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Delivery Project
Final Report Group 13
1. Executive Summary
The purpose of this project is to produce a vehicle with the ability to pick up a
deliver cargo at unknown heights and locations safely after receiving a signal
from a control module. Our team has worked collaboratively to create a vehicle
that is able to perform multiple operations to satisfy this purpose.
We created a vehicle with a chassis suspending a cargo pickup system made
mainly of plywood, as it was economical and allowed for increased robustness.
The pickup mechanism consists of two boxes, of which one box slides back and
forth to catch and release the cargo. The sliding box is achieved through a simple
pulley system made out of rubber wheels attached to a 9V motor. As we
The cargo pickup mechanism and the vertical/horizontal motion function
independently and therefore require 2 separate breadboards and
microprocessors, each powered by a 9V battery.
Key Risks: Burn out, loss and damage of components, injury and electric shock
During final testing, the vehicle was able to perform individual functions such as
the vertical motion, collection of the egg and horizontal motion. However, the
vehicle was not able to deliver the cargo safely and accurately and the detection
of the signal from the control module was not robust.
Table of Contents
1 Executive Summary page 1
2 Introduction page 3
3 Final Design and Implementation page
3. 1 Electrical systems page
3. 1. 1 Sound detection page
3.2 Mechanical systems page
4 Evaluation of Design - page
5 Analysis of Final Testing Results page
6 Key Lessons Learned page
7 Effectiveness of Organisational Support page
8 Conclusion
9 References
2. Introduction
Must include a problem definition. Should begin with motivation and background
to the problem, and needs to talk (in general terms) about some of the key
problems raised by the design brief, during the development of the design, and
during testing. This is then a lead-in to discussing the proposed solutions (in the
next section). Should explain what questions the reader can expect to find
answered in the remainder of the report. Can include any other discussion
concerning motivation for the project or design, or background to the project
work. Dont start discussing details of the design itself or what was done during
the project this comes later in the report the introduction is for explaining the
design problem (and sub-problems) in as much detail as you can.
Around 1-2 pages.
3. 1. Electrical Subsystem
In the whole, there are two Arduino used including a Uno and a
Mega. The first one is responsible for car moving and the vertical
motion while the Mega acts as a controller of the horizontal motion
which refers to Collection and Delivery Mechanism.
3. 1. 1. Sound Detection
In order to communicate the location of pickup and dropoff for the vehicle, a
sound detection system was required to receive the sound signal from the
control module and output to the microcontroller depending on the frequency of
the signal received.
An electret microphone was used to detect the sound signal emitted from the
control module. This signal was fed into an amplification stage consisting of two
LM741 op-amps connected in series. These integrated circuits amplified the
small output of the microphone to a sufficiently high voltage that could be
analysed. Two op-amps were used in order to overcome signal clipping that
occurred as a result of the gain on the op-amp being too large (approximately
x100 calculated
by the formula in Figure 3.1.1.1).
V out =V
R2
R1
( )
Figure 3.1.1.1 Gain across a closed loop op-amp [1]
The gain on each op-amp was stepped down to about x10 to prevent clipping,
whilst still maintaining the final level of amplification as shown in Figure 3.1.1.2.
Figure 3.1.1.2 The amplification module of the microphone circuit. The gain across each op-amp is
-10.
In total, there are three motors used in the vehicle, which are for car moving,
vertical motion and horizontal motion respectively. To achieve the common aim
of reversing the direction of them, an IC whose type is L293D is used as HBridge, which is an electronic circuit that enables voltage to go through either
direction in order to allow DC motor to run forwards and backwards. To control
motors, the IC (L293D) that can control two motors at the same time, could be
easily connected to Arduino microcontroller which could be encoded to receive
inputs and output orders to motors. The way to connect an IC to Arduino is
displayed below (figure 3.1.3.2).
The table showed below (figure 3.1.3.3) describes how an IC can work with
Arduino.
Pin 2
Pin 7
Function
High
Low
High
Turn clockwise
High
High
Low
Turn anti-clockwise
High
Low
Low
Stop
High
High
High
Stop
Low
Not applicable
Not applicable
Stop
The core component of vertical movement is a winch with a gear motor to move
the collection and delivery mechanism up and down. To achieve this aim, HBridge is applied to drive this winch. Since the exact length remains unknown
and any manual control should be avoided, a button switch is attached to the
bottom of the grabbing system which is a box to stop the motor. Once the button
is pressed, it means the box has reached the platform and the motor would stop.
To receive the pressed signal, this button switch is connected to the Arduino by
using digitalRead(buttonPin). After the signal pressed is received, Arduino will
send a stop order to the motor, using digitalWrite which is mentioned above.
By estimating the time for collecting eggs, a timedelay function of Arduino is
used, which delays enough time for the egg collection before going up.
Code
3. 1. 5. Collection and Delivery Mechanism
Apart from the vertical function that the button switch exerts, it is actually
connected to both Arduino. Once it is pressed, the vertical motor will stop, also,
the horizontal motor will run. In order to stop the horizontal motor, a magnetic
sensor (reed switch) and a magnet are attached to the side of two boxes (see
Figure???? The sketch of it Tings part). The motor keeps spinning until the
magnet sensor senses the magnet (e.g. it is open until it senses a magnet and
then it is closed), which means two boxes are closed and the collection is done.
To receive the signal of the magnetic sensor, it is connected to the Arduino Mega.
By using digitalRead(sensorPin), Arduino is able to know if the magnet is sensed
and when to send the stop signal to the motor.
Code
3. 2. Physical Specifications
3. 2. 1. Chassis
3. 2. 2. Horizontal Movement
3. 2. 3. Pickup and Delivery Mechanism
Output
Both LEDs were unlit
LED 1 flickered
LED 1 lit up continuously
LED 1 flickered
Both LEDs were unlit
LED 2 flickered
LED 2 lit up continuously
LED 2 flickered
Both LEDs were unlit
The circuit performed as required; only producing an output when the operating
frequencies were played. The bands were sufficiently large enough to allow
frequencies slightly above and below those required to also produce an output,
to cater for the inaccuracy of the signal from the control module.
However, the band for the 1900Hz frequency was smaller than the band for the
5600Hz frequency and the upper and lower limits of the bands were not
balanced around the centre frequency. The capacitors around the tone decoders
were adjusted accordingly as a result to correct these issues.
Compulsory: What did you learn about operating in a team ? Were the team
exercises (first mentor meeting, peer assessment) helpful ? Did everyone
contribute (be completely honest here), and if not what did you do about it
(again, be honest) ? What could have helped your team to perform better ?
Be sure to get all the teams input on this section. Everyone will have learned
something different from the course.
Around 2 pages.
Discuss how successfully the final design addressed the design problem,
referring to key aspects or innovations in the design that you feel were
significant, and referring to how your design performed in final testing (and in
any preliminary testing, if you want) 5-6 sentences.
Summarise the outcomes of the design project (1-2 sentences).
The conclusion is not a vague set of sentences that attempt to make the reader
feel good about the report; the conclusions should build directly on the main
ideas and/or results of the report, and should match with the executive summary
in terms of these ideas.
9. References
You must cite references in the text of the report. A list of references at the
end of the report without this will not attract full marks. Very few references, or
references with details missing (e.g. year, publisher or place of publication (for
books), or date of access (for URLs)), will also not attract full marks for
referencing.