2011 Third International Conference on Measuring Technology and Mechatronics Automation

Design of Ultrasonic Obstacle Avoidance System of Fruit-Transportation Gyrocar Based on ARM

Yang Kai, Zhang Junmei, Li Wenbin, Yang Liu, Gao Lin,Xue Huixia
Beijing Forestry University Beijing, China Corresponding author: Zhang Junmei, joyzhangjm@163.com AbstractThe pilotless fruit-transportation gyrocar works in the economic forest, avoiding the obstacle on the rail is the prerequisite of its safe working. An ultrasonic obstacle avoidance system of fruit-transportation gyrocar based on ARM embedded system is introduced in this article. The functions of the system are implemented. It could make the gyrocar stop when detect an obstacle and sends the information of obstacle to the monitoring client through GPRS. Through the test, the ultrasonic obstacle avoidance system performs well and reliable. Keywords- Fruit-transportation gyrocar; ARM; Ultrasonic obstacle avoidance; GPRS I. INTRODUCTION III. Automatic fruit-transportation gyrocar, which working in economic forest area, has become a development trend of novel fruit-transportation vehicle. It has many advantages such as strong climbing ability, safe and steady movement, high carrying ability, flexible installation, and convenient dismantlement. However, the rail of the automatic fruittransportation gyrocar is settled in the economic forest, so designing a system for avoiding the accident of obstacles such as the falling branches on the rail is essential to make the gyrocars safe working. The work described in this paper is mainly concerned with the ultrasonic obstacle avoidance system based on GPRS+ARM of the fruit-transportation gyrocar. The whole architecture, hardware and software design of the obstacle avoidance system will be discussed in the following sections. II. THE WHOLE ARCHITECTURE OF THE SYSTEM The core of fruit-transportation gyrocar's ultrasonic obstacle avoidance system is ARM9 processor; the modules which are connected with the processor are ultrasonic sensors, GPRS module, power supply module and the control circuit of emergency shutdown. Its main function is monitoring the obstacles within 4m in front of the gyrocars orbit, making the gyrocar stop timely if there are obstacles, sending the information of obstacles distance to the monitoring client. The hardware schematic of the system is depicted in Figure 1.

Ultrasonic sensor

ARM9 CPU

The control circuit of emergency shutdown GPRS module

The power supply circuit

Figure 1. Structure of hardware

SYSTEM HARDWARE DESIGN

A. The Central Processing Unit In the ultrasonic obstacle avoidance system of fruittransportation gyrocar, S3C2410 chip is chosen as the signal processing and control unit. It integrates an 8 channels 10 bit analog to digital converter (ADC), 4 channels of Pulse Width Modulation (PWM) outputs, USB interface, 117 bit universal I/O port and 24 bit exterior interrupt, 3 channels UART, watch dog timer (WDT), JTAG interface, etc. This chip is manufactured with CMOS technique and could work under 3.3V. This CPU provides the integrated functional modules thereby lowering the complexity of the whole control system and making the system tightly packed, faster, accurate and reliable [1]. B. The Ultrasonic Sensor The pilotless fruit-transportation gyrocars average speed is 2m/s; the braking safety distance is 3m, so the SRF05 ultrasonic sensor whose effective distance is 1cm~4m was chosen. This ultrasonic sensors accuracy is 1cm, a problem that general ultrasonic sensor has the blind spot when measuring in short distance could be solved. SRF05 ultrasonic sensor also saves the external infrared range modules hardware resources.
SRF05 Echo Trigger S3C2410 int0 GPG0

Figure 2. Schematic between SRF05 and CPU

978-0-7695-4296-6/11 $26.00 2011 IEEE DOI 10.1109/ICMTMA.2011.855

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SRF05 ultrasonic sensor and ARM processors connection diagram is shown in Figure 2. S3C2410 processors GPG0 interface is connected with SRF05 sensors trigger input pin, and send 10ms highfrequency pulse to trigger SRF05 sensor, then the sensor will send ultrasonic in trigger state. SRF05 sensors echo output pin is connected with S3C2410s external interrupt int0, when the SRF05 sensors echo output pin is in high level, S3C2410 processor open the timer; when the Echo output is in low level, it means that sensor has received the echo and the pilotless fruit transporting gyrocar has already meet the obstacle, then the system goes into the interrupt service routine, makes S3C2410 timer stops, and measure the obstacles distance with ultrasonic echo time. C. GPRS Module The MC35i GPRS Communication Module is used in the weighing system to transmit the command .The MC35i is light, less volume, and with rich AT instructions. The module can insert an external SIM card. S3C2410 connects with the MC35i GPRS module through the asynchronous serial communication interface, and it sends AT commands to control GPRS module and to transmit data. Figure 3 shows the schematic between MC35i Module and S3C2410 CPU.

