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Advanced Remote Monitoring and Operated Recon Device

Advanced Remote Monitoring and Operated Recon Device. Andrew Lichenstein Kevin Jadunandan Thomas Kehr. Motivation. Dragon Runner surveillance robot Extremely Durable Fast and lightweight platform ≈$32,000 per unit Objectives: Fraction of the Price(< $2000) Withstand drop of two stories

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Advanced Remote Monitoring and Operated Recon Device

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  1. Advanced Remote Monitoring and Operated Recon Device Andrew Lichenstein Kevin Jadunandan Thomas Kehr

  2. Motivation • Dragon Runner surveillance robot • Extremely Durable • Fast and lightweight platform • ≈$32,000 per unit • Objectives: • Fraction of the Price(< $2000) • Withstand drop of two stories • Maneuverability on all terrains • Wireless Control/Video • iPhone Control

  3. Hardware Block Diagram

  4. Specifications Body Locomotion Battery Life Operating Voltage Communication

  5. Chassis • Raw Material Selection • Suspension • Body Design • Polyurea • Component Mounting • Camera

  6. Chassis: Raw Material Selection • Aluminum • Low-cost • Light weight • High cost of manipulation • Fiberglass Composite • Extremely low cost • Easily manipulated • High Strength • Experienced with fabrication • Permeable to Radio frequencies • Carbon Fiber • High cost • High Strength • Complex manipulation

  7. Chassis: Suspension • Aluminum Frame – 1/8” Aluminum Sheet • Provide mounting for components • No metal on metal; rubber washers • Spring Suspension System • 32 Springs • 8 Motor Clamps

  8. Chassis: Body Design • Fiberglass-Composite Construction • Clam-Shell Design • Plug and Mold Fabrication • Accommodate Peripherals 20” 7” 17”

  9. Chassis: Body Design • Ventilation and Cooling • 4 12V Micro CPU Fans • 2 Intake; 2 Outtake • Component Mounting • Spring Suspension • No Metal Contact

  10. Chassis: Polyurea • Truck Bed Liner • Rhino Liner, etc. • Extreme Durability • 41 MPa Tensile Strength • Quick Reaction Time • Build up Multiple Layers • Explosive and Ballistic resistance

  11. Drive Train • Geared Motor • Wheels and Locomotion

  12. Drive Train: Motor Selection • IG42 Geared Motor • 24:1 Gear Ratio • 24V DC • 252 rpm • 2300mA • 10 kgf-cm Torque 1.75” 4.8”

  13. Drive Train: Wheels and Locomotion • Wheels • Wheel + Tire • 10” Diameter • Custom Mounting Hardware • Wheel Speed • Speed (fpm) = (Diameter of wheel (in) x π x rpm of motor) /12 • = (10” x π x 252) /12 = 659.7 ft/m • = 7.59 mph

  14. Power System • Batteries • Control Battery • Drive Battery

  15. Power System: Batteries • NiMH Rechargeable Packs • 24V 4500 mAHr • Drive Battery • 12V 4000 mAHr • Control Battery 10" x 2" x 2" 5" x 2" x 2"

  16. Power System: Control Battery Capacity = 4000mAHr Current Drain of system = 795mA Estimated battery life ≈ 5 hrs Regulators of 3.3V, 5V, and 9V are used to power the main logic and peripheral devices of ARMORD

  17. Power System: Drive Battery Battery Capacity= 4.5 A Hr Current Draw= 2300mA x 4 = 9.2 A Battery Life = 29.3 minutes

  18. Video System: Camera • 380-lines resolution • 150-foot range (no obstacles) • 2.4 GHz output frequency • Built-in microphone

  19. Internal Hardware • MCU • GPS • Communication • Motor Controller

  20. Internal Hardware: MCU • Features our group looked for in MCU: • CPU Speed >= 4MIPS (10 MIPS) • Program Memory >= 16KB (32KB) • Internal Oscillator >= 4MHz (16MHz) • IO Pins >= 15 (30) • ADC >= 2 (15) • Program in C/C++ using MPLAB IDE • Temperature Range (-40 to 125 C) • PDIP • *PIC18F4520 Max Spec’s in () PIC18F4520

  21. Internal Hardware: MCU • Communication is the most essential part of our robot, we will need to be sending and receiving data from our Gateway to be able to control our robot. We will be using the USART pins on the MCU, which allows us to send serial data. • Our MCU will need to be data parsing when it receives GPS updates which come in the form of a string of data. We will be emulating the hardware by using software USART, which is also know as bit-banging. • Motor Control will be done by having two variables set , one for the left motors and one for the right motors. We will be sending a value of 0 to 255, which will tell which motor to move and how which direction it should spin the motor. This also will be using software USART. • Battery life testing will be done using AD Converters, so we will know when the battery is running low.

