Transcript Blimpage - University of Colorado Boulder

Blimpage
General-Purpose Controller
Blimpage Team:
Joseph Brannan
Preliminary
Design
Review
Philip Grippi
Daniel McCabe
Nguyen Trinh
David Wolpoff
Blimpage
What is The Blimpage
Modular general-purpose drone
controller
 Navigation, collision-detection,
general motor interfaces, data
collection
 Zero-impact on system performance


Lightweight, independently powered
Blimpage
What is The Blimpage

Composed of six main modules:
General-purpose microcontroller
network
 Motor / servo controller
 Position and heading monitoring
 Collision-detection / alarm
 Data collection
 Off-module communication

Functional Block
Diagram
Master (Yoda)

Carries out high level tasks
Master of the I2C bus
 Passes data between modules.
 Handle user-input objectives

Collision Detection





Collision uC slave cycles through 6
channels on Mux/Demux
Vcc multiplexed to 6 peripheral IR
collision sensor’s (limit power)
outputs of sensors de-multiplexed into
low pass filter
Low pass filter output sampled by uC
ADC10
Collision status register visible to master
controller updated continuously
|
Collision Detection
| -------------------------------- |
|
Collision Sensor (x6)
|
Mux/Demux
output |
|
>--------<
---Vcc |
power
|
<--------<
<-------|
|
----------------------|
|
---
|
|
^
| ^^
| | Channel select
>--------
LP Filter
Collision uC Slave
Motor Control
•
•
•
•
•
Motor uC receives direction instruction
from Master Controller
4 uC outputs are optically isolated from
H-Bridges –control 2 motors’ behavior
PWM signal is optically isolated from
Servo
Two fans operate in forward or reverse
Servo controls position of fans (up or
straight)
Motor Control
Motor uC
------------------------| x2 H-Bridge Motor |
x4 optical |
|
Drivers
isolators
|
|
-----
---|
-----
<-------
-----
-----
|
|
|
PWM
--------
signal
optical
isolator
Micro Servo
-----
Position / Heading

Position detection from using a Digital Compass
(HMR3100)
Position / Heading

Velocity detection from using an analog
accelerometer (ADXL311)
Position / Heading

Heading detection from the sampled
outputs from HMR3100 and ADXL311
-
Pos/Heading uC
Master uC
-
||
||
------------------------------------------------I2C BUS
------------------------------------------------||
Motor uC
Communications
“Standard” RS-232 serial
communication.
 Connects to a host utilizing a
MAX3232 interface.
 All necessary components are kept
with the host to reduce weight.

Communications

Provides I/O pathway to host
printf()-style debug messages.
 Command/program input
 Collected data output


Potential In-flight uses

Course change/correction
Data Acquisition

Control sensors for collecting data

Audio or Image data
Store data for later transmission or
retrieval
 Do nothing until a “target” waypoint
 Dropping eggs on Tom from 30’ IS
data acquisition.

Data Acquisition

Possible data collection sources
JamCam or other RS232 enabled
camera.
 ISD1200 voice record chip
 Analog sampling to external RAM chip
 Mechanically actuated egg dropping
device. ;-)

Division of Labor

Master / Slave system (i2c)


Communication Module


Joe
Position / Heading
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
Dave, Phil
Motor Control, Collision Detection


Dave, Dan
Nguyen
Data Collection Module

Phil, Dan
Division of Labor

Group Tasks

Documentation

PCB Population

Systems Integration

Review and Testing
Blimpage
Project Timeline
Risks and
Contingencies
oMisreads from tilting
Gyro-mounted POS / HEAD Sensors
o Inaccurate velocities and position
Multiple systems
oCannot function on a Blimp
(lift, motor control, etc.)
Alternative Blimp designs
Modularity allows for control of R/C car,
etc.
Blimpage
ANY
QUESTIONS??