Autonomous ContainerDelivery ProjectFinal Report Group 13 1. Executive SummaryThe purpose of this project is to produce a vehicle with the ability to pick up a deliver cargo at unknown heights and locations safely after receiving a signal from a control module. Our team has worked collaboratively to create a vehicle that is able to perform multiple operations to satisfy this purpose. We created a vehicle with a chassis suspending a cargo pickup system made mainly of plywood, as it was economical and allowed for increased robustness. The pickup mechanism consists of two boxes, of which one box slides back and forth to catch and release the cargo. The sliding box is achieved through a simplepulley system made out of rubber wheels attached to a 9 motor. !s we The cargo pickup mechanism and the vertical"hori#ontal motion function independently and therefore re$uire % separate breadboards and microprocessors, each powered by a 9 battery.&ey 'isks( )urn out, loss and damage of components, injury and electric shock*uring +nal testing, the vehicle was able to perform individual functions such as the vertical motion, collection of the egg and hori#ontal motion. ,owever, the vehicle was not able to deliver the cargo safely and accurately and the detection of the signal from the control module was not robust.a!le o" Contents1 - .xecutive /ummary - page 0# - 1ntroduction - page 23 - 3inal *esign and 1mplementation - page3. 1 - .lectrical systems - page3. 1. 1 - /ound detection - page3.# - 4echanical systems - page$ - .valuation of *esign 5 page% - !nalysis of 3inal Testing 'esults - page& - &ey 6essons 6earned - page' - .7ectiveness of Organisational /upport - page( - 8onclusion) - 'eferences2. Introduction4ust include a problem de+nition. /hould begin with motivation and backgroundtotheproblem, andneedstotalk9ingeneral terms: about someof thekeyproblems raised by the design brief, during the development of the design, andduring testing. This is then a lead5in to discussing the proposed solutions 9in thenext section:. /houldexplainwhat $uestions thereader canexpect to+ndansweredintheremainder of thereport. 8anincludeanyother discussionconcerningmotivationfortheprojectordesign, orbackgroundtotheprojectwork. *on;t start discussing details of the design itself or what was done duringthe project - this comes later in the report - the introduction is for explaining thedesign problem 9and sub5problems: in as much detail as you can.!round 05% pages.The problem was de+ned as such(=mm including cross5bars >=mm from either end, to transport fragile cargo from an unknown pick5up location to a delivery location0?==mm away at a height of ?@@mm below the vehicle. The vehicle should be able to detect and avoid obstacles, no more than a height of 2@=mm from the delivery planeA between pick5up and the drop5o7 points whilst causing no damage to the cargo. The vehicle should be programmed to activate sonar signals from an unmodi+ed control module at the pick5up and delivery points in order for their hori#ontal positions to be detected and pin5pointed. 4aterials usedin the +nal construction of the vehicle should cost no more than BC=, whilst testing and prototyping will have no limit. The delivery of the cargo should be both $uick and accurate whilst the system must be robust enough to detect and receive the signals from the control module. The design of the vehicle will be uni$ue, innovative and aesthetically appealing.D3rom the problem de+nition, several key problems were extracted and raised. These would need to be solved in order to facilitate a successful solution(3. Final Design and ImplementationEiveall of themaindetailsof your +nal design, bothattheconceptual anddetaileddesignlevels. Takecaretodescribeyourdesignconciselybutinasmuc* tec*nical precisionasyoucan. !sexplainedatthebeginningofthecourse, the output o" t*e +esi,n process is a speci-cation, and it should bepossibletopassthisspeci+cationtoanotherengineer9whoisunfamiliarwithyour work: who would then be able to construct exactlythe same solution. )eprecise about giving $uantities, in their correct units, for everything. /how howdi7erent subsystems are interfaced, if you have subsystems. .xplain"show howeachmechanical partisconstructed9includingprecisedrawings"sketcheswithdimensions:, or for electrical designs, give circuit diagrams complete withcomponent names and values..our precise an+ compre*ensive tec*nical speci-cation/ an+ t*ereasonin, !e*in+ t*e c*oices you ma0e/ 1ill !e t*e most *eavily1ei,*te+ aspect o" t*e report +urin, mar0in,./omewhere in this section, you might want to talk about whether your designchanged from the design proposal, and if so, why./omewhereinthesection, spendsometimediscussingtheevolutionof yourdesign, especiallywhyyoumadethedecisionsyoudid. The+nal designandconstructioncanbethoughtof asaseriesof decisions, eachof whichhasareason. The reasons are a big part of what is being marked here. 1f your reasonsinvolvereferences, thencitethemcorrectlyasneeded. Talkabout howyouprototyped the design. What problems did you have to overcome as part of your+nal designF What took the most e7ort and whyF1f you have huge amounts of detailed technical material, organise it cleverly -e.g. put some into an appendix and refer to the appendix in the text. This wayyou can keep the Gow of the report and include all the detail.