signal
Opto-Isolator
Motor Driver
Optical Sensors
Motors
Power
Optical Data
Hameed Ebadi
Functional Decomposition
State Machine Level 3
State Machine
Sensor Control
[DS = 0]
[BPD = BPD]
[BPD = !BPD]
Sensor Data
Idle
[RFID=0]
[RFID=I]
[DS = 1]
Search for Signal
PathFinding
RFID Processor
[RFID=1]
Motor Controller
[RFID=C]
Daniel Steffy
Functional Decomposition
Path Finding Level 4
Directional data
Directional Data
RFID Reader
Determine Direction
Reevaluate
Direction
Detect RFID
Interrupt
text
Ping the Ultra Sonic
Sensor
Ultra-Sonic
Sensor
Checks direction with
Ultra Sonic Sensor
Ultra-Sonic
Sensor
Path Finding
Algorithm (Depth
First?)
Motor Control
Path Finding
State
Transition
Daniel Steffy
Functional Decomposition
Remote Level 1
Base Signal
Power
Comms
Logic
Directional Signal
Remote
Transmitter
User
RFID Tag
Daniel Steffy
Functional Decomposition
Base Station Level 1
Power
Comms
Remote Signal
RFID Tag
Transmitter
Directional Signal
Base Station
Logic
Daniel Steffy
DC Motors
•
•
•
•
GM9232C113-R1 24V DC motor
65.5:1 Ratio
Pittman LO-COG
Roughly 120 RPM
Chris Pearson
Motor Driver
•
•
•
•
•
High-Power Motor Driver
15 Amp, 30 Volt rating
Direction pin
PWM input/output
Basic fault protection
Chris Pearson
Wireless Motor Control
Chris Pearson
MSP430F169
•Integrated UART
•Hardware driven PWM
•3.3V logic output
•Integrated ADC for sonics
Chris Pearson
LV-MaxSonar®-EZ1™
High Performance Sonar Range Finder
Alissa Halvorson
LV-MaxSonar®-EZ1™
High Performance Sonar Range Finder
• 6-inches to 254-inches
• interface output formats
– Pulse width output
– analog voltage output
– serial digital output
http://www.maxbotix.com/documents/MB1010_Datasheet.pdf
Alissa Halvorson
Ultra Sonic Sensor
Analog Output
Distance
(in)
Vout vs Calculated Distance
30
25
20
Calculated
Distance (inches) 15
Vout
10
5
0
0
50
100
150
Output Voltage (V)
200
250
300
Calculated Distance
(in)
3
6.68
5
6.68
7
7.625
10
9.608
12
11.583
15
14.6
18
17.495
20
18.557
24
24.02
Calculated Distance
(in)
71.8
6.68
71.8
6.68
81.9
7.625
103.2
9.608
124.4
11.583
156.9
14.6
187.9
17.495
199.3
18.557
258
24.02
Alissa Halvorson
Max Distance
Waveforms
Digital Output
12”
24”
Alissa Halvorson
Directional Antenna
Bogdan Pisica
Task
Revised Division of Labor
Alissa
Bogdan
Chris
Danny
X
X
X
X
X
X
Hameed
Electrical
Controls
Sensors
Comm
PCB
Power
X
X
X
X
X
X
Software
Path Finding
State
Machine
Device
Interfacing
Debugging
X
X
X
X
X
X
X
X
X
X
X
X
Mechanic
al
motors
wheels
antenna
chassis
X
X
X
X
X
X
X
X
Integration
Testing
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
System
Document
ation
Bogdan Pisica
Parts List
Part
Description
Price ($)
Comm System
Xbee Series 1
75
Micro-Controller System
MSP430
150
Directional Antenna
20
Foxhunting Antenna
System
Motor System
200 0.00
Batteries/Power
Motorcycle/9v/Wall
100
Sonic Sensors
PING))) Ultrasonic Range
Finder
120 103
RFID System
100
PCB
105 0.00
Mechanical
Wheels/Chassis
150
Printing
Expo Docs
150
Misc
200
TOTAL
1048
Bogdan Pisica
Questions?
Bogdan Pisica