Critical Design Review: M.A.D. Dog. Nicholas Maddy Timothy Dayley Kevin Liou

Transcription

1 Critical Design Review: M.A.D. Dog Nicholas Maddy Timothy Dayley Kevin Liou

2 Project Description M.A.D. Dog is an autonomous robot with the following functionalities: - Map and patrol an office environment. - Periodically stop to detect motion of intruders. - Attempt to deter intruder with an alarm and flashing lights. - Inform a security desk(server) of the intrusion.

3 Schematic: Sheet 1

4 Processor: NXP LPC2478 Speed: Up to 72MHz. Expected Operating Speed: ~30MHz Internal Memory: 512KB flash, 98KB SRAM External Memory: 128Mb SDRAM Buses & Communication: UART I2C GPIO PWM Timer Capture ADC Current Draw: less than 500mA

5 Schematic: Sheet 2

6 Compass: LSM303DLHC Interface: I2C Operating Voltage: 5V Expected Current Draw: 10mA Data Lines: SCL: I2C Signal Clock SDA: I2C Signal Data Interrupts Lines: 2 3D Linear Acceleration & Magnetic Sensors Selectable acceleration levels- ±2/±4/±8/±16g linear acceleration scales Selectable magnetic field levels±1.3/±1.9/±2.5/±4.0/±4.7/±5.6/±8.1 gauss

7 Compass: LSM303DLHC 3D Linear Acceleration Sensor: Operational sanity check If motors are running but accelerometer detects no change (e.g. robot is stuck on a wall with wheels sliding) then act accordingly. 3D Magnetic Field Sensor: Directional orientation tracking which will be used for mapping. Use to help make right angle turns with respect to a wall.

8 Compass: LSM303DLHC

9 Compass: LSM303DLHC

10 Wi-Fi: RN171XVW-I/RM Interface: UART1 Operating Voltage: 3.3V Expected Current Draw: 180mA Data Lines: TX - UART data transmit RX - UART data receive UART Data Rate: 464 Kbps Transmit Power: 0 to +12 dbm Over-Air Transmit Rate: 1-54Mbps Selectable Transmit Power and WiFi bands (802.11b/g)

11 Wi-Fi: RN171XVW-I/RM Functions to be implemented: Maintain location data and other information with server. Upon detection of intruder, an alert is sent via WiFi to the server. Use to dynamically adjust settings during development. Remote activation and deactivation.

12 Motor Controller: Solarbotics L298 Interface: PWM + GPIO Operating Voltage: 6V Expected Current Draw: 4mA Data Lines: EnableL - Enable Left Motor - PWM L1 - Left Motor Direction (Backwards) - GPIO L2 - Left Motor Direction (Forwards) - GPIO EnableR - Enable Right Motor - PWM L3 - Right Motor Direction (Backwards) - GPIO L4 - Right Motor Direction (Forwards) GPIO - Maximum Current Output: 3A (per channel) - This motor controller is capable of operating two motors independently of each other.

13 Motor Controller: Solarbotics L298

14 Motor: Pololu Gearmotor Part: : Pololu 6VDC, 210 RPM 80 oz-in Gearmotor Interface: - Motor connects directly to the Solarbotics L298 Motor Controller - Encoder uses 2 GPIO pins, EncA & EncB. Operating Voltage: 6V Freerun current: 450 ma Stall current: 6 A Gearbox: :1 Max Speed: 210 RPM mph with 4" wheels.

15 Crystal Oscillators Main Oscillator: TXC 7B MEEQ-T 20MHz, 10pF, 40 Ω Will provide clocking for the core and peripherals Real Time Clock: TXC 9HT KEZF-T kHz, 12.5pF, 70 kω Use real time clock for determining patrol objectives, WatchDog Timer and code scheduling.

