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GROUP 1 Kamal Ahmad Francesco Buzzetta Joshua Dixon David Snyder A Workforce Central Florida Funded Project A Mike Felix Mentored Project 1 The Problem: Transporting heavy objects over long distances Limiting factors Physical stress Probability of human injury Labor costs 2 The Goal: The goal is to reduce the amount of stress on the human body college students with books and/or electronics Major corporations utilizing human labor A passenger traveling in the airport carrying luggage. 3 The Solution: To prevent the aforementioned problem, the use of an autonomous traveling assistant will be ideal in order to safely transport the user’s payload in a stress-free manner. This will be accomplished through the use of the AMP-V. AMP-V stands for “Autonomous Mobile Payload Vehicle.” 4 Goals and Objectives of AMP-V: Follow the user autonomously Mobility on various types of terrain Avoid obstacles in its path Ascend and descend stairs Self-sustaining capability Transport a payload 5 Specifications of the AMP-V Specification Standards Dimension 25 in. x 25 in. x 22 in. Range 24 in. from user Object Detection 18 in. AMP-V Speed 3 mph Operational Time 1 hr AMP-V Weight ≤ 25 lb Payload Weight ≤ 25 lb Photovoltaic Solar Panel 40 W 6 Block Diagram 7 Mobility Hardware 8 Chassis AMP-V Chassis will consist of a Plexiglas structure and PVC piping Visibility of circuitry, structure, motors, etc. Four main sections Payload Bay Hardware Bay Photovoltaic Mounting Tracks and Sprockets 9 Chassis 5 3 3 3 3 1 2 4 4 1. 2. 3. 4. 5. Payload Bay Hardware Bay PV Mounting Tracks/Sprockets PV Cell Motor Controls The motor controls will consist of an H-Bridge configuration Use of BJTs connected to microcontroller Microcontroller programs motor controls for mobility of the AMP-V Motors set in Parallel In order to account for equal voltages on respective sides and retain stability 11 Motor Controls Schematic Schematic of 3 A H-Bridge Note that this is for one side (i.e. left side motors), so two of these will be required for the AMP-V 12 Motor Controls Actions F R ENOT Action 0 0 0 Coast 0 0 1 X 0 1 0 Backward 0 1 1 X 1 0 0 Forward 1 0 1 X 1 1 0 Brake 1 1 1 X 13 Tracks & Sprockets Tracks 3 inches wide, about 116 inches ○ Rubber ○ Provide high ground clearance ○ All-terrain Sprockets Will be used to define a trapezoid-like shape out of the tracks ○ Motors ○ Hub 14 Accelerometer Model : ADXL335 Features: 3-Axis +- 3g Low power: 350uA Single-supply operations: 1.8V to 3.6V Bandwidths: 0.5Hz to 1600Hz 15 Proximity System 16 Ultrasonic Sensors SRF05 Ultrasonic Ranger 5 V, 4 mA Total of 4 sensors, one in each cardinal direction ○ Radial area for pinging Trigger and Echo pin Returns a positive TTL level signal ○ width proportional to distance of the object 17 Object Detection Sensors can detect up to 5 meters beam width of ±55° perpendicular to the surface Only interested in objects ≥ 6 in. and ≤ 24 in. Threshold of 24 in. ○ AMP-V will maintain a 24 in. distance from the user Threshold of 18 in. ○ AMP-V will initiate collision avoidance 18 Collision Avoidance Maneuvers conducted by the AMP-V to avoid collisions The AMP-V’s control systems will decide necessary movement ○ Decision making Execute movements by sending the appropriate signals to the motor controls 19 Tracking System 20 Tracking System Infrared technology IR transmitter (Beacon) Two IR receivers mounted at front left and front right of the AMP-V ○ Determines orientation of AMP-V in relation to the beacon 21 Beacon (IR Transmitter) 5V energy source required Four 1.5 V Batteries IR oscillator circuit 555 Timer: ICM7555 IR LED: TSAL6200 Circuit allows for IR LED to toggle on and off at 38 kHz frequency IR receivers will detect the 38 kHz IR wave ‘blinking’ and output it to MCU 22 IR Transmitter Schematic 23 IR Receiver IR Receiver Module Vishay TSOP34838 38 kHz Infrared Measuring Sensor Two IR receivers mounted at front left and front right of the AMP-V Analog output Read from detection angle of the Receiver 24 IR Receiver Schematic 25 Viewing Angle IR receivers have a half-angle view of ±45° Extended visibility 64.72° from front Turning receivers 19.72° in order to achieve such viewing angles 26 Microcontroller 27 Microcontroller MSP-EXP430FR5739 24MHz 2.0V - 3.6V 560uA ○ Low power consumption 32 I/O ○ 14 10-Bit ADC I/O Devices: Ultrasonic sensors – 8 GPIO - I/O Infrared receivers – 2 ADC - I H-bridges – 6 GPIO - O Accelerometer – 3 ADC - I 28 Software Sensors Object Detection algorithms Accelerometer