ECE 477 Design Review Team 01 Spring 2013

Xin Jin

Zelun Tie

Ranmin Chen

Hang Xie

OutlineProject overview Project-specific success criteriaBlock diagramComponent selection rationalePackaging designSchematic and theory of operationPCB layoutSoftware design/development statusProject completion timelineQuestions / discussion

Project Overview

The design project Wall-E Prototype I is an intelligent automated trash collecting robot with obstacle detection capability. The robot responses to either user’s direct manual control, or the object tracking software, to locate and collect the targeted trash object.

Project-Specific Success Criteria

An ability to recognize a ping pong ball (38mm / 1.58inch diameter hollow sphere)

An ability to control the speed and direction of the robotAn ability to pick up a ping pong ball off the groundAn ability to navigate around an obstacle when moving

forwardAn ability to indicate the remaining battery charge via LED

array

Block Diagram

Component Selection RationaleMicrocontroller

PIC24FJ256GA106

PIC32MX110F016D

Minimum

CPU Speed 32MHz 40MHz N/APWM 9 5 6UART 4 2 2ATD 16 5 4Digital I/O 53 32 3Total pins 64 44 N/AOperate Voltage

2V-3.6V 2.3V-3.6V N/A

Max Current 18mA 14mA N/A

Component Selection RationaleVoltage Regulator

Required: VIN = 12 V Vout = 3.3 V

Component Selection RationaleFuel Gauge (BQ2010)

1. Battery chemical: Ni-MH2. Simple setup method3. Support stand-alone applications4. Support LED array display5. Simple communication protocol (one-wire

DQ)

Motor and servo control circuitMechanical Arm Servo (5V DC)Motors (12V DC)Dual L298 H-Bridge (12V DC+ 5V DC

onboard regulator)

Component Selection Rationale Ultrasonic Sensor (LV-MaxSonar EZ1)

1. 42kHz Ultrasonic sensor2. Operates from 2.5-5.5V3. Low 2mA supply current4. Analog Output - 10mV/inch

Component Selection RationaleXbee

1. Low Power Consumption (63mW)2. Long Transmission Range (Indoor: 90m)3. Enough Baud Rate (9600 bps normally) for our project4. Free X-CTU Software for testing

Packaging Design

Packaging Design

Packaging Design

Schematic/Theory of OperationOverall Schematic

Schematic/Theory of Operation Power Supply

Schematic/Theory of OperationMicrocontroller

Schematic/Theory of Operation Fuel gauge

Schematic/Theory of OperationUltrasonic range finder

Schematic/Theory of OperationMotor

Schematic/Theory of OperationXbee module

Schematic/Theory of OperationMAX3232 convertor

Schematic/Theory of OperationServo

Schematic/Theory of OperationPCB schematic

PCB Layout Overall PCB layout without ground plane

PCB LayoutFront side of PCB

PCB LayoutBack side of PCB

PCB LayoutPower Supply (12V VCC)

PCB LayoutPower Supply (12V GND)

PCB LayoutPower Supply (3.3V VCC)

PCB LayoutPower Supply (3.3V GND)

PCB LayoutFuel gauge

PCB LayoutMicrocontroller

PCB LayoutMAX3232

PCB LayoutXbee module

Software Design/Development StatusOpenCV setup finishedCapable for capturing video stream from

external wireless cameraCapable for recognizing multiple ball in the

screenPC successfully sent data to Xbee In progress: GUI, micro to sensor, micro to H-

bridge, object distance detection

Software flow chart on laptop

Flow chart on microcontroller

Project Completion Timeline

PCB layout

Parts proof

Micro soft-ware

OpenCV software

Packaging

Adjustment & testting

Week 8 X X XWeek 9 X X X XWeek10 X X

Week11 X X

Week12 X X X

Week13 X X X

Week14 X X

Week15 X X

Questions / Discussion

Backup Slides

Backup for xbee rst

http://www.sparkfun.com/datasheets/Wireless/Zigbee/XBee-Explorer-v15.pdf

XBEE WI-FI: $57http://www.cooking-hacks.com/index.php/shop/wireless/xbee-wifi-module-for-arduino-digi-official.html

Xbee pro:$37https://www.sparkfun.com/products/8742

Reference (Micro Pins)

Reference (Micro PCB)

Reference (Fuel Gauge)

Reference (Fuel Gauge)

Reference (Fuel Gauge)

Reference (Ultrasonic)

Reference (Ultrasonic)

Reference (LM2596)

Reference (LM2596 PCB)

Reference (Drive Board)

Reference (Motor)

Reference (Battery & Charger)