Senior Design Project – Fall 2007
Wireless Surveillance Vehicle
Lance P. Riegert
Rodrigo A. Urra
Steve C. Wilson
September 18, 2007 Wireless Surveillance Vehicle 1 of 20
Agenda
• Project Description and Requirements
• System Overview
• User Interface
• System Hardware
– ALIX.1C Microcontroller
– HCS12 Microcontroller
– DC Motor Drive
– Speed Detection
– Power
• System Integration
• Testing Strategies
• Cost
• Questions
September 18, 2007 Wireless Surveillance Vehicle 2 of 20
Project Description & Requirements
Surveillance Vehicle
• Controlled over the Internet
• Detect & control speeds: 2 forward, 1 reverse
• Turn left & right
• Rotate mounted camera & transmit feed to client
• 8-hour battery lifespan
• Power-saving mechanisms
September 18, 2007 Wireless Surveillance Vehicle 3 of 20
System Overview
Internet
Drive DC
Motor &
H-Bridge Router
To rear axle for
PWM0
Client Workstation speed/direction
PA0
PA1 control
Secondary
Timer5
Microcontroller:
PWM 1
HCS12
PA2
PA3
To front axle for
Logitech steering
QuickCam
Steering
DC Motor &
Serial Port H-Bridge
Servo
Send/Receive
data to user
Primary Microcontroller: PC
ALIX.1C
USB MiniPCI WLM54G23
Port Port2 WiFi Card
Ethernet
Port
For testing/
configuration
September 18, 2007 Wireless Surveillance Vehicle 4 of 20
User Interface – offline
September 18, 2007 Wireless Surveillance Vehicle 5 of 20
User Interface – online
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System Components
USB Camera
Servo 1
(Cam. Position)
DC Motor
1 (Steering
Axle)
CF
card
Alix.1C
Microcontroller
miniPCI
Board Wireless
Card
HCS12 Board
H-Bridge
DC Motor 2
(Speed Control)
Wireless
Antenna
September 18, 2007 Wireless Surveillance Vehicle 7 of 25
System Specifications
CompactFlash Card
9.2 V Battery
12 V Battery
C
VC 1
0
5
CF Vcc1 miniPCI
2 6
PCI
3 ALIX.1C
PS/2
7 WLM54G23
4 8
R1 1
0
Vcc1 Serial
5 1
Serial
VGA
USB1
5
Wireless Card
R2
183 2 6 2
GPIO1 USB2
6
U1 10k U9A T er5
im
3 HCS12 7 3
GPIO2 Line In
7
0
1 3 1 2 4
Timer5 PA0
8 1
IN1 OUT1
5 4
GPIO2 GND Line Out
8
1
PA1
5 2
IN2 OUT2
6
M Rear Driver Motor 0
7404 C 12
HS
2 4
2
3
PA2
6
7
3
4
IN3 OUT3
7
8
C
5V PA3 IN4 OUT4
4 8 1 5
V 11233
QE PWM1 GND PWM0 EN1
2 6
0 EN2 OUT3
L293D M Front Steering Motor
3
4
VS OUT4
7
8
Logitech
VSS GND
0 QuickCam
WebCamera Position
Servo Motor
6 V Battery
September 18, 2007 Wireless Surveillance Vehicle 8 of 20
ALIX.1C Microcontroller
• Power
– 12V DC Battery
• Interfaces CompactFlash Card
– miniPCI Wireless 802.11 Card 12 V Battery
– USB Logitech QuickCam 1
2
CF
0
Vcc1 miniPCI
5
6
PCI
– CompactFlash Card (OS & WLM54G23
3 ALIX.1C 7
PS/2
4 8
1
Serial
VGA
USB1
5
Wireless Card
Software) 2
3
GPIO1
GPIO2
USB2
Line In
6
7
4 8
– Serial to HCS12
GPIO2 GND Line Out
0
C
• Software Responsibilities Logitech
– Wireless Interface QuickCam
– Camera Interface
– Transmit Camera Video
– Pass Commands to HCS12
September 18, 2007 Wireless Surveillance Vehicle 9 of 20
HCS12 Microcontroller
• Power
– 9.2 V Battery Pack
• Interfaces
– PA0, PA1, PWM0 to H-Bridge for Drive Motor
– PA2, PA3 to H-Bridge for Steering Motor
– PWM1 to Servo for Camera Angle
– Serial Port to ALIX.1C
– Slotted Optical Switch to Timer5 Port
• Software Requirements
– Drive Vehicle Forward, Reverse, Left & Right
– Detect and Adjust Speed
– Control Camera Angle
September 18, 2007 Wireless Surveillance Vehicle 10 of 20
DC Motor Drive
Vcc PT3 PT2 PWM0 PT1 PT0
HCS12 HCS12 HCS12 HCS12 HCS12 HCS12
