Autonomous Metal Detector Vehicle (AMDV)

1. Fall 2011 Autonomous Metal Detector Vehicle (AMDV) Jared Speer Lamar Williams Jr. Nathan Stephan University of Central Oklahoma Department of Engineering and Physics

2. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Detailed design • Production planning and tool design • Production

3. Brainstorm • As an team deciding the actual project was an project of itself • Other ideas included: • War Robot • Remote controlled car • Underwater boat (Submarine) • LCD display • Autonomous Metal Detector

4. Brainstorm • As a team we decided that the AMDV sounded the most interesting and rewarding project, but it also sounded the most intimidating project • To verify the project was feasible, we had to conduct research

5. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Detailed design • Production planning and tool design • Production

6. Research • We performed research on an myraid of different aspects of the AMDV • Aspects of the AMDV included • Hall Effect sensor • Parallax PING Ultrasonic Sensor • Vehicle Body • Chassis • Body • Suspension • Microcontroller • Basic Stamp 2sx • Sensor • Parallax Ultrasonic Ping Sensor • Metal Detector • Design of the Sensor • Understanding of Sensor • Programming • Synching all of the different aspects of the AMDV to work coherently

7. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Final design • Cost

8. Feasibility assessment • After research, we deduced that this will be a challenging but achievable project • Since the AMDV idea was seemed so interesting, we decided that pursuing this project would be the best route to take.

9. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Detailed design • Production planning and tool design • Production

10. Conceptualization(Preliminary Design)

11. Conceptualization(Preliminary Design)

12. Conceptualization(Preliminary Design)

13. Conceptualization(Preliminary Design) Schematic of the *final* preliminary design If we proceed in this design, it would not be autonomous

14. Conceptualization • That design was our final design that was in line with our feasibility requirement. • We needed to make sure that it met the design requirements of the professor outlined in his project requirement list.

15. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Detailed design • Production planning and tool design • Production

16. Establishing the design requirements • Dr. Baha and Mr. Richard gave us specific requirements for us to abide by • We covered all of the requirements given in the Term Project Guidelines as shown in a list in the following slide

17. Establishing the design requirements • Output Display • Parallax Serial LCD • Audio Output Device • Speaker with 5ohm 4watt specs • Manual Data Input • On/ Off Switch • Timer to shutdown once metal is detected, automatically switches off • Automatic Sensor Input • Parallax PING Ultrasonic sensor • Metal detecting sensor • Actuators, Mechanisms, and Hardware • DC motor • Stepper motor • Suspension System • RC servo motor • Logic, Processing, and Control • Basic Stamp 2SX • Programmed Logic

18. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Detailed design • Production planning and tool design • Production

19. Preliminary design If we proceed in this design, it would not be autonomous

20. Preliminary design • Due to time constraints, we realized that building a chassis, suspension system for various terrain, and space for the circuits we had to outsource the body • We reversed engineered a RC car from New Bright.

21. Preliminary design By using this car, we already had the suspension, chassis and space for all of our circuits.

22. Preliminary Design(Metal Detector) • The original design that we used was going to be the use of the hall effect sensors • Even though we thought that it would be an feasible venture, it would not be feasible with the time constraint

23. Preliminary Design(Metal Detector) • The design that we decided to use was the much simpler BFO (beat frequency operation) • This design had to be modified to fit our specific parts. http://thomasscarborough.blogspot.com/2011/10/bfo-metal-detector.html

24. Preliminary Design(Testing and Debugging)

25. Preliminary Design(Testing and Debugging)

26. Preliminary Design(Testing and Debugging)

27. Preliminary Design(Testing and Debugging) • Our team actually burned the motor driver L293D due to insufficient knowledge of how much voltage was needed to go in.

28. Preliminary Design(Testing and Debugging) • So we built an voltage regulator. This was the schematic of the voltage regulator. It regulates the voltage that goes into the motor driver (L293D). http://freedatasheets.com/datasheetblog/tag/voltage-regulator/

29. Preliminary Design(Testing and Debugging) • Our team was obtaining inconsistent readings from our metal detector. • We realized that our speaker was very close to the circuitry and metal detector.

30. Preliminary Design(Testing and Debugging) • Since the magnet within the speaker produces an magnetic field, it was causing interference in the reading we obtained. • We rectified this problem by moving the speaker away from the circuitry.

31. Preliminary Design(Components) • We used the Parallax Servo Motor to steer the AMDV either left or right • The Parallax sensor worked great in this project

32. Preliminary Design(Components) • We used the Parallax Ultrasonic Distance sensor for the AMDV to avoid collisions • It used short ultrasonic burst to and provides an output pulse that corresponds to the time required for the burst echo to return to the sensor • By measuring the echo pulse width, the distance to target can easily be calculated

33. Preliminary Design(Components) • This is the DC motor that provides the rear wheel drive acceleration to the motor • We switched motors due to the first motor we used was malfunctioning

34. Preliminary Design(Components) • We went through the trouble of trying to figure out exactly the best coil possible. • 24 gauge copper wire and wrapped it 70 times with an inner diameter with an inductance 1.25 mH.

35. Preliminary Design(Components) • The LCD is integrated into the AMDV to communicate to the user what it sees. • It tells you the intensity of the magnetic field and to reset it to find metal.

36. Design Outline • Brainstorm • Research • Feasibility assessment • Conceptualization • Establishing the design requirements • Preliminary design • Final design • Cost

37. Final Design(Pictures)

38. Final Design(Schematic)

39. Final Design(Pictures)

40. Estimated Cost • Output Display • Parallax Serial LCD = $ 40 • Audio Output Device • Speaker with 5ohm 4watt specs = $25 • Manual Data Input • On/ Off Switch = $2 • Automatic Sensor Input • Parallax PING Ultrasonic sensor = $20 • Metal detecting sensor = $20 • Actuators, Mechanisms, and Hardware • DC motor = $20 • Suspension System = Donation • RC servo motor = $40 • Logic, Processing, and Control • Basic Stamp 2SX = $60 • Total Cost = $ 227.00