Automated Pickup and Delivery System

Sanjay Manglam

Jimmy Shek

Adam Chipalowsky

Design Goals Detecting objects

(known as targets) To distinguish

between obstacles and targets.

Acquire objects of varying height.

Retrieving targets Ethernet

Connectivity

SensorsUltrasound – on crane

SRF04 Infrared Emitter – on target

Your basic run-of-the-mills IR emitter Infrared detector – on crane

Radio Shack PN# 276-137BShaft encoder sensor – on crane

Ultra compact reflective sensor

Field of Play

Crane reach specification

Targets

Test outlook, planUltrasound…Tested!

Looks good IR…Tested!

Need to “narrow” beam using lens Internet Interface…Tested!

Looks goodCrane arm…under development!Servos…modified, under development!

Working on shaft encoder

System Test PlanFirst run

Target inline, no swivel movement needed Do simple pickup and deliver

Second run, offset target, let arm search for it

Third run, search and find many targets, ignore obstacles

Internet InterfaceSystem contains a web server (TCP/IP

interface, stack, etc). Users will be able to watch the current status of the system. 48K of website space Ethernet controller to interface to the web UART interface to the HC12

Additional FeaturesHave remote drop off zone where crane

transfers target to vehicle. Put the crane on wheels, drive it

around!