Transcript SPIRIT-C Solar Powered Image Response Infrared Tracking

SPIRIT-C
Solar Powered Image Response Infrared Tracking Camcorder
Justin Eiler
Jeff Morroni
Adeel Baig
Andy Crahan
Jim Patterson
SPIRIT-C Applications
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Live Action Filming
 Security Surveillance
 Infant Monitoring
 Proximity Detection
Overview
Pan/tilt tracking system for digital camcorder
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Two stepper motors used for pan/tilt motion
 Controlled by array of PIR(pyro-electric infrared) sensors
 Solar array for supplying power to all components
 External battery and camcorder battery charged through
array
 FPGA with embedded soft core for integration and control
 Manual, and possibly wireless, controller
Solar
Array
Battery
Manual
Control
Block Diagram
Converters
Spartan 3
with
Microblaze
ADC /
Mux
LED
Cluster
H-Bridge
Controller
Stepper
Motors
Control
Power
IR
Sensor
s
Data
Camera
Camera Mount Assembly
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The camera will be
mounted into a cradle
using existing tripod
mount
The cradle is suspended
between side holes on
yoke
The yoke will be used to
facilitate tilting motion
A Lazy Susan will be used
for pan rotation and is
connected to bottom hole
of yoke
Stepper Motors
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Two low power
stepper motors will be
used to power the
rotation of the camera
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The motors will also
be Bipolar (no center
taps)
Motor Control
XY
00
01
10
11
Mode
D. Braking
Forward
Reverse
D. Braking
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A simple H-bridge
circuit will be
constructed to control
the motors
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The H-bridge will
allow us the following
modes
Motor Driver
Step
Direction
Y
X
Y
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Winding 1
Winding 2
X
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Driver using TTL logic
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The Step input will be
hooked up to the Spartan 3
Pulse Width Modulator
The Direction input will
be held high for clockwise
or held low for counter
clockwise
The outputs then will be
attached to the appropriate
H bridge inputs
IR Sensors
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To detect rapid human movement will
require high quality IR sensors
 Several types are available including:
- Thermopiles
- Bolometers
- Pneumatic Detectors
- Pyroelectric Detectors
Pyroelectric IR Sensors
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Only pyroelectric sensors have the rapid motion
detection we require for high speed filming
 These operate like current sources with output
proportional to the rate of change in temperature
 Extremely fast responses set them apart
 They are also insensitive to undesirable external
DC effects
Configuration
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Internal FET detects surface charge
changes
 BW limited 2 stage amplifier reduces HF
noise
Fresnel Lens
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Fresnel lenses are
– lightweight
– economical
– heat dissipative
– precise
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FL65 Detects 8-14um
radiation
Fresnel Specs
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Concentrates PIR
field to 10 degrees
versus 95
 Important aspect for
sensitive motion
detection
 Provides appropriate
field with our 8
sensor cradle design
Motion Detection
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Motion detected by
sensors being
triggered
consecutively
 This cancels
signals due to
vibration, temp.
changes, and
sunlight
PIR325 Specs
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2 sensing elements
5-14um response
General motion detector schematic
Solar Power Block Diagram
Solar Module
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Maximum Power = 40 W
 25.8 inches by 21.1 inches
 Provides 17.3Vmax and
2.31Amax
 Manual/Automatic tilt for
maximum sun intensity
DC/DC Converter
Buck Converter
•Input Voltage, Vg, will be
around 17.3 V (for one
panel)
•Battery charging voltage
should be around 13-14 V
•Buck Converter will
decrease the voltage with low
loss
Control Technique
•Output Voltage will be set
to constant charging voltage
•Sense the output current
•FPGA will increase duty
cycle thus changing the
operating point
•If new operating point has
greater output power,
continue increasing duty
cycle, otherwise decrease
Deep Cycle Battery
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12V Deep cycle
required for extended
usage
 A shunt regulator will
prevent over-charging
 When battery draws
less current (fully
charged), the regulator
will dissipate the
excess current
Xilinx Spartan-3 Starter Kit
Starter Kit Features
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Spartan-3 XC3S200 FPGA
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2Mbit Xilinx XCF02S Platform Flash Prom
1M-byte of Fast Asynchronous SRAM
3-bit, 8-color VGA display port
9-pin RS-232 Serial Port
PS/2-style mouse/keyboard port
Four-character, seven segment LED display
Eight slide switches
Eight individual LED outputs
Four momentary-contact push buttons
50 MHz crystal oscillator clock source
JTAG port
AC power adapter with unregulated +5V
power supply
On board 3.3V, 2.5 V, and 1.2V regulators
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FPGA – Spartan-3 XC3S200
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220K system gates, 4320 equiv. logic cells
480 total CLB (configurable logic block)
30K distributed RAM bits
216K block RAM bits
12 dedicated multipliers
4 DCM (digital clock multiplier)
173 user I/O, 76 differential I/O pairs
CONFIGURABLE LOGIC BLOCK
Main logic resource for implementing
synchronous and combinatorial circuits
Comprised of four slices
Two logic function generators, two storage
elements, wide-function multiplexers, carry
logic, and arithmetic gates
left-hand pair also supports: storing data
using Distributed RAM and shifting data
with 16-bit registers.
FPGA implementation
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ISE development system: synthesis, mapping, placement, routing
I/O blocks and selectable paths create versatility
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CLB’s are workhorse of FPGA
Function Generator: LUT function used to implement state machine
Storage Element: Flip Flop used to synchronize data to clock signal
Carry chain: helps with fast arithmetic
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PWM (pulse width modulator):
clock divider
binary up-down counter
comparator
MICROBLAZE
Embedded Soft Core
- Based on RISC 32-bit architecture
- 32-bit instruction word with three operands and two addressing modes
- 32-bit address bus, 32 32-bit general purpose registers, single issue pipeline
User Interface
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Switch between
automatic and manual
control
 Allows user to control
the camera position
 Sega Genesis
controller provides
serial input (RS232 on
DB-9) to the board
Controller Functions
Camcorder Control
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Camcorder remote
will be incorporated
into the Genesis
controller
Constraints
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Financial
– LED cluster
– Number of solar panels
– Number of PIR sensors
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Time
– Real time data acquisition link
– Wireless control
– Digital peak power tracker
– Automatic positioning for solar array
Contingency Plan
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IR sensors
– Switch to thermopile sensors
– Use transmitter on subject
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Camera
– Use existing battery charger
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Motor Control
– Buy H-bridge controller if design performance bad
Division of Labor
Jeff – Solar array and peak power tracker
 Adeel – Manual and Wireless control for the
camcorder system
 Jim – FPGA implementation and integration
 Justin – Stepper motors, drivers, and Hbridge controller
 Andy – Infrared sensor network and
interface
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Budget
Project Schedule
Questions?