Orientation Motor Control Collision Avoidance algorithms Infrared Receiving PWM 29 Handshake & Configuration Turn On AMP-V Read Analog Outputs (Infrared) Signal motors for movement Distance Comparison == 24in. Timer (30 secs) Signal motors for movement User ≥ 24 in. or ≤ 24 in. Orientation (accelerometer) Orientation (accelerometer) Adjust Direction (tracks & motors) Object Detection (ultrasonic) No Object Detected within 18 in.? Yes Collision Avoidance (mcu, tracks & motors) 30 Self-sustainability 31 Photovoltaic Cells Solar Panel Voc Isc Dimensions Weight Cost Monocrystalline 21.6 V 3.26 A 24.95 in. x 24.95 in. x 1.25 in. 8.8 lb $139.99 Polycrystalline 21.6 V 3.2 A 73 in. x 53 in. x 5 in. 13.2 lb $159.95 Amorphous 20.7 V 3.06 A 33.5 in. x 17.3 in. x 0.098 in. 5.51 lb $294.75 32 Monocrystalline Solar Panel Photovoltaic Cell Type: Monocrystalline Output Power: 50 W Maximum/Peak Voltage (Vmp): 17.1 V Open Circuit Voltage (Voc): 21.6 V Maximum/Peak current (Imp): 2.92 A Short circuit Current (Isc): 3.26 A 33 Monocrystalline Solar Panel 34 Power Distribution 35 Power Distribution Diagram 36 Batteries The AMP-V shall use two 12 V batteries The batteries shall provide sufficient energy to 4 Motors 4 Ultrasonic sensors 2 Infrared receivers Microcontroller Accelerometer The batteries shall be rechargeable and sustain operation of the vehicle for at least one hour 37 Battery Requirements Voltage Current Power Min Max Photovoltaic Cells 10V 18V Battery(2) - 3800mAh 12V 14.5V Motor (4) 6V 12V 1.5A 9W 18W IR Receiver (2) 2.5V 5.5V 3mA 0.02W 0.03W 5.0V 4mA 0.02W 0.02W Ultrasonic Sensor(4) Pmin 2.78A Pmax 50W 45.6W MCU 1.8V 3.6V 560uA 1.01uW 2.02mW Accelerometer 1.8V 3.6V 350uA 0.64mW 1.33mW 36.04 W 72.05 W TOTAL (including all items) 38 Battery Specifications Function Nickel Metal hydride (NiMH) Nickel Cadmium Lithium Rechargeable (NiCad) Ion (Li-ion) Alkaline (R-A) Voltage 1.25 1.25 1.75 1.5 Charge Capacity 3800 mAh 700 mAh 400 mAh 3000 mAh Safety Needs No No No Yes Recharge Cycles 100’s 100’s >500 10’s Charge Rate 1.8 – 3.8 A ~2A 400 mA N/A Continuous Good Use Performance Good Good Poor Weight Light Medium Light Heavy Cost Low Medium High High 39 Battery Specifications Nickel-metal hydride (NiMH) 12VDC 3800 mAh (each) Discharge rate: 3.8 A – 4.2 A Charge rate: 1.8 A – 3.8 A 1.3 lb 3.3 in. x 1.3 in. x 2.6 in. 40 Voltage & Charge Regulator 3 Voltage Regulators 12VDC – Motor Controls 5VDC – IR Receiver and Ultrasonic Sensors 3VDC – MCU and Accelerometer 1 Charge Controller 50W Solar Panel to 24VDC Battery 41 12VDC Voltage Regulator Powering Motor Controls PT6656 Integrated Switching Regulator Input Voltage = 9 – 28 Volts Output Voltage = 12 Volts Output Current = 5 Amps Simple Implementation (2 capacitors) 42 12VDC Voltage Regulator Powering Motor Controls 43 5VDC Voltage Regulator Powering IR Receivers and Ultrasonic Sensors PT6653 Integrated Switching Regulator Input Voltage = 9 – 28 V Output Voltage = 5 V Output Current = 5 A Simple Implementation (2 capacitors) 44 5VDC Voltage Regulator Powering IR Receiver and Ultrasonic Sensors 45 3VDC Voltage Regulator Powering MCU and Accelerometer PT6651 Integrated Switching Regulator Input Voltage = 9 – 28 V Output Voltage = 3.3V Output Current = 5A Simple Implementation (2 capacitors) Additional 35.4 kΩ Resistor on Voltage Adjustment pin to reduce Vo to 3V 46 3VDC Voltage Regulator Powering MCU and Accelerometer 47 Charge Controller 48 Administrative Information 49 Budget & Financing Part Type Ultrasonic Sensor Photovoltaic Cells Battery Motors Tracks Track Sprockets Charge Controller Connectors Power Converters Passive Hub Extenders Cost $121.56 $149.99 $91.76 $87.80 $233.70 $79.60 $25.00 $50.00 $20.00 $59.80 Part Type Hub – (motor to sprocket) Track Fasteners Motor Mounts Plexiglas Overhead PCB Infrared Receivers Infrared Diodes Accelerometer Cost $16.00 $3.95 $29.90 $174.88 $200.00 $200.00 $37.99 $5.00 $32.94 TOTAL : $1,619.87 Final Workforce Central Florida Budgeting $1,927.98 $308.11 under budget 50 Milestone November 21st – Research Phase December 5th – End Preliminary Design February 10th – End Prototype Assembly February 29th – End Prototype Bugs Phase March 31st – End Testing Phase April 9th – Final Paper and Presentation 51 Work Distribution 52 Work Completed 53 Work To Be Completed Ordering Parts PCB Fabrication and Mounting Voltage Regulators IR Receivers and Transmitter Motor Controls Assembly Chassis Tracks IR Receiver and Transmitter MCU Programming, Device Interfacing Testing Current Issues Detecting stairs 55 56