Cart-A-Long Michael Bigos Jaret Doiron-LaRue Richard Mui Eric Wu Comprehensive Design Review...
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Transcript of Cart-A-Long Michael Bigos Jaret Doiron-LaRue Richard Mui Eric Wu Comprehensive Design Review...
Cart-A-Long
Michael BigosJaret Doiron-LaRue
Richard MuiEric Wu
Comprehensive Design Review
Advisor: Professor Pishro-Nik
Overview• Review of Cart-A-Long• System Overview• IR Detection System• IR Sensor Data• Triangulation Data• Parts List• Demo Goals• Questions
Cart-A-Long
• Fully Autonomous Cart o Trails a user around while maintaining a distance of 4
feet• IR bracelet
• Worn by user around the ankle to inform robot of user's whereabouts
• 8 IR LEDs at 45 degrees
• powered with CR2032 batteries
System Requirements
• Bracelet should not hinder usero small, lightweight, low power
• Battery life of robot shall be at least 2 hours• Robot should be able to carry some load• Robot shall stay within 4 feet of user• Robot should operate if user is within 8 feet• Restrictions
o User will not travel more than 3mpho Environment
System Block Diagram
Base Construction
• Strong tensile and impact strength
• 16” width to maximize triangulation accuracy
• 5” wheels for optimal speed and torque
• 3 wheel design for easy pivoting
• Custom made aluminum motor mount brackets– Special thanks to Steve McKinley
• Modified aluminum wheels hubs
User Tracking Approach• Use geometry to triangulate position of the LEDs
o Two sweeping stepper motors with IR detectors mounted on top
o Arduino knows stepper positions and IR readings
IR Triangulation
IR Sensor Data
IR Sensor Data
Triangulation Data
Triangulation Data
Triangulation Data
Triangulation Data
DC Motors
• Operate at about 3.3 mph (no load)
• Operate at about 2.9 mph (under load of base)
• Speed is based on pwm from arduino
• Also on input voltage
Finalized Parts List• Sharp GP1UM261XK0F IR detector• Vishay TSAL5300 940nm IR emitter• STMicroelectronics L6207N motor driver• Mercury Stepper Motor• Modern Device BBB Arduino board• PK27 Geared Motor
PCB Board Design
Schematic of the board created in Eagle
Version 1.0 board
Things to be done• Work out method for precise robot control• Finalize PCB layout and find manufacturer• Write code for robot tracking behavior• Determine the real world specifications of robot• Create IR bracelet• Calibration method for stepper motors
FPR & Demo Day Goals Demo Day• Fully-functional robot
o Movement algorithm• Error Checking • PCB board created
Questions?