A.U.R.A.S Autonomous Ultrasonic Robot for Area Scanning

Transcription

1 A.U.R.A.S Autonomous Ultrasonic Robot for Area Scanning Project Presentation ECE 511 Fall 2014 George Mason University 12/05/2014 Group: 2 Team Members: DevarajDhakshinamurthy Krishna Nikhila Kalinga Gagandeep Singh Bamrah Ankita Pandey

2 Motivation To build a robot that could utilize various exciting features of MSP430 microcontroller. To develop a cost effective robot that could also be useful in a real life scenario. To design a robot that could operate in autonomous mode in addition to the manual mode

3 Features Overview Ability to operate in autonomous mode Autonomous mode is activated through voice commands Obstacle avoidance using ultrasonic sensors mounted on the front end Can be controlled through push buttons (Manual mode) A wireless camera is attached in the front which enables the robot to act as a source of real time surveillance

4 BLOCK DIAGRAM 1 (Handheld Controller)

5 BLOCK DIAGRAM 2 (A.U.R.A.S)

6 Hardware Components List Push buttons and LED s Ultrasonic sensor Geared Motors Encoder HT12E And Decoder HT12D Transmitter and Receiver RF link Wireless camera MSP430F5529 Voice Recognition Module L293D IC

7 Hardware Schematic Diagram for Handheld Controller

8 Hardware Schematic diagram for A.U.R.A.S

9 Hardware Description 1.MSP430F5529 Ultra low power microcontroller Supply voltage : 3.6Volts Provides maximum code efficiency through the following features: 16 bit powerful RISC C.P.U. 16 bit registers 16 bit timers, 63 I/O pins 25Mhz of clock frequency 128KB of programmable memory

10 Hardware Description 2. Ultrasonic Sensor HC-SR04 Ranging Detector Mod Distance Sensor Purpose: To detect the obstacles There are 4 pins in the module: VCC, Trig, Echo, GND Power supply: 5V DC, Ranging distance : 2cm~400 cm Resolution: 0.3 cm Trigger is connected to P8.1 and echo is connected to P8.2 P8.1 P8.2 MSP 430

11 WORKING OF ULTRASONIC SENSOR Formula used: Distance (obstacle from the robot) = Time (from trigger to echo pin= high) x speed of sound m/s)/ 2

12 Purpose: Current amplifier for MSP430 for driving geared motors One L293D motor driver is used The two H-bridges of L293D are connected to two motors at the rear end Inputs from Microcontrollers: M1-B =P2.4 M1-A =P1.5 M2-B =P1.4 M2-A =P1.3 Enable Pins: 1-2 EN 3-4 EN Output to 2 Motors: 1Y,2Y 4Y,3Y GND-4,5,12,13 connect to microcontroller ground Hardware Description 3.L293D Directly connected to 5V

13 Software description 3.L293D DIRECTION P2.4 P1.5 P1.4 P1.3 UP HIGH LOW HIGH LOW DOWN LOW HIGH LOW HIGH RIGHT LOW LOW HIGH LOW LEFT HIGH LOW LOW LOW STOP LOW LOW LOW LOW

14 Hardware Description 4.Geared Motors Purpose: Two wheel rear end drive Operating voltage : 3Volts -12 Volts DC Operates at 170 RPM Torque: 800 g*cm at 3 volts INTERFACE: Pins 3, 6, 11, 14 of L293D

15 Hardware Description 5. Voice Recognition Module V2.0 Purpose: (Handheld controller), To control the robot through voice commands. The voice recognition module interacts with MSP430 via UART interface 5V power supply is taken for the V2 voice recognition module directly from the MSP430. UART 2 MSP430 UART 1 Used for Debugging

16 Software Description 5. Voice Recognition Module V2.0 Command AA37 is used to initialize the voice recognition module to compact mode AA21 command is used to import group 1 of the module Explore Look Hexadecimal data Range: 0x11-0x15 UART 2 MSP430 Stop

17 Hardware Description 6.Push buttons and LED s PURPOSE: (Handheld Controller), used as a joystick to control the robot Six Momentary Tactile Tact Push buttons are used P2.3 Each button has four pins out of which two are internally shorted 0.1µf capacitors are connected across the push buttons to provide hardware debouncing 2mm LED s are connected across buttons to signify which the button is pressed MSP430 P2.6 P3.0 P3.1 P8.1 P8.2

18 Software Description 6. Push buttons and LED s MSP430 P2.3 P2.6 Push button 1 pressed P3.0 P3.1 P8.1 P8.2

19 Hardware Description 7. Transmitter and Receiver MSP430 Handheld Controller P1.2 P1.3 P1.4 Parallel data from MSP430 Transmitter transmits the data serially at 315 MHz which is received by the receiver. P1.2 P3.7 P4.0 MSP430 A.U.R.A.S P1.5 P4.3 Encoder HT-12E converts parallel data to serial from Decoder HT-12D decodes serial data to parallel form Operating voltage Txand Rx : 3V-12VDC Range of transmitter: 500m

20 Software Description 7. Transmitter and Receiver COMMAND EN1/DE1 EN2/DE2 EN3/DE3 EN4/DE4 MANUAL HIGH LOW LOW HIGH AUTO MODE HIGH HIGH HIGH HIGH UP HIGH LOW LOW LOW RIGHT LOW HIGH LOW LOW DOWN LOW LOW HIGH LOW LEFT LOW LOW LOW HIGH EXPLORE HIGH HIGH LOW HIGH LOOK HIGH HIGH HIGH LOW STOP HIGH HIGH LOW LOW

21 The wireless camera is mounted on the robot that enables it to capture the visuals of its surroundings, so that the robot can be efficiently used for the surveillance purpose. Hardware description 8. Wireless camera

22 CHALLENGES FACED CHALLENGE UNSECURE RF CHANNEL SHORT CIRCUIT IN L293D EFFECT INTERFERENCE IMPROPER MOTOR FUNCTIONING SOLUTION MAKE USE OF ENCODER AND DECODER ISOLATE THE SHORT CIRCUIT

23 Lessons Learned If something is malfunctioning, check for short circuits. Sometimes the module itself does not work. One cannot power all the devices through MSP430 alone.

24 Results The A.U.R.A.S is built as per the proposal. The robot moves forward in response to the push buttons or voice commands. Effectively detects the obstacles through ultrasonic sensor, stops at distance of 20cm from the obstacle and turns right. It can effectively explore the area by capturing the visuals on the way through a wireless camera.

25 Improvements Possible High torque motors can be used. Claw and other accessories can be used to improve the robot functionality. A camera that can provide a 360 degree view can be used. Voice processing can be used instead of voice recognition. For noisy environment Speaker independent

26 APPLICATIONS FIRST RESPONSE UNIT FUN TOY

27 ROBOTIC SOLDIER Source: Source:

28 DEMONSTRATION

29 THANK YOU

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