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SmartWalker. Final Presentation Group 16 Mike Orr Loc Truong Dang Khoa Le. SmartWalker . Mechanical Brake. Camera. Electronics. Motivation. Interested in robotics and wireless control To create a useful product Help the elderly and/or disabled. Goals and Objectives.

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smartwalker

SmartWalker

Final Presentation

Group 16

Mike Orr

Loc Truong

Dang Khoa Le

smartwalker1
SmartWalker

Mechanical Brake

Camera

Electronics

motivation
Motivation
  • Interested in robotics and wireless control
  • To create a useful product
    • Help the elderly and/or disabled
goals and objectives
Goals and Objectives
  • Assist in day-to-day activity of user
  • Durable
    • Battery over-charging protection
  • Low cost
specifications
Specifications
  • Weight less than 50 pounds
  • Be able to support up to 200 pounds of weight (manual)
  • Travel no faster than 3 miles per hour
  • Have no more than a 2 second delay in video streaming and control
  • Be able sustain functionality up to 40 meters away from the walker
  • Be able to sustain functionality for up to 2 hours without recharging (non-continuous use)
remote controller
Remote Controller

Remote Controller

2” color display

DPDT

Switches

2.4 GHz

Video Receiver

Receiver

HT12E

4 Channel

Encoder

433 MHz

RF Transmitter

receiver
Receiver

Receiver

M1

Remote

Controller

2.4 GHz

Video Transmitter

L293D

Dual H-bridge Motor Driver

M2

433 MHz

RF Receiver

HT12D

4 Channel

Decoder

motor controller
Motor Controller
  • Using Bridge Motor Drive L293D (16 PIN chip)
  • Cost : $2.50. Used for DC or Stepper Motor
driving method
Driving Method
  • Forward and Backward
  • Turning left and right
specifications desired for motors
Specifications desired for motors
  • Produce high torque
  • Have reasonable turn speed
  • Require 12V DC (to be compatible with system voltage supplier)
  • Generates low current to reduce heat
  • Low cost
motor wheels connection
Motor – Wheels connection
  • Motors connect to small discs.
  • Pulleys connects to the fixed-wheels using low-tension belts.
  • Small pins are used switch from remote control to manual use.
  • When using remote, the pins will connect the motors to the plastic pulleys.
holtek ht12e encoder
Holtek HT12E Encoder
  • Feature:
  • Operating voltage 2.4V-12V
  • Built-in oscillator needs only small value external resistor
  • Low power and high noise immunity CMOS technology
  • Low standby current: 0.1µA (typical) at VDD=5V
  • Capable of encoding and transmit 12 bit of information:
    • 8 address bits
    • 4 data bits
  • Easily interface with RF Transmitter
  • Minimal external components
holtek ht12d decoder
Holtek HT12D Decoder
  • Feature:
  • Operating voltage: 2.4V~12V
  • Low power and high noise immunity CMOS technology
  • Low standby current
  • Capable of decoding 12 bits of information:
    • 8 address bits (binary address setting)
    • 4 data bits
  • Built-in oscillator needs only 5% resistor
  • Received codes are checked 3 times
  • Easy interface with an RF receiver
  • Minimal external components
encoder decoder operation
Encoder/Decoder Operation
  • HT12D decoder will be in standby mode initially. Oscillator is disabled at this point
  • When the decoder receive data from the encoder through the RF receiver, Din goes high and it activates the oscillator.
  • The device starts decoding the input data, which consists of 8 address bits and 4 data bits
  • The decoder matches the received address 3times continuously with the local address given to pin A0 – A7.
  • Once confirmed, the data bits are decoded and activates 4 output pins D8-D11.
control switches
Control Switches
  • Rotation of the motor changes by switching its polarity
  • To switch/control the polarity of the motors from the remote controller, 2 DPDT switches are used
camera
Camera
  • Foscam FI9821W
    • HD Quality, 1280x 720 Resolution
    • High Cost
  • TENVIS JPT3815W
    • Lesser Quality
    • Good Pricing
  • Q-SEE Security Camera
    • Good Quality
    • RCA Compatible
    • Free of Charge (Loc)
video transmitter receiver
Video Transmitter/Receiver
  • 2.4 GHz Wireless Video/Audio Module
    • 9 Volts
    • Max Current:
      • 180mA (Receiver)
      • 30mA (Transmitter)
    • Frequency: 2.4 GHz
    • RCA Connectors
power system block diagram
Power System-Block Diagram

Power

Control

Video

Remote Controller Block Diagram

2” color display

9V

Battery

2.4 GHz

Video Receiver

UA7805

Regulator

DPDT

Switches

HT12E

4 Channel

Encoder

433 MHz

RF Transmitter

power system block diagram1
Power System-Block Diagram

Power

Control

Video

Receiver Block Diagram

12V

Battery

433 MHz

RF Receiver

HT12D

4 Channel

Decoder

M1

Regulator

(5V)

L293D

Dual H-bridge Motor Driver

M2

2.4 GHz

Video Transmitter

battery
Battery
  • 3 options:
    • HitLights Rechargeable 3800mAh Lithium Ion Battery Pack
    • Pitsco TETRIX 12-Volt Rechargeable NiMH Battery Pack and Charger
    • NiMH Battery Pack: Customize 12V 5000mAh
regulators
Regulators
  • μA7805CKC
  • Internal Thermal-Overload Protection
  • High Power-Dissipation Capability
  • LM7809
  • Short Circuit Protection
  • Thermal Overload Protection
battery life calculation
Battery Life Calculation

3800

----------------------------

5696.2

0.467 Hours*

*calculated for all components running constantly at maximum ratings

testing
Testing
  • Power
    • Constant running motor
    • Varying on/off
    • Max Weight Supported
    • Driving – 25 pounds
    • Stationary – 200 pounds
    • Speed (Max vsAvg)
    • Max < 3 MPH
    • Avg = 0.77 MPH
    • Video – tested at subsystem level
current issues solutions
Current Issues/Solutions
  • Thermal Issues
    • Motor Driver reachingthermal threshold
      • Use 12V relays to drive motors
  • Mechanical Issues
    • Platform causes stability issues
    • Wheel drive limits weight support capability
      • Redo platform
    • Antenna
    • Limits transmission range
      • Need longer antenna