logging in or signing up AUTONOMUS MOBILE ROBOT patatas Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 3092 Category: Science & Tech.. License: All Rights Reserved Like it (31) Dislike it (0) Added: June 26, 2008 This Presentation is Public Favorites: 0 Presentation Description STUDY OF A PROTOTYPE FOR SCANNING, DETECTION, IDENTIFICATION, COLLECTION OF DIFFERENT TYPES OF MATERIALS. Comments Posting comment... By: amanrastogi (27 month(s) ago) excelente!! Saving..... Post Reply Close Saving..... Edit Comment Close By: xrantzas (44 month(s) ago) Very good job!!!!!! Keep walking.!!! Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript Automotive Vehicle : Automotive Vehicle Some Autonomous Vehicle Examples : Some Autonomous Vehicle Examples Tractor lawn mowing vehicle autonomouslycutting grass : Tractor lawn mowing vehicle autonomouslycutting grass The vehicle is used as a testbed for many applications and is fitted with an array of sensors including a wheel encoder, a turn-angle sensor, a GPS receiver, a 6-DOF IMU, a laser scanner and video cameras Navigation system example: : Navigation system example: Sensors: Camera’s for path tracking Three LADARS Two GSP sensors For localization Accelerometer and gyroscope IMU – Inertial Measurement Unit Autonomous Ford vehicle : Autonomous Ford vehicle Systems For Our Autonomous Vehicle : Systems For Our Autonomous Vehicle Stereo Vision Cameras (VGS) 3D LADAR Inertial Navigation System (INS) GPS Gyroscope Accelometer Optical Encoders Inclinometer Autonomous Moving MethodPath Tracking : Autonomous Moving MethodPath Tracking System’s Connection : System’s Connection 2 PC UNITS FOR LADARS 2 PC UNITS FOR STEREO VISION CAMERAS OPC SERVER (INS/LADAR/VGS DATA FUSION) PLC INS Logical Diagram : Ladar-VGS C.P.U PLC Driving System Collection System Suspension-Brake System Logical Diagram G.P.S- I.N.S Sensors Slide 10: Collection system Specifications of Automotive Vehicle : Specifications of Automotive Vehicle Maximum Dimensions of Automotive vehicle: length 1m and width 1m. Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10%. Detection of ground stability. Ability of item detection, collection and storage of three different types of material (wood, plastic and metal). Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. Maximum load in storage of 200kgr. Radial range of movement 100m. Maximum Dimensions of Automotive vehicle: length 1m and width 1m : Maximum Dimensions of Automotive vehicle: length 1m and width 1m Center Of Mass : Center Of Mass Center Of Mass : Center Of Mass Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10% : Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10% 3D Ladar Detection of ground stability : Detection of ground stability 3D Ladar Camera Ability of item detection, collection and storage of three different types of material (wood,plastic and metal). : Ability of item detection, collection and storage of three different types of material (wood,plastic and metal). Detection of Item Motion Scanning - Detect the item Detect the material of the item 2. Scanning - Detect the item : 2. Scanning - Detect the item LAser Detection And Ranging or LAser raDAR 3. Detection of material’s properties : 3. Detection of material’s properties Wood - Metal Detector Infrared Receiver Transmitter Plastic Detector MOTION-STABILITY UNITS : MOTION-STABILITY UNITS Motor – Gear reducing unit : Motor – Gear reducing unit Pulse Width Modulation : Pulse Width Modulation Pulse Width Modulation (PWM) is a common technique for speed control which can overcome the problem of the poor starting performance of a n a motor.PWM controls the motor speed by driving the motor with short pulses. These pulses vary in duration to change the speed of the motor. The longer the pulses, the faster the motor turns, and vice versa. Differential gear : Differential gear PROPELLER SHAFT : PROPELLER SHAFT Steering system : Steering system Hydrauctive Suspension : Hydrauctive Suspension DC Motor For High Pressure Pump : DC Motor For High Pressure Pump COLLECTION SYSTEM : COLLECTION SYSTEM Slide 30: Linear actuator ITEM ? Telescopic actuator Electronic Weight Sensor Limit Switcher Actuator to push the item out Collection Parts that we Need : Parts that we Need Double action actuator High-response directional valves, with electrical position feedback Electronic Pressure Regulator Position Sensor Slide 32: Remote Relief Valve Limit Switches Double action hydraulic telescope Slide 34: Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. 