ECE 492 SENIOR PROJECT I MINI SUMO ROBOT

Transcription

1 ECE 492 SENIOR PROJECT I MINI SUMO ROBOT STUDENTS EMRAH ÇAĞLAR CİHAN ARDA Supervisor: Assist. PROF. DR. ORHAN GAZi ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 1

2 DIGITEST ELECTRONICS LTD COMPANY(established in 2002) Main purpose of the company is to fix or backup the electronic boards which are commonly used in the industrial area They have researched the defect finder device on the electronic systems therefore they created the first domestic defect finder device which are called D&T500, D&T1000 (Fault locator) They are also doing : PCB Development PCB Tests Software projection and refinement System Engineering, System Building, Entegration Consumer Support Service Main Work Area; Industrial Electronic - Technical Support - Real Time Control Systems Meteorological Systems - Calibration Systems - Smart Sensor Networks ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 2

3 TABLE OF CONTENTS In this project, sumo robot contains some parts Regulator Circuit(7805-5V) Motor Controller Circuit (L293D) Sensors(2 Types) Timer(NE555) Microcontroller(PIC16F628A) Motors Circuit Schemes ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 3

4 REGULATOR CIRCUIT(7805) Decreases 9V to 5V. Also prevents changes on voltage. ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 4

5 Through the motor controller (L293D) has the proper specs between the type of motor controllers for our project. That Imax value is 1.2 Ampere. It s enough to drive dc motors. ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 5

6 SENSORS CNY70 Contrast Sensor The CNY70 has a compact construction where the emitting light source and the detector are arranged in the same direction to sense the presence of an object by using the reflective IR beam from the object. The operating wavelength is 950 nm. The detector consists of a phototransistor.[1] Fighting arena consist of two types of color; the edge color is white which surrounds the arena as 5 cm width. Inner place of the white circle is black for the maximum contrast. CNY70 helps robot not to go out off arena ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 6

7 TSOP1138 (Photo Modules for PCM Remote Control Systems) TSOP sensors available for different carrier frequencies from 32 khz to 42 khz. Here in this project we used the TSOP with 38 khz (TSOP 1738). Timer(NE555) The 555 is a timer and oscillator chip capable of sourcing and sinking 200 milliamperes, and is useful for pulsing an infrared LED to power an infrared transmitter. It can be pulse width modulator or controlled via the various control pins for different purposes ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 7

8 Microcontroller(PIC16F628A) The PIC16F628A are 18-Pin Flash-based members of the versatile PIC16CXX family of low cost, high performance, CMOS, fully-static, 8-bitmicrocontrollers. It has Analog comparator input so we do not need to use Schmitt Trigger[4] ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 8

9 Motors Aim of sumo robots to to push each other out of a circle. So we need high torque gear dc motor. PMDC Spur Gear Motor/ KGA12FT ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 9

10 Circuit Schemes Sumo robot scheme Infared proximity sensor scheme ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 10

11 Discussion According to our experiments, We have used PIC16F84A and PIC16F877A with schmitt trigger but it is not efficient. Sometimes microcontroller make wrong decisions. So we have used PIC16F628A in this project. We have used Sharp proximity sensor. It makes the circuit unstable because with L293 warms up quickly because of peak current. Also we have tried to use servo motors instead of dc gear motors. We have modified the servo motors to rotate clockwise and counterclockwise. We couldnt rotate servo motors anticlock wise because we couldnt decrease the working frequency of microprocessor under 50 hz. ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 11

12 THANK YOU ECE492 Senior Project Presentation by Emrah CAGLAR, Cihan ARDA 12