Easy on the Tini
description
Transcript of Easy on the Tini
Easy on the Tini
Bill Barker
Carey Davis
Ben Irwin
Travis Majors
Cell phone detector
Description and Goals
To create a robot that detects RF signals (cell phone signals) then moves toward the strongest signal.
Notifies cell phone user about use in that area.
Outline of Approach
Create a robot with two servo motors
Fashion RF detecting antenna(s) on the robot chassis
Mount IR sensors to aid robot movement
Use display, lighting, sounds, etc. to deter cell phone use
Design a microcontroller to interface the systems
MicrocontrollerMSP4301611
A/D Input
Tuned Yagi Antenna
Motor Drivers
Data/ Programming interface
Signal Disruption
Hardware Implementation
Low Noise Amplifier
Diode Rectification
Circuit
Sharp IR Detectors (3)
I2C Interface
Digital CompassModule
PWM Signal Outputs
ServoDiscMotors
JTAGInterface
Software Flow Diagram
System Ok
no
yesno
Move Forward
Turn 90o
Object?
yes
Timer Going?
Try to detect signal
Rotated 360o?
Read Compass and Antenna
Value
Find Strong Signal?
yes
2no
Turn to match degrees of
strongest signalyes
Forward
Reached Object?
no
Signal DisruptionRotate 180o
1
Count=2?
no
Signal still
there?Count + 13
2
1
23
yes
no
yes
no
yes
The Robot
Metal platform from previous project
Two 9FGHD Ferrite Series ServoDisc Motors
Robot Movement
Autonomous Object Detection
Infra-Red Home Base Detection
RF
Programmable Search Pattern Signal Detection Sweep
Identify and approach appropriate signal
Scenario#1
No Signal Found
Object Detected
No Signal Found
Signal Found
Wave Reflection
Signal waves reflect off of Metal Surfaces
Constructive Phase alignment creates false positives
Solution: Continue to monitor signal while approaching source.
Metal Surface
Reflected Waves
Constructive Phase
Destructive Phase
Signal Found
Signal Present
Signal LostFalse Positive!
Signal Found
Scenario#2
The Motor
9FGHD Ferrite Series ServoDisc Motor
Input voltage -12V to +12V
Capable of 1.5 N-m continuous torque
Motor Drivers
LMD18200t
Sign/Magnitude PWM Control
PWM Control Circuitry
Digital Compass Module
I2C 2-Wire Serial Interface
3.3v supply voltage
1/2 degree heading resolution
Firmware Included
I2C Module
I2C Communication
Compass Command Bytes
Getting compass data
Heading Mode: The heading output data will be the value in tenths of degrees from zero to 3599 and provided in binaryformat over the two bytes.
Signal Detection
Robot Signal Detection
Overview: This part of the robot will detect signals within the GSM frequency-band that will then be amplified by a Low Noise Amplifier, rectified into a DC voltage, then finally interpreted by our microcontrollers A/D converter.
This will be done by the following devices: Tuned directional antenna RF signal amplifier and diode rectifier MSP430 A/D Converter
Tuned Directional Antenna
This component will give directional ordination to the robot to pursue the signal. A Yagi antenna will be used to hone in on the signal.
Antennas Specifications:
GSM: Uplink 890-915MHz and Downlink 935-960Mhz
PCS band: 1.7-1.99 GHz
Antenna Capability
Reverse-Polarity BNC-Plug Adapter to Standard BNC-Plug
Signal Amplification
50 Ω Low Noise Amplifier High output Gain Low noise figure Operates in the frequency band we require
Non-rectified RF Signal
Data Message
Phone 65 ° out of line
Voice Call
*Volt scale is 100mV*Signal is being boosted by LNA
Did someone say this was impossible?
RF Signal Rectification Circuit
This simplified circuit will take the antenna’s RF signal as an input and will output a voltage that is proportional to the signal’s intensity. LNA will boost signal gain
to a readable voltage level. Diodes will rectify signal to
a DC voltage with minimumlosses.
Voltage Processing
Feed measured voltage into the micro-controller’s A/D converter.
Have the microcontroller will only sample this A/D at times of signal searching.
Store both RF intensity and robot degree of direction data for a full revolution in on-board RAM.
Find peak voltage within data and have robot return to this recorded direction.
Microcontroller
Microcontroller
Prototype Board for MSP430-F1611 Multiple A/D converters, UART, and I2C peripherals Expanded RAM to 10K bytes for greater storage capacity PWM capabilities for motor control Good tools and easy debugging Cost effective solution of our application
Functional Block Diagram
AD Converter
We will be using the 12 Bit AD converter peripheral.
The ADC will convert voltages into integers between 0 and 4095 relative to the voltage levels. We will be using a reference voltage of 1.5V as
it gives us more resolution and we will not be inputting anything higher than that.
ADC12 Module
IR Object Detection
Sharp GP2D12
Analog output voltage
distance from object
10cm to 80cm
Optimal Vcc 4.5-5.5 V
IR Sensor Voltage Output Curve
The IR sensors have a non-linear output voltage curve with respect to distance.
Range is from 10 to 80cm with higher voltages representing shorter distances.
10cm-2.6v
80cm-.4V
>80cm-.25V
Voltage vs Distance
0
0.5
1
1.5
2
2.5
3
0 10 20 30 40 50 60 70 80 90
Distance (cm)
Vo
ltag
e (V
)
Home Base
If time permits we will still implement a home base.