VDD33 D201 LED C201 10nF R206 1K

1 3 2

U201 IN EN GND OUT ADJ

5 4 R203 51K

VDDalive C212 10uF

MIC5207BM5

C202 470pF

R204 100K

Figure 4. Power circuit of weighing system

E. The Control Circuit of Emergency Shutdown Figure 5 is the control circuit of emergency shutdown, the Relay Js normally closed contact connects in parallel with the both ends of the ignition coil, JTs reversed command signal and transistor9013 control the relays coil voltage. When the obstacle is measured while JT=1, transistor9013 closes, the relay coil will lose power, its normally closed contact will make the ignition coil short circuit, gasoline engine will be flameout. When JT=0, transistor9013 saturated conduction, the relay coil get electric, its normally closed contact will make the ignition coil short circuit, the gasoline engine can ignition start normally [2].
+5V

the ignition coil

+5V

Q101 RELAY-J

R2 51K U101 GPG8 NOT R1 3K NPN N9013

JT order input

Figure 3. Schematic between MC35i module and CPU

Figure 5. The control circuit of emergency shutdown

D. Power Supply Module Considering with the factor of low power, low-cost, reliable, and many other factors, as shown in Figure 4, a power supply module was developed to supply power to different parts, 5V Lithium Ion Battery supplies the voltage input, after voltage regulation, the power chip AME11173.3V provides 3.3V voltage to I / O ports, the regulator block MIC5207BM5 used in the core board to provides voltage of 2.5V or 1.8V to CPU core.
VDD50 D1201 LED C1201 100uF 3 U1201 AME1117-3.3V IN G OUT 2 VDD33

IV.

THE SOFTWARE SYSTEM

C1202 100nF

System's Software design is divided into several modules including the main program, the ultrasonic emission subprogram, the ultrasonic interrupt service subprogram, GPRS subprogram, the emergency shutdown subprogram. The whole software program flow chart is respectively shown in Figure 6. After initializing the GPRS serial port, the ultrasonic sensor sends the ultrasonic wave constantly. When the trigger is interrupted after detected the echo, the program goes into the interrupt service sub-program which would measure the obstacles distance and send the information of distance to the monitoring client by GPRS.

C1203 100uF

R1201 1K

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Begin Initiation Trigger the sensor N Is there obstacle? Y Sends message

Begin Stop the timer

Measure the echo time Clear the interrupt flag

Measure the distance

END Figure 6. Flow chart of the overall programming

END Figure 8. Flow chart of ultrasonic interrupt service sub-program

A. Ultrasonic Emission Subprogram Obstacle avoidance system sends the high-frequency pulses to trigger SRF05 ultrasonic sensor by S3C2410 processors GPG0 port. So the subprogram open_sensor() was designed to achieve this function, open_sensor()s flow chart is shown in figure7.
Begin Initiation

C. GPRS Subprogram In the system, GPRS module communicates with S3C2410 through UART0 port. S3C2410 sends AT commands to GPRS module and receive data which is transmitted by GPRS module. When S3C2410 need to send a short message, it sends AT commands to connect with GPRS module firstly. If the fruit-transportation gyrocar detected an obstacle, the GPRS subprogram would send the information of obstacles distance to the monitoring client. The flow chart is shown in Figure 9.
Begin

Set GPG0 as output Initiation Clear the dates of GPG0 Is GPRS ok? GPG0 sends the pulse Y Send message N

Clear the dates of GPG0 END END Figure 7. Flow chart of emitting ultrasonic Figure 9. GPRS flow chart of sending text messages

B. Ultrasonic Interrupt Service Subprogram By using the timers counter function and external interrupt of S3C2410 processor, we could measure the obstacles distance by echo time. The external interrupt int0 is connected with ultrasonic Echo output, and then set it be triggered in the falling edge. When the echo is detected, the program goes into the interrupt service sub-program to calculate the obstacles distance [3].

D. The Emergency Shutdown Subprogram The pilotless fruit-transportation gyrocar is powered by a 3KW gasoline; emergency shutdown circuit is connected to the gasoline engine's ignition coil. The gasoline engine can be extinction when an I/O port of S3C2410 sends the high level to the emergency stop circuit. The emergency shutdown subprogram flow chart is shown in Figure10.

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Begin

Initiate the GPB8

Clear the dates of GPG8 Set the GPG8 in high level Clear the dates of GPG8

END Figure 10. Flow chart of emergency shutdown

V.

CONCLUSIONS

The SRF05 ultrasonic sensor was used in the pilotless fruit-transportation gyrocar based on S3C2410 to achieve the ultrasonic obstacle avoidance and measuring distance. By field test, the obstacle avoidance system performs well and satisfies the pilotless fruit transporting gyrocars unmanned security requirement in the economic forest area. ACKNOWLEDGMENT This project is supported by the National Special Research Programs for Non-Profit Trades (Forestry) (Grant No.200804029) which is greatly acknowledged by the authors. REFERENCES
[1] [2] EduKit3ARM9_UserGuide [M], 2008. Zhang Junmei, Li Wenbin, Sa Cao, Wang Deming. The motion control system of remote control automatic pruning machine [J]. Beijing Forestry University, 2007.7:33-36 Shan Chenggang. The design of ultrasonic obstacle avoidance system based on S3C2410 [J].Computer and digital engineering, 2009.2:5557. Yang Bo, Zhang Xinggan. The design of passive infrared alarm system based on PIC SCM [J]. Electronic measurement technology, 2008, 1:53-57. Chen Haiming. The remote wireless monitoring system based on ARM and GPRS [J]. Computer and network, 2007:183-184.

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