Autonomously Controlled Front Loader By: Steve Koopman and Jerred Peterson Advisor: Dr. Schertz

Presentation Outline Project Summary Project Summary Previous Work, Patents and Standards Previous Work, Patents and Standards Detailed Project Description Detailed Project Description System Block Diagram System Block Diagram Tasks Tasks Vehicle and Electronics Vehicle and Electronics Microprocessor and Software Microprocessor and Software Current Progress Current Progress Equipment and Parts List Equipment and Parts List Schedule Schedule Questions Questions

Project Summary Goals of Project Goals of Project Fill a truck with a load Fill a truck with a load Autonomous control Autonomous control Low cost design Low cost design Real-world Application Real-world Application Automated bucket loading Automated bucket loading Automate gravel yard process Automate gravel yard process

Previous Work, Patents and Standards Little overlap with previous senior topics Little overlap with previous senior topics Patents and standards are very narrow scope, not applicable to this project Patents and standards are very narrow scope, not applicable to this project Project idea is a fairly new and specific concept Project idea is a fairly new and specific concept

Detailed Project Description

Tasks Tasks Locate material Locate material Load material into bucket Load material into bucket Find truck Find truck Dump material into truck Dump material into truck

Detailed Project Description Vehicle and Electronics Vehicle and Electronics Powered toy front loader Powered toy front loader Drive and arm motors Drive and arm motors Built in sensors Built in sensors Sensors Sensors Track rotary encoders Track rotary encoders Distance sensor Distance sensor Object and direction sensor Object and direction sensor Microprocessor Microprocessor Motor drive electronics Motor drive electronics

Detailed Project Description Microprocessor and Software Microprocessor and Software Microprocessor: Silicon Labs C8051F340-DK development kit Microprocessor: Silicon Labs C8051F340-DK development kit Motor PWM control Motor PWM control Sensor interfacing Sensor interfacing Navigation control Navigation control

Current Progress Vehicle investigation Vehicle investigation Tamiya Shovel Dozer Kit Tamiya Shovel Dozer Kit Needs a lot of modifications Needs a lot of modifications Independent bucket tilt Independent bucket tilt Stronger bucket arm Stronger bucket arm Better tracks and track motors Better tracks and track motors Arm and bucker sensors needed Arm and bucker sensors needed Not chosen for project Not chosen for project RC Bobcat Toy Front Loader RC Bobcat Toy Front Loader Needs few modifications Needs few modifications Add rotary encoders to tracks Add rotary encoders to tracks Replace motor drive electronics Replace motor drive electronics Meets other vehicle needs Meets other vehicle needs Best choice for project Best choice for project

Current Progress Sensors Sensors Investigated by Kevin Hurley and Ryan Leman Investigated by Kevin Hurley and Ryan Leman Distance sensor Distance sensor Ultrasonic sensor (SRF05) Ultrasonic sensor (SRF05) Accurate down to ~.5 inches with adjustment Accurate down to ~.5 inches with adjustment Works up to ~48 inches Works up to ~48 inches Object sensors Object sensors Infrared receiver and transmitter Infrared receiver and transmitter Detects up to a few feet away Detects up to a few feet away Differentiate between truck and load Differentiate between truck and load Digital compass (VectorV2x) Digital compass (VectorV2x) 8 bit resolution, serial port output 8 bit resolution, serial port output Worked alright in limited testing Worked alright in limited testing

Current Progress Sensors (continued) Sensors (continued) Investigated by Steve Koopman Investigated by Steve Koopman Rotary encoder (HEF-16) Rotary encoder (HEF-16) 16 pulses per revolution 16 pulses per revolution Two channels Two channels Allows direction control Allows direction control Can be increased to 32 PPR accuracy Can be increased to 32 PPR accuracy Small enough to be mounted internally Small enough to be mounted internally

Equipment and Parts List RC Bobcat T190 RC Bobcat T190 Silicon Labs C8051F340-DK development kit Silicon Labs C8051F340-DK development kit Rotary Encoders Rotary Encoders Ultrasonic Sensor SRF05 Ultrasonic Sensor SRF05 Infrared sensor and diode Infrared sensor and diode Digital Compass VectorT2X Digital Compass VectorT2X

Schedule Week # Description of Activities 1 Finalize sensor choice Modify front loader to include sensors Test modified front loader 2 Design motor power electronics Finish attaching sensors to front loader, attach microprocessor Test microprocessor interface to sensors and motor power electronics 3 Continue testing sensor/power electronics interface to microprocessor Look for potential difficulties in upcoming implementation 4 Begin programming microprocessor to do individual tasks, like load the bucket, dump bucket, etc. Begin developing programming to move vehicle around

Schedule Week # Description of Activities (continued) 5-6 Continue to develop software on microprocessor to achieve individual tasks and move around 7-9 Combine routines together to achieve full project goals Test project with simple layout and then move to more difficult ones. 10 Wrap up software development, formalize results Continue finishing project and formalizing results Begin writing final report and presentation

Questions Any questions? Any questions?