Wireless Surveillance Vehicle

Lance P. Riegert

Rodrigo A. Urra

Steve C. Wilson

September 18, 2007 Wireless Surveillance Vehicle 1 of 20

Senior Design Project – Fall 2007

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

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Project Description & Requirements

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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

System Overview

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Logitech QuickCam

Primary Microcontroller: ALIX.1C

WLM54G23 WiFi Card

Secondary Microcontroller:

HCS12

Drive DC Motor & H-Bridge

Steering DC Motor &

H-Bridge

Servo

To rear axle for speed/direction

control

To front axle for steering

Serial Port

MiniPCI Port2

USB Port

Ethernet Port

For testing/configuration

Send/Receive data to user

PC

Router

Internet

Client Workstation

PWM 1

PWM0PA0PA1

Timer5

PA2PA3

User Interface – offline

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User Interface – online

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System Components

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DC Motor 1 (Steering

Axle)

USB CameraServo 1

(Cam. Position)

DC Motor 2 (Speed Control)

Alix.1C Microcontroller

Board

HCS12 Board

CF card

miniPCI Wireless

Card

H-Bridge

Wireless Antenna

System Specifications

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CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

1

2

3

4Timer5

Serial

PA0

5

6

7

8

Vcc1

0

HCS12

1

2

35V

4PWM1

PA1

PA2

PA3

PWM0

5

6

7

8GND

0

9.2 V Battery

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

IN11

IN22

3IN3

4IN4

OUT1

OUT2

OUT3

OUT4

5

6

7

8

0

EN11

EN22

3VS

4VSS

OUT3

OUT4

GND

5

6

7

8

0

L293D

6 V Battery

M

M

Rear Driver Motor

Front Steering Motor

WebCamera PositionServo Motor

U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

ALIX.1C Microcontroller

• Power– 12V DC Battery

• Interfaces– miniPCI Wireless 802.11 Card– USB Logitech QuickCam– CompactFlash Card (OS &

Software)– Serial to HCS12

• Software Responsibilities– Wireless Interface– Camera Interface– Transmit Camera Video– Pass Commands to HCS12

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CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

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

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DC Motor Drive

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U 3

L 2 9 3 D

27

1 01 5

19

361 11 4

1 68

I N 1I N 2I N 3I N 4

E N 1E N 2

O U T1O U T2O U T3O U T4

V S SV S

V C C

P T2

H C S 1 2

D riv e M o t o r

M O TO R D C

12

P W M 0

H C S 1 2

V c c

H C S 1 2

S t e e rin g M o t o r

M O TO R D C

12

P T0

H C S 1 2

P T1

H C S 1 2

P T3

H C S 1 2

Speed Detection

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U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

Speed Detection

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Interrupt caused by dark slot

blocking slotted optical switch

Calculate Duration = CurrentTime – StartTime

Store Duration to Memory Queue (Size of 8)

Set StartTime = CurrentTime

Average 8 Entries in Memory Queue to get Current Speed

Is Current Speed > Expected Speed Reduce PWM0Yes

Is Current Speed < Expected Speed

No

Increase PWM0Yes

N = 0

No

Delay

Flowchart for Interrupt Handler Flowchart for Background Job

Power

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CF1

2

3

4

miniPCI

PCI

PS/2

VGA

5

6

7

8

Vcc1

0

ALIX.1C

12 V Battery

Serial1

GPIO12

3GPIO2

4GPIO2

USB1

USB2

Line In

Line Out

5

6

7

8GND

0

1

2

3

4Timer5

Serial

PA0

5

6

7

8

Vcc1

0

HCS12

1

2

35V

4PWM1

PA1

PA2

PA3

PWM0

5

6

7

8GND

0

9.2 V Battery

WLM54G23Wireless Card

C

LogitechQuickCam

CompactFlash Card

IN11

IN22

3IN3

4IN4

OUT1

OUT2

OUT3

OUT4

5

6

7

8

0

EN11

EN22

3VS

4VSS

OUT3

OUT4

GND

5

6

7

8

0

L293D

6 V Battery

M

M

Rear Driver Motor

Front Steering Motor

WebCamera PositionServo Motor

U 1

Q V E 1 1 2 3 3

1

2 4

3U 9 A

7 4 0 4

1 2

R 1

1 8 3

V C C

R 2

1 0 k Tim e r5

H C S 1 2

System Integration

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Logitech QuickCam

Primary Microcontroller: ALIX.1C

WLM54G23 WiFi Card

Secondary Microcontroller:

HCS12

Drive DC Motor & H-Bridge

Steering DC Motor &

H-Bridge

Servo

To rear axle for speed/direction

control

To front axle for steering

Serial Port

MiniPCI Port2

USB Port

Ethernet Port

For testing/configuration

Send/Receive data to user

PC

Router

Internet

Client Workstation

PWM 1

PWM0PA0PA1

Timer5

PA2PA3

Command & Video Transmission

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TCP (commands)

FTP (video/screenshots)

Linux Distro

Spook

C Server

ALIX.1C

Testing Strategies

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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

Cost Estimates

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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 Installations

$10 $10

H-Bridge $10 $10

Shaft Encoder $10 $10

Wires and DC power plug $10 $10

TOTAL $655 $295

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

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Questions

Questions?

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