Table of Contents

Dedication.. i
ii
Acknowledgement.
Abstract.iii
Table of contents............ iv
List of figures.. vii
List of tables..viii
Chapter I

Introduction

01
1.1. Overview..
1.2. Motivation..02
02
1.3. Project objectives.
1.4. Structure of the autonomous object arrangement truck system 03
04
1.5. Organization of the report.
Chapter II

Theoretical Background

2.1. Field programmable gate array (FPGA).. 05

05
2.1.1. FPGA history
06
2.1.2. FPGA design flow
2.1.3. DE2 development board.................................07
2.1.4. Hard Vs soft CPU cores 08
08
2.1.5. Soft-core processors..........................
2.1.5.1. Nios II soft processor.. 09
2.1.6. System On Programmable Chip............................... 10
10
2.1.6.1. Sopc Builder..............................................
12
2.2. H-bridge..
2.2.1. Criteria of selection.14
2.3. Transducer..............................15
15
2.3.1. Sensor selection................................

2.3.2. Distance sensor. 15

15
2.3.2.1 Infrared sensors: Sharp GP2Y0A02YK0F
2.3.2.2. Principal of Operation of sharp Sensors.. 17
Chapter III

Hardware system design

3.1. Introduction.18
3.2. The Controlling Unit.......................................18
19
3.2.1. Implementation of the Nios System...............................................................
3.3. The Sensing Unit............................21
3.3.1. GP2Y0A02YK Infrared sensors..........................21
3.3.2. Linearization................................... 21
3.3.3. Implementation of the ADC Circuit................................... 23
24
3.4. Motor Driver Unit.
24
3.4.1. H-Bridge Circuit..
3.4.2. Protective Circuitry 24
3.4.3 Speed Control. 25
3.4.3.1 Generation of the PMW.............................................. 25
Chapter VI

Software design

28
4.1. The firmware.
28
4.2 Structure of the program.....................................................................................
28
4.3. Main Program
4.4. Data acquisition and conversion............................... 29
4.5. Positioning the truck parallel to the side wall.. 31
4.6. Scanning for the object.. 31
4.7. Getting to the object and picking it up.. 34
35
4.8. Taking the object to its place............................................
4.9. Programming Language.36
Conclusion.37

References. 38
Appendices 39

List of Figures
Figure 1.1

Wireless forklift.. 2

Figure 1.2

General block diagram of the autonomous object arrangement truck system 3

Figure 2.1

FPGA design flow6

Figure 2.2

DE2 Development Board...8

Figure 2.3

Nios II Core Configuration Wizard.10

Figure 2.4

L298 H-Bridge...12

Figure 2.5

H-Bridge Configuration..12

Figure 2.6

Current flow...14

Figure 2.7

Transducer 15

Figure 2.8

SHARP Infrared Sensor..........................................................................................................16

Figure 2.9

Voltage versus Distance of the GP2Y0A02YK0F IR16

Figure 2.9

Across-firing detectors... 17

Figure 2.10

Triangulation process...17

Figure 3.1

Block diagram of the DE2 Development Board...18

Figure 3.2

NIOS-based system in SOPC Builder.20

Figure 3.3

Compilation Summary..20

Figure 3.4

Controlling Unit..21

Figure 3.5

Sensors positioning on forklift..22

Figure 3.6

Linearization curve22

Figure 3.7

ADC Circuit..
23

Figure 3.8

24
L298 Internal Circuit..

Figure.3.9

Motors driver circuitry.25

Figure.3.10

Real motors driver circuit...26

Figure 3.11

The principle of PWM

26

Figure 3.12

26
PWM Generator

Figure 3.12

The overall circuit..27

Figure 4.1

29
Main program

Figure 4.2

Data acquisition routine.. 30

Figure 4.3

Getting the right distance routine.. 30

Figure 4.4

The method used to position the truck parallel to the side wall 31

Figure 4.5

Parallel positioning of the truck with the side wall routine 32

Figure 4.6

Scanning for the object routine...33

Figure 4.7

Getting to the object and picking it up routine..34

Figure 4.8

35
Carrying the object routine...

Figure 4.9

Sample from data acquisition subroutine36

List of Tables
Table 2.1

H-Bridge Operating Modes 13

Table 3.1

V (D) Equations 23