16 Schematic: Sheet 3

17 SDRAM: Micron MT48LC8M16A2 Interface: External Memory Size: 128Mb Type: 2 Meg x 16 x 4 banks - 12 bits Addressing - 2 bits Bank Address - 16 bit data line Operating Voltage: 3.3V Expected Current Draw: 160mA

18 Schematic: Sheet 4

19 IR Sensors: Sharp GP2D120 Interface: 10-bit ADC I/O Signal Output: Analog Voltage (0V ~ 3.1V) Operating Voltage: 5V Expected Current Draw: 33mA Effective Range: 4-30cm Typical Response Time: 39ms Typical Startup Time: 44ms

20 IR Sensors: Sharp GP2D120 Intended Usage: Detection of walls outside of 4 cm away. One IR sensor will go on either side of the robot. It will maintain a predefined distance from walls and other obstacles. During mapping and patrol, it will follow walls to prevent wander and allow it to determine when the wall stops (eg. a corner)

21 IR Sensors: Sharp GP2D120

22 IR Sensors: Sharp GP2D120

23 IR Sensors: Sharp GP2D120

24 Sonar: Devantech R271-SRF05 Interface: GPIO, Timer Capture Operating Voltage: 5V Expected Current Draw: 4mA Effective Range: 3cm 4m FOV: +/- 30 Data Lines: Trigger Input Echo Output

25 Sonar: Devantech R271-SRF05 Intended Usage: There will be one sonar module mounted on the front of the robot. It will be used for detecting walls and other obstacles at a distance for mapping and maneuvering. Calculating distance to target obstacle.

26 Sonar: Devantech R271-SRF05

27 PIR Sensors: ZEPIR0AxS02MODG Interface: UART [0/2/3] Operating Voltage: 3.3V Baud Rate: 9600 Expected Current Draw: 25mA Data Lines: RXD - Commands and Configuration (Receive) TXD - Commands and Configuration (Transmit) MD/RST - Motion Detection / Reset LG - Light Gate threshold Sleep Adjustable Motion Detection delay & Light Gate Threshold

28 PIR Sensors: ZEPIR0AxS02MODG Intended usage: Three PIR sensors will be mounted on a tower to provide a wide FOV Upon detecting motion, the robot will enter an alarm state. The sensors operate best in low to moderate ambient light. The robot is best suited for indoor function and at night.

29 PIR Sensors: ZEPIR0AxS02MODG

30 Schematic: Sheet 5

31 Voltage Regulators Digital: TI-LM317S Input Voltage: 4.2V - 37V Output Voltage: 1.2V - 37V Max Current: 1.5A Analog: TI-LM317MDT Input Voltage: 4.2V - 37V Output Voltage: 1.2V - 37V Max Current: 500mA

32 Power Consumption Battery Pack #1 - Analog Component Voltage Current Amount Total IR Sensor 5V 50mA 2 100mA 100mA

33 Power Consumption Battery Pack #1 - Digital Component Voltage Current Amount Total Sonar 5V 4mA 1 4mA Compass 5V 10mA 1 10mA Motor Decoder 5V 10mA 2 20mA PIR Sensor 3.3V 25mA 3 75mA WiFi 3.3V 180mA 1 180mA LPC V >500mA 1 >500mA LEDs 3.3V 30mA 6 180mA Test LEDs 3.3V 30mA mA SDRAM 3.3V 165mA 1 165mA >1434mA

34 Power Consumption Battery Pack #2 Component Voltage Current Amount Total Motor Controller 6V 31mA 1 31mA Motors 6V 450mA 2 900mA 931mA

35 Schematic: Sheet 6

36 Bill of Materials (1/4)

37 Bill of Materials (2/4)

38 Bill of Materials (3/4)

39 Bill of Materials (4/4)

40 Software Structure Four states possible: History, Explore, Patrol, and Alarm. History: Check with server for previous mapping of the area. If it exists, enter Patrol state, otherwise enter Explore state. Explore: Utilizing peripheral sensory data for obstacle avoidance, drive the motors to navigate the environment. Utilize rotary encoder, compass data, and sensors for mapping. and save coordinate data to the SDRAM. Patrol: Utilizing peripheral sensory data and coordinate data, drive the motors to routinely traverse the environment. If an intruder is detected via PIR, enter alarm state. Alarm: Perform alarm routine (Drive speakers, strobe bright LEDs as deterrent), and send an alert to a user via WiFi. After a specified timeout return to Patrol State. Alternatively, the server user can remotely deactivate the alarm.

41 PCB Initial Placement

42 Peer I/O Questions? Comments?