Post on 21-Dec-2015
Design Presentation 2Automated Pickup and Delivery System
Sanjay ManglamJimmy Shek
Adam Chipalowsky
Design Goals
Detecting objects (known as targets) To distinguish between obstacles and targets. Acquire targets of varying height.Retrieving targets Ethernet Connectivity
Division of labor
SanjayIR sensors, Ultrasound, application software, target design, testing
JimmyCrane hardware, target construction, hardware user interface, IR, testing
AdamApplication software, Internet user interface, testing
SpecificationsResolution
Four 16bit PWM controlling four servos8bit ultrasound sensor IR using 38khz base frequency and 500Hz overlaying.Two HC12s using 8bits of Port B to “talk” to each otherHardware user interface contains four 7-segment displays
• Two to display ultrasound reading• Two to display # targets remaining and # targets to
acquire• All four displays are powered by 4bit binary to ASCII PLAs
IR emitter
Crane Modifications
Crane interface board
Application Software
System diagram
Application Software continued
Software is spread over 2 HC12sCommunication is needed• Used 8bits of PORT B
Internet User interface
Work Completed thus far…(just about everything)
Motor controlHardware user interfaceInternet user interfaceIR sensors detect targetsUltrasound provides distancesSoftware can align the arm and reach for targetssome testing
Work to be completed
Test for reliabilityDocumentation
Power consumption
Power supplied by RG&E (no batteries)Targets, each 22mA, 5V inputHC12s, each 70mA, 5V inputIR detector 10mA, 5V inputUltrasound 30mA, 5V inputServos measured ~50mA under low load, ~200mA under normal load (each)
Test PlanSelf test will verify LEDs and interconnections to user interfaceTesting of each component
Verify emittersVerify HC12 communicationVerify internet accessVerify sensor outputsVerify motor PWMs
Test Plan continued
Basic Tests – functional (done!)(done!)Place targets at extreme distances (min, max) and several places in between.Place obstacles and verify crane does not attempt to capture them.
Testing radiusVerify we can detect targets at all angles
Advanced testsAcquire several targets consecutively
BudgetParts Quantity Price Sub Total
Ultra Sonic Sensor 1 $25.00 $25.00IR Sensor 4 $7.00 $28.00M68HC12 2 $0.00 $0.00
On/Off Switch 5 $0.20 $1.00SPST Switch 1 $1.00 $1.00
LEDs 12 $0.50 $6.00PVC Sheets 1 $16.00 $16.00
Lifting Arm Kit (with Servos) 1 $155.00 $155.00Additional Servos 2 $13.95 $27.90
Batteries 4 $5.00 $20.00Site player Module 1 $99.00 $99.00
$0.00$0.00$0.00$0.00$0.00$0.00$0.00$0.00
Miscellaneous 1 $50.00 $50.00
Total $428.90
Internet ConnectivityBatteries for Targets
CE Projects II Proposal Budget
Sanjay Manglam, Adam Chipalowsky, Jimmy Shek
Interchangeable Lifting Arm
Donated by RIT
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