*on;t talk about results yet. Hou can talk about any preliminary testing you didand how this inGuenced your design.Hou must give the total cost of the +nal design 9using estimates if you need to:.Iictures, photos, diagrams and sketches are great in this section, but please beaware that on their own these +o not constitute a speci-cation.4ake sureyoulabel themcorrectlyandrefer totheminthetext, andmakesurethatpictures or sketches add to rather than replace detailed drawings or schematicsof the design. 1f you can;t think of a way to refer to a diagram in the text, then itprobably shouldn;t be there.3inally, take care not to repeat your design proposal. The purpose of the +nalreport is di7erent to a design proposal. &eep this in mind.!round @5J pages.3. 1. Electrical Su!system1nthewhole, therearetwo!rduinousedincludingaKnoanda4ega. The +rst one is responsibleforcarmoving and theverticalmotion while the 4ega acts as a controller of the hori#ontal motionwhich refers to 8ollection and *elivery 4echanism. 3. 1. 1. Soun+ Detection1n order to communicate the location of pickup and dropo7 for the vehicle, a sound detection system was re$uired to receive the sound signal from the control module and output to the microcontroller depending on the fre$uency of the signal received.!n electret microphone was used to detect the sound signal emitted from the control module. This signal was fed into an ampli+cation stage consisting of two 64J>0 op5amps connected in series. These integrated circuits ampli+ed the small output of the microphone to a suLciently high voltage that could be analysed. Two op5amps were used in order to overcome signal clipping that occurred as a result of the gain on the op5amp being too large 9approximately x0== calculated by the formula in 3igure 2.0.0.0:.Vout=V(R2R1 )Figure 3.1.1.1 Gain across a closed loop op-amp [1]The gain on each op5amp was stepped down to about x0= to prevent clipping, whilst still maintaining the +nal level of ampli+cation as shown in 3igure 2.0.0.%.Figure 3.1.1.2 The amplifcation module of the microphone circuit. The gain across each op-amp is-10.To decode the signal fre$uency, we planned to construct a pair of band5pass +lters and comparatorsA however it was highly unreliable and dropped out at high fre$uencies. !n alternative solution to use a 6M@?J tone decoder was decided upon, which improved reliability and simplicity of the design. Two pairs of the tone decoders were setup in parallel to allow only the two fre$uencies 92===,# and @===,#: of the control module to produce a digital @ output from the respective tone decoder N%O.3. 1. #. 2icrocontroller!n !rduino Kno microcontroller was used as a central control device to process signals from various sensors and output the necessary signals to other components. 4icrocontrollers are low cost and low power integrated circuits that are reliable and easier to implement than discrete logic gates. The !rduino boardallowed for easy implementation of analog and digital voltage inputs and outputsthrough the programming language that o7ered high level functions.3. 1. 3. 2otor control1n total, there are three motors used in the vehicle, which are for car moving, vertical motion and hori#ontal motion respectively. To achieve the common aim of reversing the direction of them, an 18 whose type is 6%92* is used as ,5)ridge, which is an electronic circuit that enables voltage to go through either direction in order to allow *8 motor to run forwards and backwards.To control motors, the 18 96%92*: that can control two motors at the same time, could be easily connected to !rduino microcontroller which could be encoded to receive inputs and output orders to motors. The way to connect an 18 to !rduino is displayed below 9+gure 2.0.2.%:.The table showed below 9+gure 2.0.2.2: describes how an 18 can work with !rduino.3igure 2.0.2.0 ! schematic diagram of ,5)ridge. 3igure 2.0.2.% The pin layout for 6%92*.Pin 1 Pin 2 Pin 7 FunctionHigh Low High Turn clockwiseHigh High Low Turn anti-clockwiseHigh Low Low StopHigh High High StopLow Not applicable Not applicable Stop3igure 2.0.2.2 The truth table showing the output logic.!s can be seen from the pin layout and the truth table above, pin0, % and J are all IW4 pins of !rduino. 3or this example, pin 0 is connected to the enable pin, pin % and J are linked to input 0 and %. 3or the coding part, sentences below are written for the !rduino to control the motor, which matches the