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Mechatronics’ Project

Mechatronics’ Project. Mechatronics’ Project. The hunter (a 3D tracking system). Team 6 Riccardo Castellani Edoardo Mura Andrea Pacilli. RADAR BASE - AIR PATROL. ECHO. PULSE. To Operator. The hunter. Part used: Ping sensor 2 servo motors Compass module Lcd Display Piezo speaker

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Mechatronics’ Project

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  1. Mechatronics’ Project Mechatronics’ Project The hunter (a 3D tracking system) Team 6 Riccardo Castellani Edoardo Mura Andrea Pacilli

  2. RADAR BASE - AIR PATROL ECHO PULSE To Operator

  3. The hunter Part used: • Ping sensor • 2 servo motors • Compass module • Lcd Display • Piezo speaker • 2 555 timers • 2 push buttons

  4. Hardware Angle (Relative to NORTH) Target Distance (cm) 555 timers Kill Switch Piezo speaker Display button Compass module

  5. Algorithm’s approach: • First 2D • Implementation of the 2D algorithm adding the second axis • 3D square spiral

  6. Monitoring the motors’ position Number of pulses FOR timer=1 TO maxtimerL […] PULSOUT 14, lateral+deltaL PAUSE 30 […] NEXT Duration

  7. Rotation matrixes

  8. The position in space

  9. 555 timers’ cascade and piezo-speaker • R1 = R2 LOW if sweeping • Duty cycle: 50% • First 555: beeping rate (7Hz) Pin4 • Second 555: Piezo frequency(4kHz) HIGH if target acquired (both 555 are in astable configuration) BS2 7 Hz square wave ~ 4 kHz square wave

  10. BS2 – MATLAB serial communications • Purpose: • MATLAB to get data from BS2 Transmission settings: DATA RATE: 9600 bps PORT: COM6 (usb) TERMINATOR: ‘CR’ TIMEOUT: 0.1 (Matlab) (BS2) PING))) locks on target BS2 idles until MATLAB flags MATLAB flags to BS2: ready to get data! MATLAB constantly ‘listening’ BS2 transfers data to MATLAB (SEROUT 16,84,[DEC …,CR]) MATLAB stores data & processes it Plot

  11. MATLAB-BS2 GUI interface X = 50 Y = 0 Z = 20

  12. Algorithm 3D position Do […] Loop until (in the range of detection) For […] distance monitor […] Next Main loop 2nd loop Matlab SERIN 16,84,[DEC flag] SEROUT 16,84,[DEC partialAngleL ,CR] SEROUT 16,84,[DEC partialAngleA,CR] SEROUT 16,84,[DEC cmDistance,CR] Compass measurements and absolute angle 3rd loop

  13. Conclusions The main limitations of our project are basically due to: • Wide cone of the Ping sensor • Inertia of servos • Approximation while computing the variables Wide range of applications: • Alarm and position detection • On a robot to monitor surrounding space • Monitoring an open space

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