Mark Randall & Kevin ClaycombMark Randall & Kevin Claycomb

Faculty Advisor: David MitchellFaculty Advisor: David MitchellIndustrial Sponsor: IEEEIndustrial Sponsor: IEEE

IntroductionIntroduction

2006 IEEE SouthEastCon Hardware 2006 IEEE SouthEastCon Hardware Contest.Contest.

All schools located in the Southeast IEEE All schools located in the Southeast IEEE Region Region

Robot must sort and deliver packages to Robot must sort and deliver packages to different locations under a time constraintdifferent locations under a time constraint

Follow the lineFollow the line Picking up a packagePicking up a package Take it to a planeTake it to a plane Drop the package offDrop the package off

Problem DefinitionProblem Definition

Build a mobile robot Build a mobile robot Robot must perform Robot must perform

the tasks necessary the tasks necessary to compete in the to compete in the contestcontest

Constraints of the Project Due to Constraints of the Project Due to Contest RulesContest Rules

Time ConstraintTime Constraint 11stst Plane Leaves after 3 min. Plane Leaves after 3 min. 22ndnd Plane leaves after 4 min. Plane leaves after 4 min. 33rdrd Plane leaves after 5 min. Plane leaves after 5 min. The robot must deliver all 12 packages in five min.The robot must deliver all 12 packages in five min.

Size ConstraintSize Constraint The robot must fit into an 8”x8”x12” box at the The robot must fit into an 8”x8”x12” box at the

beginning and end of each round.beginning and end of each round. The robot may expand to a maximum size of The robot may expand to a maximum size of

14”x14”x20” while completing the task.14”x14”x20” while completing the task. Robot must be completely autonomousRobot must be completely autonomous

ObjectivesObjectives

Line following hardwareLine following hardwareDrive motor control hardwareDrive motor control hardwareLine following/motor control softwareLine following/motor control softwareBarcode reader hardwareBarcode reader hardwareBarcode reader interface softwareBarcode reader interface softwareGripper hardwareGripper hardwareGripper control softwareGripper control softwareState machine software implementationState machine software implementation

MechanicalMechanical Polycarbonate basePolycarbonate base Construct for maximum possible size limits (8 Construct for maximum possible size limits (8

X 8)X 8) Two polycarbonate motor mounts for Two polycarbonate motor mounts for

differential drive.differential drive. 2 wheels with rear track ball2 wheels with rear track ball

Computer PlatformComputer Platform

8051 based microcontroller design8051 based microcontroller designTwo 8 channel A/D converters for sensor Two 8 channel A/D converters for sensor

inputinputTwo motor control outputsTwo motor control outputsTwo inputs for feedback captureTwo inputs for feedback capture

The BrainsThe Brains

Atmel 89C51ED2 @ 40MHzAtmel 89C51ED2 @ 40MHz68 pin package68 pin package6 I/O ports6 I/O ports64K Flash64K Flash1 UART for serial communication1 UART for serial communication 5 PWM modules5 PWM modules16 bit address bus16 bit address bus3 16 bit up counters3 16 bit up counters

MobilityMobility

Two Maxon A-max motorsTwo Maxon A-max motors 6630 RPM (no load)6630 RPM (no load) 15.1 mNm (stall torque)15.1 mNm (stall torque)

Spurhead gear boxSpurhead gear box 1/32 gear ratio 1/32 gear ratio

shaft speed 207 RPMshaft speed 207 RPM Output torque 483 mNmOutput torque 483 mNm

Optical encodersOptical encoders Quadrature outputQuadrature output 100 pulses/rev100 pulses/rev

Motor Drive CircuitryMotor Drive Circuitry

Two Texas Instruments 3 amp full Two Texas Instruments 3 amp full

H-bridge ICsH-bridge ICsTPIC108BTPIC108B

Driven with pulse width modulationDriven with pulse width modulationComplete power system isolationComplete power system isolation

SENSORSSENSORS

Line detection Line detection Bar code scanningBar code scanningRangingRanging

Line DetectionLine Detection

8 channel A/D converter8 channel A/D converter 8 NPN photodetector / IR emitter 8 NPN photodetector / IR emitter

pairspairs Daylight filterDaylight filter

3”3”

Barcode ScannersBarcode Scanners

RS-232 interfaceRS-232 interfaceASCII outputASCII outputPOS-X1000 not adequatePOS-X1000 not adequate

IEEE recommendedIEEE recommended IDTECH scanner found to IDTECH scanner found to

be a better choicebe a better choice

IR Ranging SensorsIR Ranging Sensors

IR detector / emitter pairs IR detector / emitter pairs Sharp GP2D variantSharp GP2D variantTwo modelsTwo models

Long Range (4”-30”)Long Range (4”-30”)Short Range (1.5” – 12”)Short Range (1.5” – 12”)

Used for distance ranging Used for distance ranging and squaring the robotand squaring the robot

Handling Mechanism (Gripper) Handling Mechanism (Gripper)

Constructed to handle Constructed to handle the blocks the blocks

Servo driven Servo driven Two axis of controlTwo axis of control

SoftwareSoftware

Developed with Keil PK51 IDEDeveloped with Keil PK51 IDEState and feedback based autonomyState and feedback based autonomyLow level functions entirely interrupt drivenLow level functions entirely interrupt drivenModular design approachModular design approachBuilt in debug subsystemBuilt in debug subsystem

Autonomy OverviewAutonomy Overview

Location oriented decision makingLocation oriented decision making

I’m here, what’s next?I’m here, what’s next?

Static routes preprogrammedStatic routes preprogrammed

Feedback oriented design allows for Feedback oriented design allows for static routes to be somewhat dynamicstatic routes to be somewhat dynamic

Control SubsystemControl Subsystem

Interrupt driven PD speed controlInterrupt driven PD speed control

10ms control loop execution10ms control loop execution

Line and Sharp sensor integrationLine and Sharp sensor integration

Proportional controlProportional control

Data AcquisitionData Acquisition

Two A/D convertersTwo A/D convertersLine Following BoardLine Following BoardOn Board Auxiliary D/AOn Board Auxiliary D/A

Line Board sampling at approx 100usLine Board sampling at approx 100usAux D/A sampling at approx 30msAux D/A sampling at approx 30ms

3 Sharp IR analog sensors 3 Sharp IR analog sensors

ResultsResults

WE WON!WE WON!

Questions?Questions?