Surveying Investigative Transportable Cartographical Helper?
Sitchest Ish That Chu Heard?
“…we’re going to retrofit it.”

Receiving
Sensory Processing Transmitting
Data
Storage
ROBOT
Motors
BOOSTER
High-level
Functional
Diagram
Transmit Receive
Receive Transmit
USER Transmit Receive

High Level Control: Commanding and
Processing Movement and
Environment

Image processing
CPU software
Mapping Database
Distance/ angle

BRAIN
Object
Ultrasonic
Sensors
Camera and
Laser
Spy Camera
ARM Cortex
M-3
Magnetometer

SPINE
Motor
Controller
Motors
Receiver
ARM M-0
Analog
Preprocessing
Circuit
Servo Motor
Remote
Control
Spy Camera
Transmitter
User
TV Receiver

 Finds objects that may have been missed by the laser.
 Allows basic object avoidance while the rover is in motion.
 Model: LV-MaxSonar-EZ0
 Status: Basic testing with Arduino-uno completed – developing interface for M0



Handles image processing and location awareness.
Sends position data to lower level motor control loops.
 Status: Developing camera interface.

CMOS Schematic EAGLE

Remember me?

Quite Grainy, Similar to how the CMOS camera will see images
CMOS won’t have as many random colors

Quite grainy
But the spot is brighter

 21 Inches measured
 56.97cm calculated
 22.4291339 inches
 6% error

 91.44 cm

 90.387 cm Calculated  -1.15% error

 Not very bright
 Used water
 Different laser on its way

 A line is visible
 Not mapped to angles
 Lost data
 3 pts to 1
 Great progress
 High level goal
 we have other options

 To be implemented after scanning and image processing.
 Initially, perform rudimentary scan and move aimlessly between obstacles.
 Ultimately, be able to negotiate past objects to reach a waypoint.
 This waypoint may be provided with vector data from stored encoder/magnetometer data.
Status: In development.

Low Level Control: Providing Fine
Motor Control and Dead Reckoning

Zero point: Duty
Cycle is 8%
Minimum point:
Duty Cycle is
5%
Maximum point:
Duty Cycle is
11%


Receiver’s output must be digitized and encoded using the correct modulation
 ADC will be used to measure the output of signal averager and output the corresponding modulation to the motor controllers

Schematic of the Signal Average
Circuit

 Separate chip chosen to diversify processing abilities.
 Simple motor control option.
 Designed to handle control loops.
 Hope to guarantee high responsiveness of all sensors, computer and control systems.
 Specific Model: LPC1114FHN33/302
 Status: Initial development.

 Basic device for measuring distance travelled.
 Use paired IR LED/phototransistor and
ADC to measure pinwheel rotation.
 Status: Hardware complete.

Distance Encoder Schematic

 Current design based on 2 banks of 4 redundant L298N with opto-isolation.
 Each chip handles 4 amps with 2 parallel Hbridges.
 32 amp total current handling.
 If revised, it will be printed on PCB and based instead on H-bridge gate drivers and power MOSFETs.
 Status: Fully functioning, but not ideal.

 Digital 3-axis magnetometer.
 Measures strength of magnetic field in various directions with a highest field measurement resolution of 0.015 µT


Precise angular position determined through inverse tangent algorithm.
Communicates through I 2 C.
 Accurately determines location and orientation.
 Status: Developing interface.

Magnetometer – Finer Details
 Model No: LSM303DLH
 Breakout board from SparkFun

Power: Energizing Diverse Systems

Devices to Power on the Robot
 Motor Controllers
 Radio Receivers and Video Transmitters
 Servo Motor (at least one)
 Processors
 Laser
 Cameras
 Magnetometer
 Ultrasonic Range Finder

 Powered directly by a 7.4 V (2 cell)
Lithium Polymer Battery
 1 st Choice - 6000mAh, 70C
 2 nd Choice - 12000mAh, 40C
 3 rd Choice – 2x 6000mAh, 30C

7.4V, XXX mAh, xxC
2 cell LiPo
Driver Motor
Controllers
Motors

 Will be realized with a LM7805 voltage regulator chip.
 Can supply up to 1.5 A of current
 Status: Testing and laying out in Altium

 Will be realized with a LM317 voltage regulator chip
 Can supply up to 1.5 A of current
 Status: Testing and laying out in Altium

MC34063A Chip – Boost Mode

Hi-Level Powering Diagram for Sensors
Batteries
Step-up
Voltage
Converter
(12V)
Video
Transmitter
Ultrasonic
5 V Voltage
Rail
RC Receiver
ARM M-0
Cortex M-3
3.3V Voltage
Rail
Laser
Magnetometer
CMOS
Camera

 Unable to find datasheet
 Tested using
Arduino Uno, collected experimental data
 Ready for integration with M0
Servo PWM Signal Input
Vpp=~3.3V, f = 50Hz
Duty Cycle (%) Angular Position
(degrees)
3.25
10
5.3
7.4
9.45
11.5
50
90
130
170




Cryptic sample code
Unhelpful documentation
Steep Learning Curve
 More intuitive
 Useful sample code
 Existing knowledge
C2000 Piccolo F28035
ARM Cortex-M0

Progress with ARM Cortex-M0
 Currently
 Sweeping PWM
 Working ADC test function
 Goals
 Write functions to increase user control
 Communicate with other modules

 Transmit video feed
 From Amazon, lacks documentation
 Status: Transmitter
+ Receiver work – now we need to interface power supply and camera

 Plan to lay out a board containing voltage rails and the boost converter
 In the future include an ARM Cortex M0.
 Finalizing first draft of this PCB before the end of this week

Planning: What the future holds

Design Goals
Module Low
Power
Sensing
-Buy Chips
-Etch PCB
-Stereoscopic
Image
Processing
-Stereoscopic
Board Layout -Etch analog control circuit
Motors -Elbow grease
µproccessing -RC Analog
Booster
Collision
Sensing
-None
-None
Medium
-Buy Controllers
-Design Converters
-Single Laser and
Camera
-Distance and angle from single laser
-Print control circuit
High
-Design all
-Line laser
-From line laser
-2 processors 1 board
-Servo Motor moving sensor
-ARM or FPGA
-Moving 2 dimensions
-2 ARM processors
-Increase operating range
-Ultrasonic
-Multiple boosters
-None

 Milestone 1:
 RC control
 Motor drivers
 Magnetometer
 Milestone 2:
 Laser range finding tower
 Ultrasonic
 Expo:
 Path finding

 Finalize first revision of PCB
 Start constructing the mounts for the laser range finder and motor drivers
 Integrate motor drivers with the M-0 control and batteries