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Anderson Multinational LLC Earth-Rover 2011 Concurs internațional de proiectare în robotică International Robotics Design Competition Cygnus Suceava World Genesis Foundation 1 Conţinut – Contents Purpose of the project 3 Rover structure 4 Communication method 5 Sensors 7 Power managment 8 2 Scopul proiectului The purpose of the project Obținerea resurselor în vederea proiectării, dezvoltării și realizării unui robot funcțional Creare de oportunități educaționale pentru studenții în informatică, inginerie electrică și mecanică Furnizarea unor importante "deprinderi de viață" și oportunități educaționale pentru studenți: planificare, management de proiect, prezentare, comunicaţii, leadership și lucrul în echipă Implicarea studenților într-un proiect competitiv, distractiv și interesant Deliver resources for the planning, development and demonstration of a remoteexploration robot Create academic educational opportunities for students in computer science, electrical and mechanical engineering Provide important “life skills” educational opportunities for students: planning, project management, presentation, communications, leadership and teamwork Inspire students through the process by providing a very competitive, fun and exciting project GPS Rover structure Robotic arm Communication module Video acquisition CPU Power distribution board USB to UART converter DC Motor Driver Sensor Board & Data acquisition 4 Communication method WIFI Modem 3G / EDGE 5 Li-poly batery Lithium-ion polymer batteries, polymer lithium ion, or more commonly lithium polymer batteries (abbreviated Li-poly, Li-Pol, LiPo, LIP, PLI or LiP) are rechargeable batteries (secondary cell batteries). Normally batteries are composed of several identical secondary cells in parallel addition to increase the discharge current capability. 6 Temperature sensor The DS18B20 Digital Thermometer provides 9 to 12– bit centigrade temperature measurements and has an alarm function with nonvolatile user-programmable upper and lower trigger points. The DS18B20 communicates over a 1-Wire® bus that by definition requires only one data line (and ground) for communication with a central microprocessor. Humidity Sensor Pressure Sensor The HIH-40104020/4021 Series Humidity Sensors are designed specifically for high volume OEM (Original Equipment Manufacturer) users. Direct input to a controller or other device is made possible by this sensor’s near linear voltage output. With a typical current draw of only 200 µA, the HIH4010/4020/4021 Series is often ideally suited for low drain, battery operated systems. The MPX4115 series is designed to sense absolute air pressure in an altimeter or barometer (BAP) applications. Freescale's BAP sensor integrates onchip, bipolar op amp circuitry and thin film resistor networks to provide a high level analog output signal and temperature compensation. MQ-2 Semiconductor Sensor for Combustible Gas Sensitive material of MQ-2 gas sensor is SnO2, which with lower conductivity in clean air. When the target combustible gas exist, The sensor’s conductivity is more higher along with the gas concentration rising. Please use simple electrocircuit, Convert change of conductivity to correspond output signal of gas concentration. 7 Power management board 8 Structura robotului Robot structure 6 – Wheel Drive All-Terrain Chassis - Corrosion resistant anodized aluminum chassis - Adjustable “Super-twist” suspension system - 6x powerful motors with steel gear boxes - 2x battery compartments for 7 2V sub C battery packs - Large top deck to hide cables and mount hardware 9 Structura robotului Robot structure Specifications : - Size: 420 × 300 × 130 mm (16.5" × 12" × 5") Weight: 2.7 kg (6.0 lb) Ground clearance: 60 mm (2.5") when lightly loaded Maximum recommended payload: 5 kg (11 lb) Recommended motor voltage: 2 – 7.5 V Stall current at 7.2 V: 6.6 A per motor No-load current at 7.2 V: 420 mA per motor No-load output shaft speed at 7.2 V: 160 RPM Stall torque at 7.2 V: 11 kg-cm (160 oz-in) per motor 10 Structura robotului Robot structure - The suspension is a simple but rugged torsion spring design with rubber mounts to provide a firm but flexible joint. - Multiple attachment points all for adjustment of sprint tension and travel. 11 Structura robotului Robot structure Six powerful motors with steel gearboxes Gearboxes us heavy duty steel gears and brass bushes for greater durability 12 Structura robotului Robot structure 32 - Chanel GPS Navigation Receiver and Antenna - 5Hz max update rate - 32 parallel channel receiver - Default 38400bps architecture - Selectable update rate from 1 to - -158dBm sensitivity 5Hz - 3.3m accuracy - Selectable baud rate from 4800 - 2.6m accuracy with DGPS to 115200bps - 3.3 to 5V supply - Support for DGPS, WAAS, - 59/42/33mA power EGNOS, MSAS consumption - 2 NMEA serial ports - Battery backup pin 13 Structura robotului Robot structure Servo Actuator - Motor Type: 3 Pole - Bearing Type: Dual Ball Bearing - Speed: 0.24 / 0.20 sec @ 60 deg. - Torque: 106.93 / 133.31 oz.in (4.8v/6v) - Size: 1.59" x 0.77" x 1.48" - Weight: 1.94oz 14 Structura robotului Robot structure Robotic Arm Robotic Arm command the gripper to open and close, and control wrist motion of 120 degrees, an extensive elbow range of 300°, base rotation of 270°, base motion of 180°, vertical reach of 15", horizontal reach of 12.6", and lifting capacity of 100g. Added features include a search light design on the gripper and a safety gear audible indicator on all 5 gearboxes to prevent any potential injury or gear breakage during operation. 15 Structura robotului Robot structure IP Camera ● Powerful high-speed video protocol processor ● High-sensitivity 1/4" CMOS sensor ● 300K Pixels ● IR night vision (Range: 8m) ● Pan 300 degree, tilt 120 degree ● Optimized MJPEG video compression for transmission ● Multi-level users’ management and passwords definition ● Embedded Web Server for users to visit by IE ●Wi-Fi compliant with wireless standards IEEE 802.11b/g ● Supporting Dynamic IP (DDNS) and UPnP LAN and Internet (ADSL,Cable Modem) ● Giving alarm in cause of motion detection ● Supporting image snapshot ●Support multiple network protocols: HTTP/TCP/IP/UDP/STMP/DDNS/SNTP/DHCP/FTP ● Support WEP/WPA/WPA2 encryption 16 Structura robotului Robot structure Mini Camera 17 www.Earth-Rover.com 18