Driv e Motor
1
U3
2 3
7 IN1 OUT1 6
10 IN2 OUT2 11
15 IN3 OUT3 14
IN4 OUT4
1 MOTOR DC
2
9 EN1
EN2
8
16 VS
VSS Steering Motor
1
L293D
VCC
MOTOR DC
2
September 18, 2007 Wireless Surveillance Vehicle 11 of 20
Speed Detection
VCC
R1
R2
183
U1 10k U9A Timer5
1 3 1 2
7404 HCS12
2 4
QVE11233
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Speed Detection
Interrupt caused
by dark slot
blocking slotted Average 8 Entries in Memory Queue to
optical switch get Current Speed
Is Current Speed > Expected Speed Yes Reduce PWM0
Calculate Duration = CurrentTime – StartTime
Delay No
Store Duration to Memory Queue (Size of 8)
Is Current Speed < Expected Speed Yes Increase PWM0
Set StartTime = CurrentTime No
N=0
Flowchart for Interrupt Handler Flowchart for Background Job
September 18, 2007 Wireless Surveillance Vehicle 13 of 20
Power
CompactFlash Card
9.2 V Battery
12 V Battery
C
VC 1
0
5
CF Vcc1 miniPCI
2 6
PCI
3 ALIX.1C
PS/2
7 WLM54G23
4 8
R1 1
0
Vcc1 Serial
5 1
Serial
VGA
USB1
5
Wireless Card
R2
183 2 6 2
GPIO1 USB2
6
U1 10k U9A T er5
im
3 HCS12 7 3
GPIO2 Line In
7
0
1 3 1 2 4
Timer5 PA0
8 1
IN1 OUT1
5 4
GPIO2 GND Line Out
8
1
PA1
5 2
IN2 OUT2
6
M Rear Driver Motor 0
7404 C 12
HS
2 4
2
3
PA2
6
7
3
4
IN3 OUT3
7
8
C
5V PA3 IN4 OUT4
4 8 1 5
V 11233
QE PWM1 GND PWM0 EN1
2 6
0 EN2 OUT3
L293D M Front Steering Motor
3
4
VS OUT4
7
8
Logitech
VSS GND
0 QuickCam
WebCamera Position
Servo Motor
6 V Battery
September 18, 2007 Wireless Surveillance Vehicle 14 of 20
System Integration
Internet
Drive DC
Motor &
H-Bridge Router
To rear axle for
PWM0
Client Workstation speed/direction
PA0
PA1 control
Secondary
Timer5
Microcontroller:
PWM 1
HCS12
PA2
PA3
To front axle for
Logitech steering
QuickCam
Steering
DC Motor &
Serial Port H-Bridge
Servo
Send/Receive
data to user
Primary Microcontroller: PC
ALIX.1C
USB MiniPCI WLM54G23
Port Port2 WiFi Card
Ethernet
Port
For testing/
configuration
September 18, 2007 Wireless Surveillance Vehicle 15 of 20
Command & Video Transmission
FTP (video/screenshots)
ALIX.1C
Spook
Linux Distro
C Server
TCP (commands)
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Testing Strategies
1. Hardware
– ALIX.1C HCS12 serial interface
– ALIX.1C 802.11 Internet connection
– ALIX.1C webcam recognition
– HCS12 output voltages
– Vehicle control (Steering, Speed)
2. Software
– Client server command transmission
– Client Spook video transmission
– HCS12 response to serial stimulus
3. Incremental System Integration
September 18, 2007 Wireless Surveillance Vehicle 17 of 20
Cost Estimates
Component Commercial Cost Our Cost
Vehicle $30 $30
Logitech Quickcam Web Camera $30 -
ALIX.1C Microcontroller $150 -
Motorola HCS12 Microcontroller $150 -
Wireless Network Interface Card $40 $40
Servomotor (1) $30 -
Rechargable 12V Batteries $140 $140
CompactFlash Cards $30 $30
USB CompactFlash Card Reader $15 $15
44-pin to 40-pin Cable for Linux $10 $10
Installations
H-Bridge $10 $10
Shaft Encoder $10 $10
Wires and DC power plug $10 $10
TOTAL $655 $295
September 18, 2007 Wireless Surveillance Vehicle 18 of 20
Possible Difficulties
• Obtaining stable video frame rates
• Vehicle recovery if outside of wi-fi radius
• Keeping aligned steering
• Maintaining stable speed control
• Implementation of power-saving features
September 18, 2007 Wireless Surveillance Vehicle 19 of 20
Questions
Questions?
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