A.G.I.L.EA.G.I.L.E
Team Members:Team Members:Brad Ramsey Brad Ramsey
Derek RodriguezDerek RodriguezDane WielgopolanDane Wielgopolan
Project Managers:Project Managers:Dr. Joel SchipperDr. Joel SchipperDr. James IrwinDr. James Irwin
Autonomously Guided Intelligent Lawn Equipment
ECE Department
22
PRESENTATION OUTLINEPRESENTATION OUTLINE
PROJECT OBJECTIVESPROJECT OBJECTIVES PREVIOUS WORKPREVIOUS WORK PRELIMINARY LAB WORKPRELIMINARY LAB WORK EQUIPMENT INFORMATIONEQUIPMENT INFORMATION PARTS LISTPARTS LIST SCHEDULE OF TASKS FOR NEXT SEMESTERSCHEDULE OF TASKS FOR NEXT SEMESTER
33
PROJECT OBJECTIVESPROJECT OBJECTIVES
Design a lawnmower navigation system Design a lawnmower navigation system Detect the field boundaries using RFDetect the field boundaries using RF Track vehicle’s position and orientation Track vehicle’s position and orientation Movement using closed loop motor controlMovement using closed loop motor control Detect and avoid objects (static/dynamic)Detect and avoid objects (static/dynamic) Safety shutoff switch Safety shutoff switch
44
LITERATURE REVIEWLITERATURE REVIEW
Find previous projects and their pros and Find previous projects and their pros and conscons
University of Florida project path ideal University of Florida project path ideal exampleexample Series of 3 projects add up to oursSeries of 3 projects add up to ours
What can we do better?What can we do better?
55
Florida Project OneFlorida Project One Project name – LawnNibblerProject name – LawnNibbler Student researcher – Kevin HakalaStudent researcher – Kevin Hakala Operating ComponentsOperating Components
Electric weed trimming platformElectric weed trimming platform RF Wire Boundary RF Wire Boundary (proof of concept) Local Positioning System(proof of concept) Local Positioning System
No results for completed mower publishedNo results for completed mower published
66
Florida Project TwoFlorida Project Two Project name – LawnSharkProject name – LawnShark Student researcher – Rand Chandler and Student researcher – Rand Chandler and
Katherine MeiszerKatherine Meiszer Operating ComponentsOperating Components
Electric Toro LawnmowerElectric Toro Lawnmower Local Positioning SystemLocal Positioning System Ultrasonic sensors (2)Ultrasonic sensors (2)
No results for completed mower publishedNo results for completed mower published
77
Florida Project ThreeFlorida Project Three Project name – Autonomous Lawn Care Project name – Autonomous Lawn Care
ApplicationsApplications Student researcher – Michael GreggStudent researcher – Michael Gregg Operating ComponentsOperating Components
Proof of Concept platform (no mowing)Proof of Concept platform (no mowing) RF wire containmentRF wire containment Obstacle avoidanceObstacle avoidance Collision DetectionCollision Detection Random Movement Programming Random Movement Programming
No results for completed mower publishedNo results for completed mower published
88
What makes us differentWhat makes us different Three cumulative projects compacted into Three cumulative projects compacted into
oneone Added Components for a better outcomeAdded Components for a better outcome
Wall following (physical and RF fence)Wall following (physical and RF fence) Efficient mowing patternEfficient mowing pattern Off unit computer processingOff unit computer processing
Unnecessary computer on mowerUnnecessary computer on mower Utilize an existing computerUtilize an existing computer Easy to update softwareEasy to update software
Design and Create Electric RF “dog fence”Design and Create Electric RF “dog fence”
99
GOALSGOALS
Obtain a chassisObtain a chassis Drive control systemDrive control system Build sensorsBuild sensors Detect and avoid objectsDetect and avoid objects Mower/PC communicationMower/PC communication Efficient Algorithm Efficient Algorithm
1010
SPECIFICATIONSSPECIFICATIONS Max Speed: 2 ft/sMax Speed: 2 ft/s Response Time: <150msResponse Time: <150ms Mowing Coverage: 120 ft²/min @ 2 ft/sMowing Coverage: 120 ft²/min @ 2 ft/s 12v 7.2 Ah Batteries x212v 7.2 Ah Batteries x2 Heading Accuracy: Heading Accuracy: ±±11° of error (ideal)° of error (ideal)
+1°
-1°
+1 ft
-1 ft
57.29 ft
Compass Accuracy Effects Over Distance
1111
SYSTEM BLOCK DIAGRAMSYSTEM BLOCK DIAGRAM
1212
