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Autonomously Controlled Front Loader

Autonomously Controlled Front Loader . By: Steve Koopman and Jerred Peterson Advisor: Dr. Schertz. Presentation Outline. Project Summary Previous Work, Patents and Standards Detailed Project Description System Block Diagram Tasks Vehicle and Electronics Microprocessor and Software

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Autonomously Controlled Front Loader

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  1. Autonomously Controlled Front Loader By: Steve Koopman and Jerred Peterson Advisor: Dr. Schertz

  2. Presentation Outline • Project Summary • Previous Work, Patents and Standards • Detailed Project Description • System Block Diagram • Tasks • Vehicle and Electronics • Microprocessor and Software • Current Progress • Equipment and Parts List • Schedule • Questions

  3. Project Summary • Goals of Project • Fill a truck with a load • Autonomous control • Low cost design • Real-world Application • Automated bucket loading • Automate gravel yard process

  4. Previous Work, Patents and Standards • Little overlap with previous senior topics • Patents and standards are very narrow scope, not applicable to this project • Project idea is a fairly new and specific concept

  5. Detailed Project Description

  6. Detailed Project Description • Tasks • Locate material • Load material into bucket • Find truck • Dump material into truck

  7. Detailed Project Description • Vehicle and Electronics • Powered toy front loader • Drive and arm motors • Built in sensors • Sensors • Track rotary encoders • Distance sensor • Object and direction sensor • Microprocessor • Motor drive electronics

  8. Detailed Project Description • Microprocessor and Software • Microprocessor: Silicon Labs C8051F340-DK development kit • Motor PWM control • Sensor interfacing • Navigation control

  9. Current Progress • Vehicle investigation • Tamiya Shovel Dozer Kit • Needs a lot of modifications • Independent bucket tilt • Stronger bucket arm • Better tracks and track motors • Arm and bucker sensors needed • Not chosen for project • RC Bobcat Toy Front Loader • Needs few modifications • Add rotary encoders to tracks • Replace motor drive electronics • Meets other vehicle needs • Best choice for project

  10. Current Progress • Sensors • Investigated by Kevin Hurley and Ryan Leman • Distance sensor • Ultrasonic sensor (SRF05) • Accurate down to ~.5 inches with adjustment • Works up to ~48 inches • Object sensors • Infrared receiver and transmitter • Detects up to a few feet away • Differentiate between truck and load • Digital compass (VectorV2x) • 8 bit resolution, serial port output • Worked alright in limited testing

  11. Current Progress • Sensors (continued) • Investigated by Steve Koopman • Rotary encoder (HEF-16) • 16 pulses per revolution • Two channels • Allows direction control • Can be increased to 32 PPR accuracy • Small enough to be mounted internally

  12. Equipment and Parts List • RC Bobcat T190 • Silicon Labs C8051F340-DKdevelopment kit • Rotary Encoders • Ultrasonic Sensor SRF05 • Infrared sensor and diode • Digital Compass VectorT2X

  13. Schedule

  14. Schedule

  15. Questions • Any questions?

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