E-Goat Robotic Solar Farm Grass Cutting System Department Of
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E-Goat Robotic Solar Farm Grass Cutting System Department of Electrical Engineering and Computer Science University of Central Florida Dr. Lei Wei & Dr. Samuel Richie Sponsors: OUC & Duke Energy October 22, 2019 Senior Design I Group 26 Steven Cheney Computer Engineer Jordan Germinal Computer Engineer Eduardo Guevara Computer Engineer Davis Rollman Computer Science Jonathan Smith Electrical Engineer Table of Contents 1 Executive Summary ...................................................................................... 1 2 Project Description ........................................................................................ 3 2.1 Project Motivation .................................................................................. 3 2.2 Goals ..................................................................................................... 4 2.3 Existing Projects and Products .............................................................. 4 2.4 Articulated Autonomous AI-Assisted Solar Farm Grass Cutter .............. 4 Husqvarna Auto Mower Series ......................................................... 6 iRobot Terra t7 Robot Mower ........................................................... 7 Existing Rover Location and Navigation Technology ........................ 8 2.5 Engineering Specifications ..................................................................... 9 Customer Specifications & Constraints .......................................... 10 Requirement Specifications ............................................................ 12 Team and Product Constraints ....................................................... 13 2.6 House of Quality .................................................................................. 14 2.7 High Level Control Scheme ................................................................. 16 3 Applicable Standards & Design Constraints ................................................ 17 3.1 Applicable Standards ........................................................................... 17 Serial Communication Standard ..................................................... 17 Surface Mount Package Standards ................................................ 21 IEEE Wireless Standards ............................................................... 21 Economic Constraints ..................................................................... 22 Environmental Constraints .............................................................. 22 Social Constraints ........................................................................... 23 Political Constraints ........................................................................ 23 Ethical Constraints .......................................................................... 23 ii Health and Safety Constraints ........................................................ 24 Time Constraints ............................................................................. 25 Testing/Presentation Constraints .................................................... 25 4 Research ..................................................................................................... 27 4.1 Relevant Technologies ......................................................................... 27 Motors ............................................................................................. 27 Power .............................................................................................. 29 Single Board Computer ................................................................... 30 4.2 Microcontroller Control Board ............................................................... 46 Microcontroller Overview ................................................................ 46 Microcontroller Need ....................................................................... 46 Microcontroller Board Options ........................................................ 47 Microcontroller Board Comparisons ................................................ 48 Microcontroller Selection ................................................................. 49 4.3 Obstacle Avoidance Sensors ............................................................... 51 Lidar ................................................................................................ 51 Camera ........................................................................................... 52 4.4 PCB ...................................................................................................... 58 PCB Software ................................................................................. 58 PCB Sourcing ................................................................................. 59 Motor Driver .................................................................................... 60 Voltage Regulator ........................................................................... 60 Remote Relay ................................................................................. 61 4.5 Navigation Sensors .............................................................................. 62 Boundary Wire ................................................................................ 63 Boundary Wire Part Selection ......................................................... 64 Localization Technology ................................................................. 65 iii Localization Technology Part Selection .......................................... 68 4.6 Computer Science and Computer Vision ............................................. 71 Board Selection .............................................................................. 71 Programming Languages ............................................................... 72 Gazebo Simulation ......................................................................... 74 Edge Detection ............................................................................... 75 SLAM Techniques .......................................................................... 78 Reduction of the problem ................................................................ 78 Mobile App ...................................................................................... 80 React Native ................................................................................... 81 4.7 Wireless Communications.................................................................... 82 Bluetooth ........................................................................................ 83 Radio Frequency ............................................................................ 84 SPI Protocol .................................................................................... 86 Wi-Fi ............................................................................................... 86 5 System Design ............................................................................................ 89 5.1 Power Systems .................................................................................... 89 Trimmers ........................................................................................ 89 Wheels ............................................................................................ 90 Accessories .................................................................................... 91 5.2 Navigation System ............................................................................... 91 Function Generator Design ............................................................. 92 EMF Sensor Design ....................................................................... 95 GPS Design and Schematics ......................................................... 99 IMU Design and Schematic .......................................................... 100 5.3 Physical Design ................................................................................. 103 Base Assembly ............................................................................. 103 iv Shell .............................................................................................. 104 Wheels .......................................................................................... 105 5.4 Microcontroller System ....................................................................... 107 6 Demonstration and Testing ....................................................................... 112 6.1 Testing Plans ..................................................................................... 112 6.2 Testing Goals ..................................................................................... 113 Cutting Rate Test .......................................................................... 113 Cutting Height Adjustability Test ................................................... 114 Rover Stability Test ....................................................................... 114 Turning Radius Test ...................................................................... 114 Obstacle Avoidance Test .............................................................. 114 Autonomy Test .............................................................................. 114 Day/Night Run Test ....................................................................... 115 Weather Resistance Test .............................................................. 115 Battery Life Test ............................................................................ 115 Manual