F13: BarkMaster2000

Abstract

The Barkmaster is intended to sense sound, turn a motorized vehicle in response to that sound, and drive towards the sound unless it comes across an obstacle in its path. The idea is that Bryan’s dog likes to chase remote control cars, but hasn’t had a remote control car chase her yet. Here is a picture of Bryan’s dog.

Objectives & Introduction

• Triggered by sound
• Responds by turning to towards source of sound and moving for a predetermined amount of time
  • Only turns in increments of 90 degrees
• Forward motion towards sounds stops when an object is detected or predetermined time expires
• Four independent MEMS sensors
  • Combination of any sensor will trigger response
• Data is polled from each sensor and an aggregate is formed to increase chances of sensing in correct direction (aggregating the data is a means of filtering by integration)
• Each sensor must be directional – physical shield used to direct sound

Team Members & Responsibilities

• Bryan Canepa
  • MEMs Sound Detection, Mux Interface, and Wireless On/Off control
• Patrick Ghorbanian
  • Motor Controller, Ultrasonic Sensor Interface, and Power Distribution

Schedule

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Week#	Date	Task
1	10/8	Develop Proposal
2	10/15	Purchase long lead parts
3	10/22	Interface MEMs and Ultrasonic Sensor Interfaces
4	10/29	Build up motor platform and test to verify that motor driver is sufficient to drive motors
5	11/5	Finalize MEMs detection and Motor Drive
6	11/12	Interface wireless On/Off and Finalize Ultrasonic Sensing
7	11/19	System Integration Phase 1
8	11/26	System Integration Phase 2
9	12/3	Demo Project and Finalized Wiki Page Submitted

Parts List & Cost

Part Number# (Supplier)	Description	Cost(EACH)	Quantity
BOB-09868(Sparkfun)	Breakout Board for ADMP401 MEMS Microphone	$9.95	4
BOB-09056(Sparkfun)	Analog/Digital MUX Breakout	$4.95	1
BOB-11978(Sparkfun)	Logic Level Converter(5V to 3.3V or 3.3V to 5V)	$1.95	TBD
Rover 5 Motor Driver Board (Amazon)	Motor Driver (4WD)	$26.95	1
HC-SR204 (Amazon)	SainSmart HC-SR04 Ultrasonic Distance Sensor	$4.88	1
2124277 (Amazon/Jameco)	2WD Arduino Compatible Mobile Platform (contains 2 DC motors)	$70.44	1
LPC1758 SJSU CMPE BOARD (SJSU)	Processor LPC1758 SJSU CMPE BOARD	$75	1

Design & Implementation

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Hardware Design [Ultrasonic Distance Sensor Interface]

Specifications:

   power supply :5V DC
   quiescent current : <2mA
   effective angle: <15°
   ranging distance : 2cm – 500 cm
   resolution : 0.3 cm

Sensor Pin Names and Descriptions:

   Vcc = Positive Supply Voltage (5Vdc)
   Trig = Used to command the sensor to send out Ultrasonic signal 
          (10usec TTL positive pulse required)
   Echo = The feedback signal that indicates when an object is detected 
          (active high TTL pulse,  idle state low)
   Gnd = Ground

Note: Duration of echo high pulse is used to determine distance Distance = ((Duration of high level)*(Sonic :340m/s))/2 Based on our testing the echo response signal goes high within 456usec of trigger trigger signal going low

Product website: http://www.sainsmart.com/arduino-compatibles-1/sensor/ultrasonic-ranging-detector-mod-hc-sr04-distance-sensor.html

The above photo shows the setup used to test out the Ultrasonic Distance Sensor Interface. Measurements were taken to verify that the sensor accuracy was sufficient. For our application accuracy on the order of +/-6.0 inches was sufficient since we are using the sensor to prevent the robot from running into four legged friend. The sensor operation is fairly simple. A 10 usec positive going TTL pulse is sent to the Trigger Input. This commands the sensor to begin sampling the sensor and generate a pulse on the Echo pin that is also a positive going TTL pulse. The pulse width of the Echo pulse is a function of the distance of the detected object. The software driver will measure the pulse width on a GPIO input and calculate the distance using the distance equation above.

Software Design

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Implementation

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Testing & Technical Challenges

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My Issue #1

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Conclusion

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Project Video

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Project Source Code

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References

Acknowledgement

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References Used

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Appendix

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