Transcript Document 7313725

Team Ninja
Intelligent Vacuum
Introduction/Overview
Project description and motivation
 Block diagram of approach
 Implementation of subsystems
 Schedule
 Division of labor
 Risk and contingency plan

Project Description and Motivation

Self-controlled device
– Intelligently navigates entire room while
vacuuming
– Detects proximity and avoids collision with walls
and obstacles
– Battery Powered

Assist disabled persons keep their living space
clean
Physical Description
Small enough to get under coffee tables, beds
 Round, approximately 1 ft in diameter
 Lightweight as possible

Block Diagram of Approach
User Interface
Limited user interface
 On/off switch
 Mode selection

– Continuous, trash detection, ghost mode, room
mapping
– Room size

Displays
– Battery life, mode, etc.
Vacuum
Commercial vs.
“Homemade”
 Integration with the
rest of the system
 Constraints

– Battery powered
– Lightweight
– Quiet
Mobility Functions

Steer, move, brake
– All three functions
implemented with stepper
motors
– Ball bearing castors to help
with movement/support

Requirements
– Two-way motoring
– Two independent motors
(Right and Left)
Brain


Motorola HC11K4
Microcontroller
“Intelligence” of our
system
– Receive and analyze data
from the peripheral sensors
– Control the vacuum’s
movement
– Implementation of the
different modes
Peripheral Sensors

IR sensors
– Sharp GP2D120


Analog output
4-30 cm detection range
– Detects when an object
is close
– Sends an output back to
the brain
Peripheral Sensors

Limit switch
– “Pressure sensor”
– Detects when you touch
an object
– Sends an output back to
the brain
Peripheral Sensors

IR vs. limit switch
– IR limitations
– Limit switch limitations
– Implementation of both types
Sensor/Brain Interface
Sensor output to brain
input
 A/D converter

Battery Power

Requirements
– Sufficient power for vacuum, motor, etc.
– Power converters
 Max232 chip
– Rechargeable
Schedule
Division of Labor
Kevin – Microcontroller programming,
communication between devices
 Tim – Communication with peripheral
sensors, power supply
 Simone – Mobility functions, vacuum
integration

Risk and Contingency Plan

Potential problems
– Group inexperience
– Sensor limitations
– Communication between devices
– Vacuum integration
 Weight, power consumption
– Small group
 Division of work
Risk and Contingency Plan

Contingency plan
– Move to Mexico and become scuba instructors
– If vacuum integration isn’t possible
 Sneaky, ninja-like alarm clock
Conclusion
Project description and motivation
 Block diagram of approach
 Implementation of subsystems
 Schedule
 Division of labor
 Risk and contingency plan

Questions?

Kevin Riegner [email protected]
 Tim Palagi [email protected]
 Simone Shen [email protected]