1. Automated Pickup and Delivery System Sanjay Manglam Jimmy Shek Adam Chipalowsky

2. Design Goals  Detecting objects (known as targets)  To distinguish between obstacles and targets.  Acquire objects of varying height.  Retrieving targets  Ethernet Connectivity

3. Sensors  Ultrasound – on crane  SRF04  Infrared Emitter – on target  Your basic run-of-the-mills IR emitter  Infrared detector – on crane  Radio Shack PN# 276-137B  Shaft encoder sensor – on crane  Ultra compact reflective sensor

4. Field of Play

5. Crane reach specification

6. Targets

7. Test outlook, plan  Ultrasound…Tested!  Looks good  IR…Tested!  Need to “narrow” beam using lens  Internet Interface…Tested!  Looks good  Crane arm…under development!  Servos…modified, under development!  Working on shaft encoder

8. System Test Plan  First run  Target inline, no swivel movement needed  Do simple pickup and deliver  Second run, offset target, let arm search for it  Third run, search and find many targets, ignore obstacles

9. Internet Interface  System contains a web server (TCP/IP interface, stack, etc). Users will be able to watch the current status of the system.  48K of website space  Ethernet controller to interface to the web  UART interface to the HC12

10. Additional Features  Have remote drop off zone where crane transfers target to vehicle.  Put the crane on wheels, drive it around!