Home Base will generate a signal to call robot home to: Recharge Be reprogrammed
Signal will be made by a function generator in antenna frequency range.
More testing required to see what kind of information antenna will give us.
Power Distribution
Power Distribution
Voltage Variations 5 V
LCD Screen IR Detectors
3.3 V Microcontroller
12 V Motor Drivers LNA
Voltage Regulators LM1117 Regulate to 5 V, 3.3 V
The Battery
2 BP7-12 12 V 7Ah Batteries to power the robot
5.94” x 2.56” x 3.98”
6 lbs.
Opto-isolators
HPCL-3150
Will be used for isolation and level shifting for PWM, direction/brake signals
Disruption Handling
LCD Screen
Serial Enabled 16x2 LCD - Black on Green
10k Pot to adjust contrast
Schematic
P6.3/A3 2
P6.4/A4 3
P6.5/A5 4
P6.6/A6 5
P6.7/A7 6
P1.0/TACLK 12
P1.1/TA0 13
P1.2/TA1 14
P1.3/TA2 15
P1.4/SMCLK 16
P1.5/TA0 17
P1.6/TA1 18
P1.7/TA2 19
P2.0/ACLK 20
P2.1/TACLK 21
P2.2/CAOUT 22
P2.3/CA0 23
P2.4/CA1 24
P2.5/ROSC 25
P2.6/ADCLK 26
P2.7/TA0 27
P3.0/STE0 28
P3.1/SIMO0 29
P3.2/SOMI0 30
P3.3/UCLK0 31
P3.4/UTXD0 32
P3.5/URXD0 33
P3.6/UTXD1 34
P3.7/URXD1 35
P4.0/TB0 36
P4.1/TB1 37
P4.2/TB2 38
P4.3/TB3 39
P4.4/TB4 40
P4.5/TB5 41
P4.6/TB6 42
P4.7/TBCLK 43
P5.0/STE1 44
P5.1/SIMO1 45
P5.2/SOMI1 46
P5.3/UCLK1 47
P5.4/MCLK 48
P5.5/SMCLK 49
P5.6/ACLK 50
P5.7/TH 51
P6.0/A0 59
P6.1/A1 60
P6.2/A2 61
DVCC1
VREF+7
XIN8
XOUT/TCLK9
VEREF+10
VREF-11
X2TOUT52 X2TIN53
TDO/TDI54 TDI55
TMS56
TCK57
RST/NMI58
AVSS62
DVSS63
AVCC64
MS
P4
30
F1
61
1
U1
Component_1
12345678910
11121314
JTAG
JTAG
3.3V
100n
C13
100nC14
GNDRST
1 2
P_OUT
Header 2
1 2
P_INHeader 2
3.3V
3.3V
GND
GND
1 2Q2
XTAL
1 2Q1
XTAL
10p
C4
10p
C5GND
TXD0RXD0
10KR6
10KR7
C1+1
V+2
C1-3
C2+4
C2-5
V-6
T2out7
R2in8 R2out 9T2in 10T1in 11R1out 12R1in 13T1out 14GND 15Vcc 16S1
ST3232
1 23 45 67 89 10
P_3
Header 5X2
1 23 45 67 89 10
P_5
Header 5X2
1 23 45 67 89 10
P_6
Header 5X2
3.3V
3.3V
3.3V
V_3GND
GND
GND
GND
1234
Comp
Header 4
V_3GND3.3V_3
3.3V_3
100nC11
100nC12
100nC1
100nC6
100nC10
GND
GNDTXD0
RXD0
GND
3.3V
.1uC50
.1uC51
.1uC52
.1uC53
.1uC54
.1uC55
.1uC56
.1uC57
GND
3.3V
IR1IR2IR3
1 2 3
P1 Header 3
GND
IR1
4.5V
1 2 3
P2 Header 3
GND
IR2
4.5V
1 2 3
P3 Header 3
GND
IR3
4.5V
IR4IR5
1 2 3
P5 Header 3
GND
IR5
4.5V
1.5kR1
1uC31
GND
1 2
P6Header 2
1.5kR2
1uC32
1.5kR3
1uC33
1.5kR5
1uC35
GND GND GND
RF
RF
GND
1 2 3
P4 Header 3
4.5V
GND
1.5kR4
1uC34
GND
12
Batt_Pow
Header 2
12V
GND
D1
LED3
470u/16VDC
C38
123
5V reg
GND
1uC36
100pF
C40Cap Pol3
GND 123
3V reg
GND
3.3V
PCB
Scheduling, Costs, and Labor
Updated Schedule
Separation of Tasks
Programming of Microcontroller – Travis and Ben
PCB Design – Carey
Motor driver control – Bill and Ben
Antenna – Travis, Bill
LCD screen – Ben and Carey
Milestones
Milestone 1:Robot moves towards test signal
Milestone 2:Programmable search parameters, IR object detection integration, home base construction complete
Expo:Robot and home base fully functional
Cost Estimations
Item Price Quantity TotalYagi Antenna 59.64 1 59.64
Battery 29.6 1 29.6IR Sensors 12.5 3 48.99
Motor drivers 5 4 20Dev Board and Compass 114.77 1 114.77
LNA and connectors 160 1 160E store(perf board and headers) 20 1 20
Total so far $453
PCB 66 2 132MSP chip 20 1 20
LCD screen 25 1 25IR sensors 12.5 2 25
Miscellaneous 100 1 100
Estimated Total $755
Thank you!
??Questions??