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Track Tracker (TT-64) Final Presentation

Track Tracker (TT-64) Final Presentation. Team 29 Jinhui Park , Joseph Raphael Osei-Korang, Karim Virani. Introduction. The Track Tracker (TT-64) is a project being undertaken to design and build a remote controlled vehicle to monitor railroad tracks.

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Track Tracker (TT-64) Final Presentation

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  1. Track Tracker (TT-64)Final Presentation Team 29 Jinhui Park, Joseph Raphael Osei-Korang, KarimVirani

  2. Introduction • The Track Tracker (TT-64) is a project being undertaken to design and build a remote controlled vehicle to monitor railroad tracks. • Cameras will be mounted on it to monitor and identify track irregularities (By Robotics Team at Beckman Institute) • Identifies potential problems on tracks. • Greatly improve the safety of our railways.

  3. Objectives • Build remote controlled vehicle • GPS tracking and speed monitoring • Control variable speed gearmotor • Customized remote control pad • Build durable and easy debugging system • Attain highest safety standard possible • System should always be under operator control

  4. Project Description • 3 Parts to the Project • Remote Control Pad • Turns the vehicle on/off • Regulates the speed of the vehicle • Motor Control Circuit • Regulates vehicle speed via DC speed Controller • DC speed controller input from micro-controller • Emergency off switch • GPS and Speed Monitoring • Monitor the speed of the vehicle • Track the position of the vehicle with respect to Track

  5. Project Block Diagram

  6. GPS and Speed Sensor Module Design Objectives: -Measure the RPM of motor. -Track GPS coordinate of the vehicle. -Display on a laptop. -Log the RPM and location data. -Generate voltage pulses based on the speed of vehicle.

  7. GPS and Speed Sensor Module

  8. PIC16F877A • Handles the RPM measurement • Uses timer1 • FFFF*2 = 65535*2 = 131070 instruction time • Each instruction takes 1.6 us. • Thus the sampling time = 0.209712 s. • Relays GPS NMEA 0183 $GPRMC sentence to SMD-USB-QS-S, an USB interface chip.

  9. Speed Measurement • Cytron B106 Rotary Encoder • 250 pulses per revolution • 1 pulse per revolution • 5 Vdc, 120 mA max.

  10. Speed measurement Verification • Verifying PIC program using a function generator and Putty.

  11. Speed Measurement Verification • The actual RPM of motor calculated by using a stop watch. • Calculated RPM by measuring time the motor spent to do 20 revolutions.

  12. GPS Sensor • Garmin GPS18-5Hz • Sends GPS NMEA 0183 Sentences 5 times a second. • 5 Vdc, 65 mA max Configurable to transmit NMEA 0183 sentences selectively.

  13. GPS verification • Measured GPS coordinates were compared to the actual coordinates using the web based GPS locator.

  14. PIC16F84A • Utilizes interrupt on falling edge of pulse to count up the number of pulses • Onboard programmable PIC enables the change of pulse rate based on any speed. • For testing purpose, the PIC was programmed to blink LED once every 10 revolution of encoder.

  15. Other Support Devices • Linx SMD-USB-QS-S • Converts TTL serial signal to USB signal • The driver provided by Linx enables the chip to function as com port • USB interface provides easier connection for any laptop • MAX232 • Converts rs232 serial signal transmitted by GPS module to TTL serial signal.

  16. Windows based Monitoring Program • Simple console based program developed on Visual Studio 2010 • Able to display RPM and GPS coordinates once every second

  17. Power consumption • Powered by 110 Vac to 5Vdc power adapter. • Max I = 700 mA

  18. Remote Control Pad • Design Objectives • Transmit corresponding serial signal based on on-off switch and position of 5 kOhm rheostat. • Signals turn on vehicle and controls speed. • Control vehicle from reasonable distance (Within 1m to 15m range) • Durable protective casing.

  19. PIC18F452 • Good choice for upgradability • Takes an analog input (from 0 Vdc to 5Vdc) and generate corresponding serial signal. • 0~ 0.605 Vdc : Stationary • 0.625~1.855 Vdc, 1.875~3.105 Vdc, 3.125~4.355 Vdc, 4.375~5 Vdc

  20. Linx RF 433MHz Transceiver • Operates at 433 MHz • Vdd max = 3.6 Vdc • PIC and oscillator operates at 4.5 Vdc supplied by 3 AAA batteries. • TTL and power conversion needed • Achieved by use of two invertors for TTL and LM3940

  21. TTL Voltage Conversion SN74LS05N

  22. Motor Control Circuit • Design Objectives • Use received signals to control the speed of the gearmotor • Components • PIC microcontroller (PIC18LF452-I/P) • Voltage regulator (Max680) • DC variable speed Controller (Dart 65E20-12) • Gearmotor (64 RPM) • Antenna and RF Module (Linx LR Series) • Manual ON/OFF switch for safety

  23. Motor Control Circuit

  24. Antenna and RF module • Linx LR series RF module. • Linx RA series Antenna. • Receives signals from remote control • Relays signal information to PIC18LF452 • RF Module operates at 433MHz

  25. PIC18F452 for Motor Control • Decode serial signal transmitted by the control pad • Uses three output ports and resistor ladder to output variable voltage • 111, 110, 101, 100, to set different speeds

  26. Vout from PIC

  27. Voltage Regulator • MAX680 +5V to +/-10V voltage converter • Takes ~0-5V output from the PIC and steps it up to 0-10V • Uses output voltage to control the variable speed controller

  28. V+ to V- from MAX680

  29. Variable Speed Controller • Input from voltage regulator • Voltage input sets gearmotor speed • Turn on voltage threshold ~ 5.5V. Max voltage~12V • Higher voltage generates higher RPM/speed and vice versa • Operates on 12V DC from marine battery • Output of 0-12VDC connected to motor armature

  30. Vehicle Base with Gearmotor and Speed Encoder.

  31. 64 RPM Gearmotor • Engine that makes vehicle move • Rotating shaft connected to vehicle wheels through gears and chain • Variable RPM 55-72. Nominal 60 RPM • Gets input from variable speed controller • 0V – no motion. 12V – maximum speed

  32. Original Design Review • Same block modules and functions as above • Major differences. • Decode signals and send outputs to digital potentiometer. • Use digital potentiometer to control gearmotor via speed controller • Use Texas Instruments micro-controllers for remote control pad and motor control circuit.

  33. Changes Made • No major changes of design • Changed TI microcontroller kit ez430-fr2500 target board • Could not use with digital potentiometer and CC2500 transceiver at same time. • Only one I2C device connected at any time. • Changed digital potentiometer to Voltage regulator • Easier interfacing (no I2C requirements) • Better voltage efficiency and control

  34. More Testing • Wireless transmission range • Tested multiple times to make sure we met 15m range • Graphs for 2m, 8m and 15m below:

  35. Successes and Challenges • Range and response time • Problems with circuit response time and range of control. • Solution: Reduced transmission delay time. Used better antennas. • Start-up delay ~ 1.7sec. Shut-down delay ~ 1sec • Start up takes longer because capacitors have to charge • Power Consumption: • Need to power up, motor, circuits and laptop for sustainable amounts of time • First Battery died • Solution: Used 690CCA Deep Cycle Marine battery. At max consumption from all circuits can sustain ~ 5.2hrs. • Success: All modules integrated successfully.

  36. Recommendations • Recommend using higher RPM motor • For better speed and efficiency • Decrease transmission delay times • To adjust for best response

  37. END Thank You!!! Questions?

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