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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