Slide 1

Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez

Slide 2

Project Purpose:

Slide 3

Project Overview Create a robot that is able to collect tennis balls either autonomously or manually.

Slide 4

Goals and Objectives To autonomously or manually pick up tennis balls. Recognize objects using a vision system. Able to keep track of number of balls collected. Wireless control from a remote control if its not on autonomous mode.

Slide 5

Specifications & Requirements Robot cost around $700.00. Weight less than 7 lbs. Ability to carry 3-5 tennis balls. Range of 120 ft. Battery life of around 1 hour.

Slide 6

Project Components Vision System: To identify objects DC Motors: For movements of the robot Batteries: To provide power to all components of the robot to function properly Ball Collecting Mechanism: To collect the tennis balls Wireless Device: To manually operate the robot

Slide 7

Chassis Design Custom Chassis Modeled in SolidWorks Built the actual chassis using clear acrylic sheets Connect the robots platform using L-brackets

Slide 8

Paddle Wheel design. Built with PVC and clear acrylic sheet. The system uses a DC motor to rotate the paddle in order to collect the balls. Ball Collecting Mechanism

Slide 9

Chassis Design

Slide 10

ABC uses 2 Sharp IR Range Sensors. Each sensor eliminates the 10 cm minimum distance of the other. The sensors are located inside the chassis, behind the wheel paddle. Ball Counter

Slide 11

Drive Train

Slide 12

Motors 2 DC motors for movement Operating Voltage = 12 volt Operating Current = 90 mA Stall Current = 1.5 A Stall Torque = 123.20 oz.-in RPM = 120 Weight = 5.36 oz. Price = 21.95 each

Slide 13

Wheels Rear Wheels 2 All Terrain Wheels Front Wheels 2 Caster Wheel to provide balance

Slide 14

Visual System Blackfin Camera: Color Detection Motion Detection Compatible with WebBot Library It communicates via UART SpecificationsBlackfin Camera ProcessorBlackfin BF537 Processors Speed500 MHz Input Voltage3.3 V Current Draw (max)145 mA UART2 Number of Timers4 Frames per Second30 I/O pins16 Resolution640x480

Slide 15

Microcontroller SpecsAtmega328 Pins32 I/O pins23 EEProm1K Program Memory32K SPIYes USART1 Timers 8/16 bit2/1 PWM pins6 ADC channels8 Programming LanguageC Max Clock Rate20 MHz Voltage1.8-5.5V Price$5 Atmega328

Slide 16

Why atmega328: More Programmable Memory Previous experience with atmega8 and atmega168 Already had programmer available. WebBot Library: Functions library compatible with the 328 and with the Blackfin Camera Simplifies programming process. Microcontroller

Slide 17

3 Microcontrollers: Simplifies testing of the different parts separately Allows for the coding to be divided among the group Main Controller: Brain of the robot, receiving and transmitting information between the other two microcontrollers and the camera Motor Controller: Receives input from the main controller or the laptop(RC mode). Controls the input of the h-bridges. Counter: Keeps count of the number of balls the have been loaded on the vehicle and instructs the Main to return to the base once the goal has been reached. Microcontroller Design

Slide 18

Main Controller and Counter Schematic

Slide 19

Motor Controller modes: Autonomous mode: Receives its input from the main controller Controlling Truth Table: Pins Main Controller/Motor Controller C3/C3C4/C4C5/C5Action 000Stop 001Forward 010Reverse 011Turn Right 100Turn Left 101Roller on Forward 110Roller on Reverse 111Roller OFF

Slide 20

Motor Controller Modes: Remote Control Mode: Receives its inputs from a Laptop via XBee.

Slide 21

H-Bridge: Receives the input from the motor controller and provides the power to the DC motors. Protects the microcontroller from any shorts from the motors. L298 from STMicroelectronics Characteristics: SpecsL298 Logic Supply Voltage5V Voltage Supply (motors)Up to 45V DC Current Supply per Channel2A # Channels2 PWM Capable PinsYes Logical 0 Input VoltageUp to 1.5 V

Slide 22

L298 Configuration Schematic: Diodes are fast response Schottky diodes.

Slide 23

Motor Controller with L298s Schematic:

Slide 24

SpecsXbeeBlueSmirf Range300ft350ft Voltage3.3V4.5-5.5V Current TX45mAUp to 120mA Current RX50mA40mA Idle current