Xin Jin
Hang Xie
Zelun Tie
Ranmin Chen
Outline
Project overview
Project-specific success criteria
Block diagram
Component selection rationale
Packaging design
Schematic and theory of operation
PCB layout
Software design/development status
Project completion timeline
Questions / discussion
Project Overview
The design project Wall-E Prototype I is an
intelligent automated trash collecting robot
with obstacle detection capability. The robot
responses to either user’s direct manual
control, or the object tracking software, to
locate and collect the targeted trash object.
Project-Specific Success Criteria
 An ability to recognize a ping pong ball (38mm / 1.58inch
diameter hollow sphere)
 An ability to control the speed and direction of the robot
 An ability to pick up a ping pong ball off the ground
 An ability to navigate around an obstacle when moving forward
 An ability to indicate the remaining battery charge via LED array
Block Diagram
Component Selection
Rationale
 Microcontroller
PIC24FJ256GA106
PIC32MX110F016D
Minimum
32MHz
40MHz
N/A
PWM
9
5
6
UART
4
2
2
ATD
16
5
4
Digital I/O
53
32
3
Total pins
64
44
N/A
Operate
Voltage
2V-3.6V
2.3V-3.6V
N/A
18mA
14mA
N/A
CPU Speed
Max Current
Component Selection
Rationale
 Voltage Regulator
Required: VIN = 12 V Vout = 3.3 V
Component Selection
Rationale
 Fuel Gauge (BQ2010)
1.
Battery chemical: Ni-MH
2.
Simple setup method
3.
Support stand-alone applications
4.
Support LED array display
5.
Simple communication protocol (one-wire DQ)
Motor and servo control circuit
 Mechanical Arm Servo (5V DC)
 Motors (12V DC)
 Dual L298 H-Bridge (12V DC+ 5V DC
onboard regulator)
Component Selection
Rationale
 Ultrasonic Sensor (LV-MaxSonar EZ1)
1. 42kHz Ultrasonic sensor
2. Operates from 2.5-5.5V
3. Low 2mA supply current
4. Analog Output - 10mV/inch
Component Selection
Rationale
 Xbee
1. Low Power Consumption (63mW)
2. Long Transmission Range (Indoor: 90m)
3. Enough Baud Rate (9600 bps normally) for our project
4. Free X-CTU Software for testing
Packaging Design
Packaging Design
Packaging Design
Schematic/Theory of
Operation
 Overall Schematic
Schematic/Theory of
Operation
 Power Supply
Schematic/Theory of
Operation
 Microcontroller
Schematic/Theory
of Operation
 Fuel gauge
Schematic/Theory of
Operation
 Ultrasonic range finder
Schematic/Theory of
Operation
 Motor
Schematic/Theory of
Operation
 Xbee module
Schematic/Theory of
Operation
 MAX3232 convertor
Schematic/Theory of
Operation
 Servo
Schematic/Theory of
Operation
 PCB schematic
PCB Layout
 Overall PCB layout without ground plane
PCB Layout
 Front side of PCB
PCB Layout
 Back side of PCB
PCB Layout
 Power Supply (12V VCC)
PCB Layout
 Power Supply (12V GND)
PCB Layout
 Power Supply (3.3V VCC)
PCB Layout
 Power Supply (3.3V GND)
PCB Layout
 Fuel gauge
PCB Layout
 Microcontroller
PCB Layout
 MAX3232
PCB Layout
 Xbee module
Software
Design/Development
Status
 OpenCV setup finished
 Capable for capturing video stream from
external wireless camera
 Capable for recognizing multiple ball in the
screen
 PC successfully sent data to Xbee
 In progress: GUI, micro to sensor, micro to Hbridge, object distance detection
Software flow chart on
laptop
Flow chart on
microcontroller
Project Completion Timeline
PCB
layout
Parts
proof
Micro
software
Week 8
X
X
X
Week 9
X
X
X
X
Week10
X
X
Week11
X
X
Week12
X
X
X
X
X
X
Week14
X
X
Week15
X
X
Week13
OpenCV
software
Packagin
g
Adjustment & testting
Questions / Discussion
Backup Slides
Backup for xbee rst
http://www.sparkfun.com/datasheets/Wireless/Zigbee/X
Bee-Explorer-v15.pdf
XBEE WI-FI: $57
http://www.cookinghacks.com/index.php/shop/wireless/xbe
e-wifi-module-for-arduino-digiofficial.html
Xbee pro:$37
https://www.sparkfun.com/products
/8742
Reference (Micro Pins)
Reference (Micro PCB)
Reference (Fuel Gauge)
Reference (Fuel Gauge)
Reference (Fuel Gauge)
Reference (Ultrasonic)
Reference (Ultrasonic)
Reference (LM2596)
Reference (LM2596 PCB)
Reference (Drive Board)
Reference (Motor)
Reference (Battery &
Charger)