  22. Communication: Options • XBee vs. XBee Pro vs. Bluetooth Class 1 The Bluetooth was a bit to expensive and the regular XBee distance was a bit to small. This is why we chose the XBee Pro which was a good combination of both data rate and distance. We really only need 300 to 400 ft max for our application.

  23. Internal Hardware: GPS • We originally were looking at the Copernicus GPS Module that was sold on Sparkfun, but after talking with other sources they pointed out to me the Falcom FSA03 unit. Here are the details of the unit: One of the best features of this chips is that it has a Sarantel helical antenna which lets you orient this GPS any way you would like , so you don’t have to make it point towards the sky.

  24. Communication: GPS Purpose • The GPS’s main purpose was to be sending latitude and longitude to our microcontroller so that we could use this data with our iPhone application. The GPS sends NMEA(National Marine Electronics Association) data to our MCU; here is an example of what it looks like: • $GPGLL,4916.45,N,12311.12,W,225444,A,*1D • As you can see the data that is sent is not an easy to read format so our MCU will parse the data needed and send to a variable that will be sent out via XBee. Geographic Lat & Lon 123o11.12 Data Active Time(UTC) Checksum 49o16.45

  25. Motor Controller: Selection • Originally we were thinking of creating our own motor controller using PNP BJTs but due to the fact we wanted stability and more features we decided to buy the Sabertooth 10A Dual Motor Controllers. One of the key features that we really liked as a group was that it is a regenerative motor driver, so when the robot stops or reverses it recharges the batteries with the wasted energy. It also has over current and thermal protection which means we won’t have to worry about damaging the motor controllers.

  26. Motor Controller: Setup • In our setup we will be using two motor controllers in parallel. So we will be using one pin on our MCU a Tx line that uses software USART that connects to the S1 ports on the motor controllers. • The Tx line on the MCU will transmit to both of the motor controllers S1 lines at the same time. We will be sending values of 0 to 255 to the motor controllers . • A value of 1 to 127 controls the left motors and a value of 128 to 255 controls the right motors

  27. MCU Software Diagram RECEIVE THREAD SEND THREAD DATA STRUCTURES -Left Motor -Right Motor -GPSLat -GPSLon -BatteryLife

  28. Board Design Prototype • Created in EagleCAD • Jumpers make it easy to connect peripherals

  29. Custom PCB • Using a flatbed plotter we make our own single sided PCBs for testing purposes. We can create 15 PCBs for less than $25.

  30. Gateway / iPhone Interface • Software applications • iPhone Application • Gateway Application

  31. Software Communication

  32. Software • iPhone Application • Primary controlling device • Touch based interface • Displays map with location of user and ARMORD

  33. Software • iPhone Application • Written in Objective C • Apple’s object oriented version of C • Runs all C code natively • Xcode IDE and Interface Builder • Provides drag and drop UI design

  34. Software: iPhone GUI

  35. Software: iPhone GUI

  36. Software: iPhone GUI

  37. Software: iPhone

  38. Software: iPhone • Distance Calculation • Uses latitude and longitude • Distance in miles = 3963.0 * arccos[sin(lat1) *  sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)]

  39. Software: Gateway Application • Purpose • Wireless bridge between the iPhone and the ARMORD • Necessary because iPhone cannot easily connect to the XBee module • Communication • Wi-Fi – iPhone • XBee – Robot

  40. Software: Gateway Application • Requirements • Wi-Fi connection • COM port access • Options • C# • Java • Decision – Java • More robust XBee API and support • Cross platform development

  41. Software: Gateway Application

  42. Software • Packet Structure • From iPhone To ARMORD • From ARMORD To iPhone

  43. Video Transmission – Original Design • Video is received by video capture card • Computer broadcasts live stream over Wi-Fi • iPhone plays live stream

  44. Video Transmission – Original Design • Problems • For live video, iPhone only plays H264 video, with AAC audio, encapsulated in an MPEG2-TS • Capture card software could not output proper video format • 10 second video lag from camera to a computer watching the stream

  45. Video Transmission – New Design • Solution – External LCD Display • Allows direct video feed from camera to display • No processing on a computer to reduce video delay • iPhone can now display more information on the screen • Maps • GPS locations • Distance • Battery Life

  46. Controller • Components • 7” Standalone Monitor • Ruggedized Grip and Frame • AV Receiver • 9.6V NiMH Battery • Video and Control up to 100 feet • Components attached to controller via aluminum bracket • Power supplied to AV Receiver and Monitor through 9.6V NiMH battery • Swivel mount to account for inversing camera orientation AV Receiver

  47. Administrative Information • Project Status • Budget • Timeline • Additional Time

  48. Project Status

  49. Budget

  50. Timeline

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