Amr Aldaiel - Andrew Kravitz
Katie Noble - Zack Taylor - Alan Yim
Overview
•
•
•
•
•
•
•
•
•
•
•
Objectives and features
Block diagram
Microcontroller and FPGA
Rover assembly and mechanics
Peripherals
Power distribution system
User interface and communication link
Risks and contingency plan
Division of tasks
Time schedule
Cost estimation
Purpose
• Remotely operated rover to be used for
purposes including:
– Home/Business surveillance
– Hazardous environment monitoring
– Accessing low-light and small space
environments
– Non-intrusive monitoring of disabled and
elderly
Features
Preliminary
Goals
Potential
Add-ons
• Wireless real-time video with
illumination capabilities
• Remote manual operation via computerbased user interface
• Temperature sensor
• LCD display and keypad
• Wireless network control
• Automatic patrol mode
• Smoke detector, CO detector
Block Diagram
Microcontroller
• PIC18F6527 Microcontroller (64 Pin)
– Contains 5 on Board PWM
• 2 PWM to control vehicle movement
• 1 PWM to control camera servo for vertical aim
– Onboard EEPROM, RAM and EnhFl memory
– Internal Oscillator to sample wheel position
– Max Operating Frequency 40MHz
– Upward scalable for additional features
FPGA or CPLD
• Xilinx XCS10 FPGA
– Uses
• On Board Control Pad
• On Board LCD display
• LED information lights for debugging
• On Board Switches and Buttons for debugging
Rover Assembly and Mechanics
• Two independent drive-trains
• Each drive-train driven by a different DC
motor
• Options
– Treads
– Left/Right side wheels linked by belts
– Front/Back wheels on axles
• Optical encoder feedback for automated
movement (optional)
Peripherals
Preliminary
Goals
Potential
Add-ons
•
•
•
•
Wireless camera
High-intensity illumination LEDs
Temperature sensor
LCD display and keypad
• Night vision camera capabilities
• Smoke detector
• Carbon Monoxide detector
Power Distribution System
Tasks:
• Design and build a Power Management Unit
(PMU)
• Build switching power converters as needed
for different parts of the eyeBOT
• Ensure power is adequately distributed and
efficiently managed
• Ensure switching converters are adequately
cooled down by heat-sinks and/or fans
Initial PMU Components
•
•
•
•
•
1st Stage Step-Down Converter
2nd Stage Step-Up/Down Converters
Motor Controller and Gate Driver
H-bridge Inverter
Servo Controller
PMU (Power Management Unit)
Step-Up/Step-Down DC-to-DC Converter
• Non-inverting buck-boost Converter
(Could also use a Flyback Converter):
H-Bridge Converter
User Interface
• User will interface with the eyeBOT
from a base computer.
• User will control movement of wheels
and camera
• Programmed using Visual C#
Communication Link
• Camera will communicate wirelessly
directly with the base computer
• All other devices will communicate to
the base computer through an RS-232
cable
• Once working, we will upgrade to
wireless communication
Risks & Contingency Plan
• Errors on PCB
– Wire wrap prototype
• Power issues
– Can use tethered AC power
• Visual interface issues
– LCD panel rover control
• Wireless interfacing issues
– Can use tethered RS-232 interface
Division of Tasks
• Amr
– Power distribution system, LCD/Keypad
• Andrew
– Microcontroller, FPGA
• Katie
– Motors & feedback, peripherals, FPGA
• Zack
– User interface, communication link
• Alan
– Rover assembly & mechanics, motors
Time Schedule
Cost Estimation
Component
Quantity
Price Per
Price
Variable speed DC motor/Gearbox
2
$65
$130
Chassis
1
$200
$200
Battery/Battery charger
1
$150
$150
Digital thermometer
1
$5
$5
Camera (CCD)
1
$100
$100
10
$1
$10
FPGA
1
$120
$120
Servo for camera rotation (vertically)
1
$40
$40
Keypad/LCD
1
$25
$25
PIC (Microchip 18F6527)
4
$5
$20
PIC programmer
1
$160
$160
Demo board
1
$60
$60
Printed circuit board
2
$100
$200
RS-232 cables
1
$25
$25
RS-232/RF interface
1
$150
$150
H-bridges
2
$25
$50
Optical feedback encoders
2
$60
$120
Quadrature decoder
2
$40
$80
High power LEDs
TOTAL
$1,680
Questions?