1. Xin Jin Zelun Tie Ranmin Chen Hang Xie

2. Outline  Project overview  Project-specific success criteria  Block diagram  Component selection rationale  Packaging design  Schematic and theory of operation  PCB layout  Software design/development status  Project completion timeline  Questions / discussion

3. Project Overview The design project Wall-E Prototype I is an intelligent automated trash collecting robot with obstacle detection capability. The robot responses to either user’s direct manual control, or the object tracking software, to locate and collect the targeted trash object.

4. Project-Specific Success Criteria  An ability to recognize a ping pong ball (38mm / 1.58inch diameter hollow sphere)  An ability to control the speed and direction of the robot  An ability to pick up a ping pong ball off the ground  An ability to navigate around an obstacle when moving forward  An ability to indicate the remaining battery charge via LED array

5. Block Diagram

6. Component Selection Rationale  Microcontroller PIC24FJ256GA106PIC32MX110F016DMinimum CPU Speed32MHz40MHzN/A PWM956 UART422 ATD1654 Digital I/O53323 Total pins6444N/A Operate Voltage 2V-3.6V2.3V-3.6VN/A Max Current18mA14mAN/A

7. Component Selection Rationale  Voltage Regulator Required: VIN = 12 V Vout = 3.3 V

8. Component Selection Rationale  Fuel Gauge (BQ2010) 1.Battery chemical: Ni-MH 2.Simple setup method 3.Support stand-alone applications 4.Support LED array display 5.Simple communication protocol (one-wire DQ)

9. Motor and servo control circuit  Mechanical Arm Servo (5V DC)  Motors (12V DC)  Dual L298 H-Bridge (12V DC+ 5V DC onboard regulator)

10. Component Selection Rationale  Ultrasonic Sensor (LV-MaxSonar EZ1) 1.42kHz Ultrasonic sensor 2.Operates from 2.5-5.5V 3.Low 2mA supply current 4.Analog Output - 10mV/inch

11. Component Selection Rationale  Xbee 1.Low Power Consumption (63mW) 2.Long Transmission Range (Indoor: 90m) 3.Enough Baud Rate (9600 bps normally) for our project 4.Free X-CTU Software for testing

12. Packaging Design

15. Schematic/Theory of Operation  Overall Schematic

16. Schematic/Theory of Operation  Power Supply

17. Schematic/Theory of Operation  Microcontroller

18. Schematic/Theory of Operation  Fuel gauge

19. Schematic/Theory of Operation  Ultrasonic range finder

20. Schematic/Theory of Operation  Motor

21. Schematic/Theory of Operation  Xbee module

22. Schematic/Theory of Operation  MAX3232 convertor

23. Schematic/Theory of Operation  Servo

24. Schematic/Theory of Operation  PCB schematic

25. PCB Layout  Overall PCB layout without ground plane

26. PCB Layout  Front side of PCB

27. PCB Layout  Back side of PCB

28. PCB Layout  Power Supply (12V VCC)

29. PCB Layout  Power Supply (12V GND)

30. PCB Layout  Power Supply (3.3V VCC)

31. PCB Layout  Power Supply (3.3V GND)

32. PCB Layout  Fuel gauge

33. PCB Layout  Microcontroller

34. PCB Layout  MAX3232

35. PCB Layout  Xbee module

36. Software Design/Development Status  OpenCV setup finished  Capable for capturing video stream from external wireless camera  Capable for recognizing multiple ball in the screen  PC successfully sent data to Xbee  In progress: GUI, micro to sensor, micro to H- bridge, object distance detection

37. Software flow chart on laptop

38. Flow chart on microcontroller

39. Project Completion Timeline PCB layout Parts proof Micro soft- ware OpenCV software Packagin g Adjustment & testting Week 8XXX Week 9XXXX Week10XX Week11XX Week12XXX Week13XXX Week14XX Week15XX

40. Questions / Discussion

41. Backup Slides

45. Backup for xbee rst http://www.sparkfun.com/datasheets/Wireless/Zigbee/X Bee-Explorer-v15.pdf XBEE WI-FI: $57 http://www.cooking- hacks.com/index.php/shop/wireless/xbe e-wifi-module-for-arduino-digi- official.html Xbee pro:$37 https://www.sparkfun.com/products /8742

46. Reference (Micro Pins)

47. Reference (Micro PCB)

48. Reference (Fuel Gauge)

51. Reference (Ultrasonic)

53. Reference (LM2596)

54. Reference (LM2596 PCB)

55. Reference (Drive Board)

56. Reference (Motor)

57. Reference (Battery & Charger)