autonomous mobile plotter team members: kim schuttenberg & alicia tyrell project design review...
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Autonomous Mobile Plotter
Team Members:
Kim Schuttenberg & Alicia Tyrell
Project Design Review #2
Project Objectives
Accurately move and plot specific shapes on a flat surface, specified by a path.
Position Error & Orientation Correction
Where if displaced the plotter will move to its correct position and orientation up to 1 meter.
Software Specifications
Graphical User Interface Allows the user to enter a path for the
vehicle to follow. Forward xx, Right yy, Left yy.
Allows the user to draw shapes. Squares, Triangles, Polygons, Lines, Rectangle
Software Specification Cont’d
The user can place as many shapes as desired onto the drawing canvas with the following exceptions:
1. The size of the shapes to be drawn cannot exceed the 1m by 1m operational area.
2. All shapes must intersect.[1] [1] Each shape has fixed number of points in which it may
intersect with another shape. 3. Recipe instructions generated cannot exceed 4K
Software Description
Path Determined Nearest Neighbor Method Analysis
1
2
4
5
3 6
7
Software Description Cont’d
Recipe Generation
Recipe Commands OpCode Description
Straight 0xxxxxxx Moves the plotter up to 127 steps forward
Right 110xxxxx Turns the plotter up to 31 steps or 62 right
Left 111xxxxx Turns the plotter up to 31 steps or 62 left
Repeat 101xxxxx Repeat the next instruction 8x +1 (up to 249 times)
Correct[1] 10000000 The plotter will check its position for errors. Relative to the beacons.
Stop 10000100 The plotter will stop.
NOP 00000000 The plotter will do nothing.
[1] See section on Auto-Correct Instruction
Software Description Cont’d Plain Text Assembly
Error Correct (135,45,45) DC.B CorrectDC.W 150DC.B 100DC.B 100
Forward 20cm DC.B FORWARD+53
RIGHT 90 DC.B RIGHT+31DC.B RIGHT+14
Forward 20cm DC.B FORWARD+53
RIGHT 90 DC.B RIGHT+31DC.B RIGHT+14
Forward 20cm DC.B FORWARD+53
RIGHT 90 DC.B RIGHT+31DC.B RIGHT+14
Forward 20cm DC.B FORWARD+53
End of recipe DC.B STOP
Hardware Specification
Operational Area 1m x 1m Flat Surface
Movement Resolution 3.67 mm line segment per step 1.92° per step
Sensors Range: 2 m 38 kHz @ 950 nm ± 50 nm
Emitters Modulated to match sensors
Error Correction Accuracy Within Operational Area
5 cm
5 degree
Beacon 2 Beacon 1
( Paper 1m x 1m )
Beacon 3
10cm
Hardware Description
Device Size 12” x 6” x 9” ( Not including protruding wheels )
Microprocessor 68HC12A4
8 MHz EEPROM
Internal: 4K External: 32K
Static RAM Internal: 1K External: 512K
Hardware Description Cont’d
Stepper Motors Drive Motors
Unipolar Airpax 7.5°/step Sensor Motor
BiPolar:Astrosyn 0.9°/step
Work Division
Kim Schuttenberg Software Low-Level Circuit Assembly
Driver Circuit Board Signal Processing Board Emitter Circuit Board
Vehicle Construction
Alicia Tyrell Software High-Level Circuit Assembly
Modulation Circuit Board
Sensor Circuit Board Vehicle Construction
Work Completed
HardwareDevice Fully Assembled
IR Emitter Design Equation:
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Modulation Signal
Signal Processing
Demodulation Circuit
7.6s1.9ms *400
leastat takeshould sweep
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Work Completed/ In Progress
Motion Control
100% Written 90% Tested
Size: 268
Recipe Execution 100% Written 95% Tested
Size: 107
Math Algorithm 100% Written 90% Tested
Size: 499
Measurement 100% Written 40% Tested
Size: 313
Correction 100% Written 0% Tested Size: 253
Software Low-Level
Work Completed/ In Progress
Software High-Level
Main Interface Written: 100% Tested: 96%
496 Lines of Code
Shape GenerationWritten: 100 % Tested: 95%
450 Lines of Code
Path Generation Written: 100 % Tested: 85%
305 Lines of Code
Recipe GenerationWritten: 86 % Tested: 40 %
200 Lines of Code
Java Serial Communication Written: 89 % Tested: 80 %
100 Lines of Code
Power Consumption
Battery Source 4.8 Volts @ 1800 mAh
Logic: 3 hours
Total Measured: 400 mA
Power 1.92 Watts
6.0 Volts @ 3200 mAh Motor ½ hour – 1 hour
Total Calculated: 3 A
Power 18 Watts
Item Quantity Price Amount Stepper Motor, 400 Steps/Revolution 1 $6.75 $6.75Stepper Motor Controller IC 3 $3.25 $9.75Rectifier Diode 1 Amp/ 50 Piv 9 $0.06 $0.54Solderable Perforated Board 2 $2.00 $4.00Tamiya 70145 Narrow Tire Set 1 $7.25 $7.25LTM97AS40 LiteOn AS Infrared Sensor 3 $2.75 $8.25Battery Recharger 1 $29.99 $29.99PK10 Dip Shunts 1 $1.49 $1.49MC68HC12 Eval Board 1 $135.00 $135.0038 kHz IR Reciever Module 1 $3.69 $3.69T0-220 Heat Sink 1 $1.59 $1.59PCB StandOff (4) 3 $1.49 $4.47Center Lug Splicer 1 $5.96 $5.96HLX Flex Screw in Connector 1 $0.43 $0.43Brass M/S Nuts 2 $0.83 $1.66Washers 1 $0.83 $0.83Dual 7.2 9.6 Charger 1 $10.99 $10.999.6 Volts Ni MH RC Batteries 1 $24.99 $24.9914 Pin IC Sockets 5 $0.99 $4.9520 Pin IC Sockets 3 $0.59 $1.779.6 V RC Connector 3 $1.99 $5.97PK2 SubMini PB SW 1 $2.49 $2.49MultiWatt 15 Bridge Driver 2 $3.20 $6.40DIP-16 Quad 1.5A DAR 2 $1.20 $2.40Connector Brkway .100 80 Pos 2 $1.87 $3.74Connector House 2 Pos C-Grid A-Series 15 $0.48 $7.20Connector House 8 Pos C-Grid A-Series 2 $0.85 $1.70Connector House 6 Pos Dual CGrid 1 $1.62 $1.62Emitter IR 950 nm 20 $0.38 $7.60Terminal Crimp Tin Female C-Grid 20 $0.07 $1.41PhotoInterruptor Slot 3.0 MM PCB 3 $0.90 $2.70LCD Module 8x2 Hi Contrast 1 $8.66 $8.66DPDT 3A Switch 1 $3.99 $3.99NiMH AA (Rechargable) 6 $5.00 $30.00
Total Cost $350.23
Cost Analysis
Test Plan
Error Correction: Choose Several points/orientations to
test from. Have correct to known point, measure
error at end.
Recipe Execution: More of a calibration than a test
Straight: Drive a distance, turn, drive a larger distance. Measure distances to find the calibration constant for the strait command
Turning:Drive Straight, turn a large number of times, then drive straight again. The resulting angle can be used to find the rotation calibration constant.
Repeat: Use the straight and turn commands to test.
Potential Problems
Movement Stepper Motor
Questions ?
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