Semi-Autonomous Ice Detecting Robot Naman Mehta | Tim Wang-Lee Ryan May – Spring 2012 ECE 445

What? Goal : A robot that can detect ice, dispense salt, and be either directly controlled or semi-autonomous Delivery: A robot that can detect ice and be either directly controlled or semi-autonmous. Ice detection circuitry not mounted on robot.

Block Diagram

The PC Runs a GUI interface that communicates to Pandaboard. GUI done using wxPython Backend of interface done in C

User Interface

Status Panel Gives user a information about the state of system Connected Connected Robot status Robot status Ice Detection

The Control Modes Three possible modes Remote – Controlled Initialization Phase Autonomous

Arrow keys Controls the directions of the car.

wireless network using sockets (TCP/IP) Static IP address configuration Wireless Network

Main Contoller Pandaboard, an ARM platform A “server” program which accepts connections from PC. Command packets forwards to VCU (Wild Thumper Controller) Respond to periodic “ALIVE?” pokes

Pandaboard Accepts 5V DC HDMIUSB SD card

Vehicular Control Receives commands from Pandaboard through USB Controls motors Requires external batteries source Provides On-board charging

I/O Board Uses Teensy 2.0 Microcontroller Reads analog inputs from detection circuitry Outputs digital Low or High for indication

Ice Detection Uses LTE-301, LTR-302 Emitter Receiver pair Tests for highly reflective surfaces (ice) Has an Intensity indicator Has connection indicator

Detection mechanism Emitter Receiver Ground Optimum distance for det.

Schematics

Power Unit Provides ~5V and maximum 4A Uses one 6V batteries and 6 AA s Uses one 6V batteries and 6 AA s

The Chassis Wild Thumper 6WD

Final Robo-Car

Ethical consideration High current draw from batteries to Pandaboard High temperature of on-board charging circuit

Credits