1. A.G.I.L.E Team Members: Brad Ramsey Derek Rodriguez Dane Wielgopolan Project Managers: Dr. Joel Schipper Dr. James Irwin Autonomously Guided Intelligent Lawn Equipment ECE Department

2. 2 PRESENTATION OUTLINE PRESENTATION OUTLINE  PROJECT OBJECTIVES  PREVIOUS WORK  PRELIMINARY LAB WORK  EQUIPMENT INFORMATION  PARTS LIST  SCHEDULE OF TASKS FOR NEXT SEMESTER

3. 3 PROJECT OBJECTIVES  Design a lawnmower navigation system  Detect the field boundaries using RF  Track vehicle’s position and orientation  Movement using closed loop motor control  Detect and avoid objects (static/dynamic)  Safety shutoff switch

4. 4 LITERATURE REVIEW  Find previous projects and their pros and cons  University of Florida project path ideal example  Series of 3 projects add up to ours  What can we do better?

5. 5 Florida Project One  Project name – LawnNibbler  Student researcher – Kevin Hakala  Operating Components  Electric weed trimming platform  RF Wire Boundary  (proof of concept) Local Positioning System  No results for completed mower published

6. 6 Florida Project Two  Project name – LawnShark  Student researcher – Rand Chandler and Katherine Meiszer  Operating Components  Electric Toro Lawnmower  Local Positioning System  Ultrasonic sensors (2)  No results for completed mower published

7. 7 Florida Project Three  Project name – Autonomous Lawn Care Applications  Student researcher – Michael Gregg  Operating Components  Proof of Concept platform (no mowing)  RF wire containment  Obstacle avoidance  Collision Detection  Random Movement Programming  No results for completed mower published

8. 8 What makes us different  Three cumulative projects compacted into one  Added Components for a better outcome  Wall following (physical and RF fence)  Efficient mowing pattern  Off unit computer processing  Unnecessary computer on mower  Utilize an existing computer  Easy to update software  Design and Create Electric RF “dog fence”

9. 9GOALS  Obtain a chassis  Drive control system  Build sensors  Detect and avoid objects  Mower/PC communication  Efficient Algorithm

10. 10SPECIFICATIONS  Max Speed: 2 ft/s  Response Time: <150ms  Mowing Coverage: 120 ft²/min @ 2 ft/s  12v 7.2 Ah Batteries x2  Heading Accuracy: ±1° of error (ideal)

11. 11 SYSTEM BLOCK DIAGRAM

12. 12 CHASSIS Maneuverable Symmetrical Dual DC Motors Differential turning Dimensions: Length: 12.5’’ Width: 18.5’’ Height: 7’’

13. 13POWERTRAIN  Dual Pittman 12v DC motors  Gear ratio: 65.5:1  Max RPM @no load: 4916  Max shaft RPM @no load: 75  Rotary encoder  500 CPR  2 channels  Wheels  6” Diameter  Direct drive  Power  Dual 12v 7.2Ah Batteries

14. 14 MOTOR CONTROL  User input average speed  Speed averaged between wheels  Rotary encoder feedback  PI control  PWM  Control system modeled in Simulink

15. 15 SIMULINK MODELING Single motor model Microcontroller

16. 16MICROCONTROLLER  MICROPAC 535 (EMAC)  8051 architecture  3 timers  3 serial ports (up to 230.4K baud)  10 external interrupts  4 PWM I/O ports  8 A/D  24 digital I/O

17. 17 OBJECT DETECTION  Ultrasonic sensors  Coverage area maximized for front & sides

18. 18 ULTRASONIC SENSORS Devantech SRF05 Ultrasonic Range Finder Interfaced to microcontroller Multiplexer used to save digital I/O pins 1 digital input/2 digital outputs for all sensors

19. 19 DIGITAL COMPASS  R117-COMPASS   Interfaced to microcontroller

20. 20SAFETY  Safety switch on mower  Remote shutdown  User shutdown in software  Lost connection to PC  Bump switches  Last line of defense  Uses 3 pushbutton switches  Bumper connected to buttons  Interfaced to digital input on µC  Triggers high priority interrupt  Kills mower blade

21. 21 BOUNDARY DETECTION  Dog fence  Transmitter  Radio Frequency  8 kHz Sine Wave  Dual receivers

22. 22 RF CONTAINMENT WIRE  Better known as an electric dog fence  Band pass receiving filter

23. 23SOFTWARE  C/Assembly on EMAC  C++ On PC  EMAC will acquire data  Remote PC  Receive user settings  Process data  Implement algorithm

24. 24 SOFTWARE FLOW CHART

25. 25 BASIC ALGORITHM  North-South pattern  Uses dog fence  Minimal areas missed  Ideal for square field  Starts with border

26. 26 DATA SYNCHRONIZATION  Data synchronized between µC and PC  Serial to 802.11 converter  Any LAN connected PC can connect and run the software  Sets up a virtual com port on the LAN PC  Data rates up to 230400 Baud

27. 27 PARTS LIST  Mowjoe chassis (motors, frame, batteries)  C80515 EMAC 8051 based microcontroller  ES1AWB (RS-232 to Wi-Fi)  Windows based PC  Digital compass  Devantech R117 for prototype  Would like a more accurate one  Ultrasonic sensors X4  Devantech SRF05  RF sensors X2  Dog fence components

28. 28 GANTT CHART

29. 29 GANTT CHART

30. 30 Joel says “Any Questions?”