3D Ladar Dimensions meter Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. : Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. Sensor for identification the Weight of item Slimline Digital Scale 12.7×7.6×1.9cm 200 lb. or 100 kg capacity Maximum load in storage of 200kgr. : Maximum load in storage of 200kgr. Sensor for identification the total weight of storage Capacity: 300kg Pan Size: 650 x 500 x 105mm Economical Study of automotive vehicle : Economical Study of automotive vehicle STEEL SQUARE TUBE : STEEL SQUARE TUBE Weight of 1m length and 50mm X 50mm X 5mm square cross section, equals to 6,97kgr Total length of frame tubes = 25m Total weight of frame = 25 X 6,97 = 174,25kgr WEIGHT OF VEHICLE : WEIGHT OF VEHICLE Slide 40: Stainless Steel Channel $90 STEEL SHEET PIECE $40 FRAME MATERIALS Stainless Steel Square Tube $450 MOTION SYSTEM : MOTION SYSTEM $150 Four wheels $180 Motor with gear motor Electric brake $60 Pulse Width Modulation (PWM) $500 Slide 42: $1300 Three Batteries Differential gear $850 Propeller shaft $600 Electric Steering system $1800 Slide 43: Hydraulic suspension system and brake directional valve $1100 Four Brake Calipers $190 Four Brake Disc Rotors $240 Four Brake Pads $70 Slide 44: High pressure pump $300 12v dc 2,1kW Motor for pump $650 Tank for oil $20 brake hoses $120 Collection System : Collection System Electronic Pressure Regulator $50 Spherical Plain Bearings $ 20 Two - 3 Stage telescopic double single acting hydraulic cylinder $1200 Double Acting Hydraulic Cylinder $ 40 Slide 46: Remote Relief Valve $90 Pressure detectors $300 10 Electromechanical limit switches $100 5 magnet operated limit switch $85 Position Sensor $20 Slide 47: Ultra slim sensor for identification the Weight of item $450 Sensor for identification the total weight of storage $650 3 Storage places $150 High-response directional valves, with electrical position feedback $200 Slide 48: Wood-Metal Detector $150 Infrared Receiver Transmitter Plastic Detector $100 Four 3D Ladar with software $30000 Four IR Camera with software$11000 Detection System Four Ladar Source $800 Slide 49: Accelerometer 3-Axis Gyro Sensor Multi-Axis Inclinometer Optical encoders INS / GPS (MIDG II) with software $3000 Slide 50: HMR3000 Compass $650 ABB’s PLC and Extensible Unit $200 Active GPS Antenna $30 Performance Evaluation of Sensors on Mobile Vehicles Using a Large Data : Performance Evaluation of Sensors on Mobile Vehicles Using a Large Data Five HP/Compaq Proliant DL580 G2-Quad Xeon MP 3GHz-4GB $6000 Table Total Cost : Table Total Cost TEAM : TEAM ispoteo@hotmail.com - Mechanical Engineer akiskarag@hotmail.com - Electrical Engineer tremasg@hotmail.com - Electrical Engineer zagaridis@hotmail.com - Electrical Engineer thanasisgtr@yahoo.gr - Electronic Engineer n_tasos@hotmail.com - Electrical Engineer You do not have the permission to view this presentation. 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AUTONOMUS MOBILE ROBOT patatas Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 3092 Category: Science & Tech.. License: All Rights Reserved Like it (31) Dislike it (0) Added: June 26, 2008 This Presentation is Public Favorites: 0 Presentation Description STUDY OF A PROTOTYPE FOR SCANNING, DETECTION, IDENTIFICATION, COLLECTION OF DIFFERENT TYPES OF MATERIALS. Comments Posting comment... By: amanrastogi (27 month(s) ago) excelente!! Saving..... Post Reply Close Saving..... Edit Comment Close By: xrantzas (44 month(s) ago) Very good job!!!!!! Keep walking.!!! Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript Automotive Vehicle : Automotive Vehicle Some Autonomous Vehicle Examples : Some Autonomous Vehicle Examples Tractor lawn mowing vehicle autonomouslycutting grass : Tractor lawn mowing vehicle autonomouslycutting grass The vehicle is used as a testbed for many applications and is fitted with an array of sensors including a wheel encoder, a turn-angle sensor, a GPS receiver, a 6-DOF IMU, a laser scanner and video cameras Navigation system example: : Navigation system example: Sensors: Camera’s for path tracking Three LADARS Two GSP sensors For localization Accelerometer and gyroscope IMU – Inertial Measurement Unit Autonomous Ford vehicle : Autonomous Ford vehicle Systems For Our Autonomous Vehicle : Systems For Our Autonomous Vehicle Stereo Vision Cameras (VGS) 3D LADAR Inertial Navigation System (INS) GPS Gyroscope Accelometer Optical Encoders Inclinometer Autonomous Moving MethodPath Tracking : Autonomous Moving MethodPath Tracking System’s Connection : System’s Connection 2 PC UNITS FOR LADARS 2 PC UNITS FOR STEREO VISION CAMERAS OPC SERVER (INS/LADAR/VGS DATA FUSION) PLC INS Logical Diagram : Ladar-VGS C.P.U PLC Driving System Collection System Suspension-Brake System Logical Diagram G.P.S- I.N.S Sensors Slide 10: Collection system Specifications of Automotive Vehicle : Specifications of Automotive Vehicle Maximum Dimensions of Automotive vehicle: length 1m and width 1m. Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10%. Detection of ground stability. Ability of item detection, collection and storage of three different types of material (wood, plastic and metal). Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. Maximum load in storage of 200kgr. Radial range of movement 100m. Maximum Dimensions of Automotive vehicle: length 1m and width 1m : Maximum Dimensions of Automotive vehicle: length 1m and width 1m Center Of Mass : Center Of Mass Center Of Mass : Center Of Mass Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10% : Detection of grade, movement ability in grade ≤10% and grade’s avoidance of >10% 3D Ladar Detection of ground stability : Detection of ground stability 3D Ladar Camera Ability of item detection, collection and storage of three different types of material (wood,plastic and metal). : Ability of item detection, collection and storage of three different types of material (wood,plastic and metal). Detection of Item Motion Scanning - Detect the item Detect the material of the item 2. Scanning - Detect the item : 2. Scanning - Detect the item LAser Detection And Ranging or LAser raDAR 3. Detection of material’s properties : 3. Detection of material’s properties Wood - Metal Detector Infrared Receiver Transmitter Plastic Detector MOTION-STABILITY UNITS : MOTION-STABILITY UNITS Motor – Gear reducing unit : Motor – Gear reducing unit Pulse Width Modulation : Pulse Width Modulation Pulse Width Modulation (PWM) is a common technique for speed control which can overcome the problem of the poor starting performance of a n a motor.PWM controls the motor speed by driving the motor with short pulses. These pulses vary in duration to change the speed of the motor. The longer the pulses, the faster the motor turns, and vice versa. Differential gear : Differential gear PROPELLER SHAFT : PROPELLER SHAFT Steering system : Steering system Hydrauctive Suspension : Hydrauctive Suspension DC Motor For High Pressure Pump : DC Motor For High Pressure Pump COLLECTION SYSTEM : COLLECTION SYSTEM Slide 30: Linear actuator ITEM ? Telescopic actuator Electronic Weight Sensor Limit Switcher Actuator to push the item out Collection Parts that we Need : Parts that we Need Double action actuator High-response directional valves, with electrical position feedback Electronic Pressure Regulator Position Sensor Slide 32: Remote Relief Valve Limit Switches Double action hydraulic telescope Slide 34: Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. 3D Ladar Dimensions meter Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. : Maximum dimensions of item : 10cm in all directions and maximum weight of 20kgr. Sensor for identification the Weight of item Slimline Digital Scale 12.7×7.6×1.9cm 200 lb. or 100 kg capacity Maximum load in storage of 200kgr. : Maximum load in storage of 200kgr. Sensor for identification the total weight of storage Capacity: 300kg Pan Size: 650 x 500 x 105mm Economical Study of automotive vehicle : Economical Study of automotive vehicle STEEL SQUARE TUBE : STEEL SQUARE TUBE Weight of 1m length and 50mm X 50mm X 5mm square cross section, equals to 6,97kgr Total length of frame tubes = 25m Total weight of frame = 25 X 6,97 = 174,25kgr WEIGHT OF VEHICLE : WEIGHT OF VEHICLE Slide 40: Stainless Steel Channel $90 STEEL SHEET PIECE $40 FRAME MATERIALS Stainless Steel Square Tube $450 MOTION SYSTEM : MOTION SYSTEM $150 Four wheels $180 Motor with gear motor Electric brake $60 Pulse Width Modulation (PWM) $500 Slide 42: $1300 Three Batteries Differential gear $850 Propeller shaft $600 Electric Steering system $1800 Slide 43: Hydraulic suspension system and brake directional valve $1100 Four Brake Calipers $190 Four Brake Disc Rotors $240 Four Brake Pads $70 Slide 44: High pressure pump $300 12v dc 2,1kW Motor for pump $650 Tank for oil $20 brake hoses $120 Collection System : Collection System Electronic Pressure Regulator $50 Spherical Plain Bearings $ 20 Two - 3 Stage telescopic double single acting hydraulic cylinder $1200 Double Acting Hydraulic Cylinder $ 40 Slide 46: Remote Relief Valve $90 Pressure detectors $300 10 Electromechanical limit switches $100 5 magnet operated limit switch $85 Position Sensor $20 Slide 47: Ultra slim sensor for identification the Weight of item $450 Sensor for identification the total weight of storage $650 3 Storage places $150 High-response directional valves, with electrical position feedback $200 Slide 48: Wood-Metal Detector $150 Infrared Receiver Transmitter Plastic Detector $100 Four 3D Ladar with software $30000 Four IR Camera with software$11000 Detection System Four Ladar Source $800 Slide 49: Accelerometer 3-Axis Gyro Sensor Multi-Axis Inclinometer Optical encoders INS / GPS (MIDG II) with software $3000 Slide 50: HMR3000 Compass $650 ABB’s PLC and Extensible Unit $200 Active GPS Antenna $30 Performance Evaluation of Sensors on Mobile Vehicles Using a Large Data : Performance Evaluation of Sensors on Mobile Vehicles Using a Large Data Five HP/Compaq Proliant DL580 G2-Quad Xeon MP 3GHz-4GB $6000 Table Total Cost : Table Total Cost TEAM : TEAM ispoteo@hotmail.com - Mechanical Engineer akiskarag@hotmail.com - Electrical Engineer tremasg@hotmail.com - Electrical Engineer zagaridis@hotmail.com - Electrical Engineer thanasisgtr@yahoo.gr - Electronic Engineer n_tasos@hotmail.com - Electrical Engineer