Autonomous Tank - An ECE4007 Project

Hardware

Components

ICOP Technology eBox-2300
Logitech Quick Cam Pro 5000
Phidgets 8/8/8 Kit With Text LCD
1/16 Scale German Tiger RC Tank
Panasonic AMN23111 IR Motion Sensors (4)
Phidgets IR Spot Sensor
CV-HB 401 Dual H-Bridge
NiCad Battery Pack With Custom Power Regulator
Custom Relays (3)

Photographs

Click on the right or left side of the image to see the different components and photographs. To view the full-sized original images click in the center of the image.

The Vehicle

Ready to locate and track a target.

ICOP Technology eBox-2300

The Windows Embedded CE 6 operating system was used.

Logitech Quick Cam Pro 5000

The webcam used to capture data for color tracking.

Phidgets 8/8/8 Kit With Text LCD

The USB controller board used. The 5 digital outputs are used to control the tank's motion while analog inputs read sensor data.

Custom Relays

The relay box is controlled via digital outputs of the Phidgets 8/8/8 board.

1/16 Scale German Tiger RC Tank

The vehicle modified for autonomous movement.

Panasonic AMN23111 IR Motion Sensors

Four of these sensors are used to locate a target in the vicinity of the tank.

Phidgets IR Spot Sensor

One of these sensors was placed at the front of the tank.

CV-HB 401 Dual H-Bridge

The dual-channel H-bridge was used to control the tank tracks independently.

NiCad Battery Pack With Custom Power Regulator

This powers the eBox, relays, Phidgets 8/8/8 board, and the text LCD.

ICOP Technology eBox-2300

Windows CE 6.0
200 MHz Vortex86 System-On-Chip
128MB SDRAM
2 RS-232 serial ports
PS/2 port

Logitech QuickCam Pro 5000

Capturing 15 frames per second
640 x 480 pixel resolution
Disabled color and light correction
USB plug-and-play with Windows CE driver compiled into OS

Phidgets 8/8/8 Kit With Text LCD

8 Analog Inputs
8 Digital Inputs
8 Digital Outputs
19 Character Two Line Text LCD Display

1/16 Scale German Tiger Tank

Independent track movement
Turret rotates 320 degrees
Fires plastic Airsoft pellet

Panasonic AMN23111 IR Motion Sensors

Passive sensors
100 degree horizontal detection angle
64 detection zones
5 meter range

Phidgets IR Spot Sensor

Passive sensors
38 degree horizontal detection angle
24 detection zones
5 meter range

CV-HB 401 Dual H-Bridge

2 independently controllable output channels
Rated for up to 2 A per channel
5 V output
CMOS (0 V to 5 V) control logic

NiCad Battery Pack With Custom Power Regulator

5 V voltage regulator custon built
Over half an hour battery life
Powers eBox, Phidgets interface kit, and Phidgets Text LCD

Custom Relay

Powered via an USB cable
3 inputs (5V) controlled with the Phidgets 8/8/8 Digital Outputs
3 relay controlled channels
2 relays for the tank track motors, 1 relay for the turret motor

Each channel in the Custom Relay Box were wired as follows: