AUTONOMUS MOBILE ROBOT

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Presentation Description

STUDY OF A PROTOTYPE FOR SCANNING, DETECTION, IDENTIFICATION, COLLECTION OF DIFFERENT TYPES OF MATERIALS.

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By: amanrastogi (131 month(s) ago)

excelente!!

By: xrantzas (148 month(s) ago)

Very good job!!!!!! Keep walking.!!!

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

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