SOUTHEASTCON I KARMA ECE

2004 IEEE SoutheastCon Hardware Competition Must build an autonomous robot that can –Start at rest at the Starting Station –Begin movement on detection of a start signal –Navigate the course –Obtain a retrieval pattern –Acquire the targets –Output data to an LCD

Design Constraints Line Navigation –Robot must follow a white line –Robot must be able to detect intersections Start/Stop Signal Detection –Robot must detect the start and stop signal and act appropriately within 10 seconds Route Determination –Robot must determine what route to take –Dynamic Routing Robot must remember where the turns are located Robot must determine route based upon order

LCD Microcontroller Range Sensing System Line-Following System Liquid Crystal Display Ball Retrieval Mechanism Visual Signal Detector Drive Motor Controller Line-Following System Visual Signal Detector Microcontroller

Test Conditions Different Lighting Conditions –Lighting of the room –Intensity of the Traffic Light Possible interference –Debris on playing surface –Red or green colored objects Route difference –Lines move –Intersection

Microcontroller Peripherals Robot Movement: –Drive motors Traffic Light Detection: –Detect “start” and “stop” signal from LED Traffic Light Line Following: –Make decisions according to intersections and position Ball Retrieval Mechanism: –Output commands to control the arm Information Display: –Output specified information to a screen

Responsibilities Matt Dyess Matt Anderson Shaw Riddell Josh Stuart Dr. Lori Bruce Navigation X Software Interface X Line Sensor X Traffic Light Detection XX Advisor X

Microprocessor Options

Microprocessor Selection We have chosen to use the Rabbit 3000 microcontroller Reasons: –Easy Interface with LCD –Development Board Power Range from 8-24V –4 Dedicated Pulse Width Modulation (PWM) for motor control –Easy to use Windows-based Development environment

Traffic Light Detection Options Reverse LED –Very limited range –Short distances –Unable to change detection intensity Photo resistor –Narrow range –Unable to change detection intensity Camera –Customizable color detection range –Programmable range within the software 18 volts 24 volts

Camera Selection CMUcam Vision Sensor Reasons: –Tracks a specific color –Easy to interface using a RS232 standard serial port –Reads at 17 fps –Ability to control a servo –Supports streaming video

Line Sensing Options OMRON opto sensor 5mm reflect light-on EE- SY310/410 –Easy to design multiple configurations –Easily mountable Lynxmotion Single Line Detector –Already on a circuit board –Larger IC SENSOR –Limited Sensing Distance

Line Sensors Omron Photo Transistors Reasons: –Size 15/32 in. x 3/16 in. –Sensing distance ¾ in. –Not affected by light –Low power 5V, 30mA

Line Sensor Layout

Line Sensor Test Data White On sensor Dark on sensor

Complete Picture The camera will send a signal to the microcontroller when the LED Traffic Light changes The microcontroller will send the signal to the appropriate components to move The line sensors will inform the microcontroller of whether or not they detect lines

Goals For This Semester Complete the Line Navigation –Be able to follow the line properly Complete the Traffic light procedures –Be able to detect the LED Traffic Light and operate accordingly Be able to start the competition, pick up one ball from one station, and travel to the Parking Station

The Field

Intersection Response

The Field

Next Semester Goals Complete the Infrared detection –Be able to detect the order in which to retrieve targets Successfully retrieve all targets –Be able to retrieve all targets from their stations Be able to start the competition, detect the order of acquisition, retrieve the targets and complete the course successfully

Acknowledgements Dr. Lori M. Bruce Dr. Bob Reese Dr. Pat Donohoe Raspet Flight and Research Laboratory for the use of their equipment Cypress MicroSystems Electrical and Computer Engineering Department Jimbo at Starkville Glass and Paint

Questions??