CHASSISCHASSIS• Maneuverable
• Symmetrical
• Dual DC Motors
• Differential turning
• Dimensions:
• Length: 12.5’’
• Width: 18.5’’
• Height: 7’’
1313
POWERTRAINPOWERTRAIN
Dual Pittman 12v DC motorsDual Pittman 12v DC motors Gear ratio: 65.5:1Gear ratio: 65.5:1 Max RPM @no load: 4916Max RPM @no load: 4916 Max shaft RPM @no load: 75Max shaft RPM @no load: 75
Rotary encoderRotary encoder 500 CPR500 CPR 2 channels2 channels
WheelsWheels 6” Diameter6” Diameter Direct driveDirect drive
PowerPower Dual 12v 7.2Ah Batteries Dual 12v 7.2Ah Batteries
1414
MOTOR CONTROLMOTOR CONTROL User input average speedUser input average speed Speed averaged between wheelsSpeed averaged between wheels Rotary encoder feedbackRotary encoder feedback PI controlPI control PWMPWM Control system modeled in SimulinkControl system modeled in Simulink
1515
SIMULINK MODELINGSIMULINK MODELING
• Single motor model
• Microcontroller
1616
MICROCONTROLLERMICROCONTROLLER
MICROPAC 535 (EMAC)MICROPAC 535 (EMAC) 8051 architecture8051 architecture 3 timers3 timers 3 serial ports (up to 230.4K baud)3 serial ports (up to 230.4K baud) 10 external interrupts10 external interrupts 4 PWM I/O ports4 PWM I/O ports 8 A/D8 A/D 24 digital I/O24 digital I/O
1717
OBJECT DETECTIONOBJECT DETECTION
Ultrasonic sensorsUltrasonic sensors Coverage area maximized for front & sidesCoverage area maximized for front & sides
1818
ULTRASONIC SENSORSULTRASONIC SENSORS
• Devantech SRF05 Ultrasonic Range Finder
• Interfaced to microcontroller
• Multiplexer used to save digital I/O pins
• 1 digital input/2 digital outputs for all sensors
1919
DIGITAL COMPASSDIGITAL COMPASS R117-COMPASS R117-COMPASS Interfaced to microcontroller
2020
SAFETYSAFETY
Safety switch on mowerSafety switch on mower Remote shutdownRemote shutdown
User shutdown in softwareUser shutdown in software Lost connection to PCLost connection to PC
Bump switchesBump switches Last line of defenseLast line of defense Uses 3 pushbutton switchesUses 3 pushbutton switches Bumper connected to buttonsBumper connected to buttons Interfaced to digital input on Interfaced to digital input on µCµC Triggers high priority interruptTriggers high priority interrupt Kills mower bladeKills mower blade
2121
BOUNDARY DETECTIONBOUNDARY DETECTION
Dog fenceDog fence TransmitterTransmitter Radio FrequencyRadio Frequency 8 kHz Sine Wave8 kHz Sine Wave Dual receiversDual receivers
2222
RF CONTAINMENT WIRERF CONTAINMENT WIRE Better known as an electric dog fenceBetter known as an electric dog fence Band pass receiving filterBand pass receiving filter
2323
SOFTWARESOFTWARE C/Assembly on EMACC/Assembly on EMAC C++ On PCC++ On PC EMAC will acquire dataEMAC will acquire data Remote PCRemote PC
Receive user settings Receive user settings Process dataProcess data Implement algorithmImplement algorithm
2424
SOFTWARE FLOW CHARTSOFTWARE FLOW CHART
Start Reset Startup Sensors MovementMap
Reset/emergency
shut off?
Border?
NO
YES
Transmit/Receive Data
YES
NO
2525
BASIC ALGORITHMBASIC ALGORITHM
North-South patternNorth-South pattern Uses dog fenceUses dog fence Minimal areas missedMinimal areas missed Ideal for square fieldIdeal for square field Starts with borderStarts with border
2626
DATA SYNCHRONIZATIONDATA SYNCHRONIZATION
Data synchronized between Data synchronized between µµC and PCC and PC Serial to 802.11 converterSerial to 802.11 converter Any LAN connected PC can connect and run the softwareAny LAN connected PC can connect and run the software Sets up a virtual com port on the LAN PCSets up a virtual com port on the LAN PC Data rates up to 230400 BaudData rates up to 230400 Baud
2727
PARTS LISTPARTS LIST Mowjoe chassis (motors, frame, batteries)Mowjoe chassis (motors, frame, batteries) C80515 EMAC 8051 based microcontrollerC80515 EMAC 8051 based microcontroller ES1AWB (RS-232 to Wi-Fi)ES1AWB (RS-232 to Wi-Fi) Windows based PCWindows based PC Digital compassDigital compass
Devantech R117 for prototypeDevantech R117 for prototype Would like a more accurate oneWould like a more accurate one
Ultrasonic sensors X4Ultrasonic sensors X4 Devantech SRF05Devantech SRF05
RF sensors X2RF sensors X2 Dog fence componentsDog fence components
2828
GANTTGANTT CHARTCHART
2929
GANTTGANTT CHARTCHART
3030
Joel says “Any Questions?”
