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Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez

Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez. Autonomous Ball Collector. Project Purpose:. Project Overview. Create a robot that is able to collect tennis balls either autonomously or manually. Goals and Objectives. To autonomously or manually pick up tennis balls.

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Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez

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  1. Group #2 Jorge Avilla Luis Bonilla Redwood Diego Nunez Autonomous Ball Collector

  2. Project Purpose:

  3. Project Overview • Create a robot that is able to collect tennis balls either autonomously or manually.

  4. Goals and Objectives • To autonomously or manually pick up tennis balls. • Recognize objects using a vision system. • Able to keep track of number of balls collected. • Wireless control from a remote control if it’s not on autonomous mode.

  5. Specifications & Requirements • Robot cost around $700.00. • Weight less than 7 lbs. • Ability to carry 3-5 tennis balls. • Range of 120 ft. • Battery life of around 1 hour.

  6. Project Components • Vision System: To identify objects • DC Motors: For movements of the robot • Batteries: To provide power to all components of the robot to function properly • Ball Collecting Mechanism: To collect the tennis balls • Wireless Device: To manually operate the robot

  7. Chassis Design • Custom Chassis • Modeled in SolidWorks • Built the actual chassisusing clear acrylic sheets • Connect the robot’splatform using L-brackets

  8. Ball Collecting Mechanism Paddle Wheel design. Built with PVC and clear acrylic sheet. The system uses a DC motor to rotate the paddle in order to collect the balls.

  9. Chassis Design

  10. Ball Counter ABC uses 2 Sharp IR Range Sensors. Each sensor eliminates the 10 cm minimum distance of the other. The sensors are located inside the chassis, behind the wheel paddle.

  11. DriveTrain

  12. Motors • 2 DC motors for movement • Operating Voltage = 12 volt • Operating Current = 90 mA • Stall Current = 1.5 A • Stall Torque = 123.20 oz.-in • RPM = 120 • Weight = 5.36 oz. • Price = 21.95 each

  13. Wheels • Rear Wheels • 2 All Terrain Wheels • Front Wheels • 2 Caster Wheel to provide balance

  14. Visual System • Blackfin Camera: • Color Detection • Motion Detection • Compatible with WebBot Library • It communicates via UART

  15. Microcontroller Atmega328

  16. Microcontroller • Why atmega328: • More Programmable Memory • Previous experience with atmega8 and atmega168 • Already had programmer available. • WebBot Library: Functions library compatible with the • 328 and with the Blackfin Camera • Simplifies programming process.

  17. Microcontroller Design • 3 Microcontrollers: • Simplifies testing of the different parts separately • Allows for the coding to be divided among the group • Main Controller: • Brain of the robot, receiving and transmitting information between the other two microcontrollers and the camera • Motor Controller: • Receives input from the main controller or the laptop(RC mode). Controls the input of the h-bridges. Counter: Keeps count of the number of balls the have been loaded on the vehicle and instructs the Main to return to the base once the goal has been reached.

  18. Main Controller and Counter Schematic

  19. Motor Controller modes: • Autonomous mode: Receives its input from the main controller Controlling Truth Table:

  20. Motor Controller Modes: • Remote Control Mode: Receives its inputs from a Laptop via XBee.

  21. H-Bridge: • Receives the input from the motor controller and provides the power • to the DC motors. • Protects the microcontroller from any shorts from the motors. • L298 from STMicroelectronics Characteristics:

  22. L298 Configuration Schematic: • Diodes are fast response Schottky diodes.

  23. Motor Controller with L298s Schematic:

  24. Wireless Adapters vs.

  25. NiMH Rechargeable Batteries • 12V Battery • To power all the DC motors such as the drive train and the ball collecting mechanism • 9.6V Battery • To power all the electronic components such as the camera, the sensors, and the wireless devices for the remote control

  26. Power Management

  27. Power Distribution

  28. Collision Avoidance • The Maxbotix LV-EZ1 ultrasonic rangefinder provides accurate readings from a minimum tested distance of 6 in. to a maximum of 255 in., according to Sparkfun Electronics. • The robot is designed such that it registers any object sensed 1 ft. away as a possible collision, and performs a evasive procedure. • The single rangefinder mounted on the chassis is not enough to provide full collision detection.

  29. Software Design • Programming Environment: • AVR Studio 4 • AVR Pocket Programmer • Pros: Provides power to the microcontroller. • Pololu USB AVR Programmer • Pros: Integrates directly to AVR Studio 4, allowing direct programming. • WebBot Library • http://webbot.org.uk/iPoint/ipoint • “This site contains useful software utilities for both the amateur and professional • robot builder. Whilst this software is Open Source I would hope, if it has been • useful, that you will visit the download page  and click on the Donate button on • the top right of the page and give what you can.”

  30. sys/atmega328P.h • Systems file from the WebBot Library which configures the targets the functionalities of the Atmel Atmega 328. • operation_mode • RC – Remote Control. • AUTO – Autonomous. • Enable the program to be easily switched between the two different types of operation modes we want to handle.

  31. event_type • Represents an event that can be sent or • received between microprocessors. • event_map • Structure that represents an interaction that • will occur between microprocessors. • Intended for structuring the interactions • that will be performed between • microcontrollers.

  32. Implements the sensing and counting oftennis balls as well as informing the autonomous code of a full tennis ball storage compartment. • At each iteration of the main loop, we call the isBallAcquired function and determine the message to send to the autonomous controller from the result.

  33. Responsible for capturing of commands • from the Blackfin camera and transmitting • the right movement instructions to the drive train. • setColorBins • Dynamically change the color bin range that the camera searches for depending on the mean color of the image. • detectBlobs • Process the action that needs to be performed from the data gathered from the camera.

  34. PCB Design • Eagle Cad Software: • Extensive Library Parts and Good tutorials on the web • Manufactured by 4PCB: Student discounts

  35. PCB Design • Traces have different widths depending on the amount of current flowing • on them. • Signal traces are thinner that power traces • Ground Plane • Combines surface mount parts with through hole.

  36. PCB Design PCB with the surface components mounted.

  37. Project Management

  38. Project Management Expected Final

  39. Project Challenges • Caster wheels affecting motion • Solution: • Compensate as much as possible in code • Missing connection on the board • Solution: Soldered cables directly to the board

  40. Project Challenges • Color Specification: • The Blackfin camera takes • a range of colors to define a blob. • A color blob is not a accurate • method for searching for a specific • object. • Possible improvements: • Machine learning: • http://research.microsoft.com/en-us/um/people/viola/Pubs/Detect/violaJones_IJCV.pdf • Edge finding

  41. More Information • All project information is available at: • http://eecs.ucf.edu/seniordesign/su2010fa2010/g02/ Questions?

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