AUTONOMOUS RESCUE VEHICLE TEAM 10 Team members Julia
AUTONOMOUS RESCUE VEHICLE (TEAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin
PROJECT OVERVIEW Our team’s goal is to build a prototype of a robot that can: � Use GPS to locate a lost person � Autonomously navigate towards the person � Lead him or her back to a safe location, which is the starting location of the robot
PSSCS An ability to move and steer using appropriate motors and drive systems An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module An ability to receive and process GPS coordinates on the robot and move toward the given coordinates An ability to detect obstacles and navigate around them using ultrasonic sensors. An ability to monitor the battery level of the robot
BLOCK DIAGRAM
BLOCK DIAGRAM (CONTINUED) Rescue-Point Transceiver Power Supply Module +3. 3 V Microcontroller PWR _CTR GPS Module UART (9 bit) RF Transmitter Module (Xbee Pro)
COMPONENT SELECTION
COMPONENT SELECTION (CONTINUED) Microcontroller � 2 PWM � 2 UART � Minimum 4 ATD � Minimum 14 digital I/O pins � Fast to handle data input (At least 32 -bit preferably, with CPU at least 50 MHz) � 3. 3 V operating voltage Final choice: PIC 32 MX 120 F 032 B for Robot and for the rescue point transceiver.
COMPONENT SELECTION (CONTINUED) Motors Enough torque to handle rugged terrain � Steady state current relatively low to reduce power � Built-in gear box to simplify design � Chose: Dagu 25 D Motor with 34: 1 Gearbox � GPS receiver Accurate locating capability � Relatively inexpensive � Communicate through UART � Chose: ADH Technology - GPS-11571 � RF module Long range communication (6 miles) � Conform to FCC requirements � Chose: Digi International Inc - XBP 09 -DPSIT-156 �
COMPONENT SELECTION (CONTINUED) Ultrasonic Sensors: � Easy to use � ATD � High Resolution � Cost-effective � Chose: Maxbotix LV-EZ 4 H Bridge � Delivers up to 5 A continuous � Low turn-on resistance � Built-in circuit protection � Chose: TLE 5206
PACKAGING Constraints Traverse rugged terrain � Lightweight and Sturdy � Room for PCB and off chip peripherals � Minimize cost � Looks cool �
PACKAGING (CONTINUED) PCB GPS Ultrasonic Sensors Batteries
PACKAGING (CONTINUED) Rescue-Point Transceiver
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (TRANSCEIVER)
SCHEMATICS (TRANSCEIVER)
PCB LAYOUT (ROBOT)
PCB LAYOUT (TRANSCEIVER)
PCB LAYOUT (MICROCONTROLLER) Robot Transceiver
PCB LAYOUT (TRANSCEIVER POWER SUPPLY) 3. 3 Volt Ground
PCB LAYOUT (ROBOT POWER SUPPLY) 3. 3 Volt
PCB LAYOUT (ROBOT POWER SUPPLY) -3. 3 V
PCB LAYOUT (ROBOT POWER SUPPLY) Digital Ground
PCB LAYOUT (ROBOT POWER SUPPLY) 7. 2 Volt
PCB LAYOUT (ROBOT POWER SUPPLY) Motor Ground
PRELIMINARY SOFTWARE DESIGN Completed testing: � Can transmit and receive with UART � ATD � PWM – Motor control � Timing modules and interrupts Future design: � Motor control � Navigation algorithm – ultrasonic sensors � Process GPS data � Transmit and receive with RF module
TIMELINE Timeline Week Software (Basic subroutines) Ultrasonic RF Module GPS Motor Control IR Software (Debugging with hardware) Debugging Navigation Debugging GPS and RF communication Hardware Proof Final PCB Motor Testing PCB Population & Testing Final packaging Prepare for Final Design Presentation 8 1 -Mar 9 8 -Mar Spring Break 10 15 -Mar 22 -Mar 11 29 -Mar 12 5 -Apr 13 12 -Apr 14 19 -Apr 15 26 -Apr
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