Athletic Field Line Marker

1. Athletic Field Line Marker Anthony Cortese, Ryan Crump, Matthew Lawler, Patrick Shaughnessy (Team Leader), John Sudia

2. Project Objective • To create a semi-automatic device that provides a means of lining an athletic field.

3. Solution Requirements • Must accurately paint a straight line between two determined points • Must have the capability to make error corrections on its own. • Must operate with as little human interaction as possible

4. System Goals • The device should be able to complete a line 120 yards long • The device should require less long term costs than current methods • The device should require less human labor than current methods • The device should complete its tasks in a reasonable amount of time

5. Major Challenges • Dealing with the accuracy of all of the components in our machine • Creating a drive system that can correct itself when deviating from the desired path • Keeping the expense of the product to a minimum • Working in a multi-disciplinary team atmosphere

6. Current Spraying Devices Wide Boom Small Boom

7. Components of Design Solution • Guidance System • Drive System • Paint Delivery System

8. Potential Guidance Solutions • Differential RTK GPS • High accuracy GPS, ranging from 10cm to 1cm • High cost and complex implementation • Laser Optical Guidance • Utilizes laser scanners which give out X and Y coordinates and heading • High accuracy but cost prohibitive • Infrared Sensor • Reflective infrared sensor • Cheap and easy to implement

9. Potential Drive System Solutions • Gas Powered Engine • Heavy vibration • Weight issues • Complex integration • Electric Motor • Cheap and readily available • Easy to control • Simple integration

10. Potential Paint Delivery Solutions • Compressed Tank • A compressed tank • Paint modulation control • Spray nozzle • Complex and expensive • Aerosol Spray Can • Inverted spray can • Solenoid to trigger it • Simple and low cost

11. Guidance System Solution Ryan Crump

12. Guidance System Solution • An infrared sensor retrieves location data • Microcontroller receives and processes data from sensor • Motor controller receives instructions from the microcontroller and outputs voltage to motors

13. Guidance: Infrared Sensor • The Lynxmotion board consists of three reflective infrared sensors • Our system uses the outermost sensors to determine its location relative to the target line • These sensors each relay either a ‘0’ or ‘1’ for absence or presence of a line

14. Guidance: The Handy Cricket • The Handy Cricket microcontroller processes the digital output received from the sensor • Based on input, the microcontroller determines device location relative to line • The microcontroller determines appropriate correction necessary and transmits data to motor controllers

15. Code Block Diagram Start Input left sensor Increase left Motor speed N Left sens = 0 Right sens = 0 No change Input right sensor Y Y N Input right sensor Right sens = 0 Increase right Motor speed Y N Stop

16. Guidance: Motor Controller • The motor controller can precisely control the speed and acceleration of the motors for easy path correction

17. Electrical Schematic 12 V 12 V 12 V + - + - + - + + MC MC - - Microcontroller M M IR Sensor IR Sensor Solenoid + - Serial bus Digital I/O + - Signal 5V + - Signal Sensor input 5V

18. Drive & Paint System Solutions Patrick Shaughnessy

19. Drive System Solution

20. Drive System Solution • Each side is independently powered by a separate DC motor • That DC motor drives a sprocket connected to its side’s drive train • That drive train is responsible for transferring power to both wheels

21. Drive System: Motors • The motors are ¼ HP, 180 RPM and require a 12 volt/3 amp power supply • Max torque and lower speeds needed for our application • 2:1 gear ratio was selected to give more torque and a lower speed

22. Drive System: Gear Ratio • To achieve our gear ratio, the motor turns a 12 tooth sprocket which is attached by a chain to a 24 tooth sprocket on the rear axle

23. Drive System: Drive Train • The rear axle has an additional sprocket which connects to another sprocket on the front axle in a 1:1 ratio by a chain • Each axle is supported by two ball bearing mounts attached to the frame • The 8” diameter wheels are locked onto the axles by a custom wheel mount

24. Drive System: Drive Train

25. Paint Delivery Solution • The paint delivery system consists of a linear pull solenoid, trigger and spray paint can • The solenoid will pull a trigger which will dispense paint from the can • When it is necessary to halt painting the solenoid will release the trigger ceasing the paint flow • Width of line is adjustable

26. Paint Delivery System Pictures

27. Cost Analysis The Handy Cricket: $99.00 ;Prof. Dougherty Lynxmotion Sensor: $32.00 Gamoto Motor Controller: $99.00 x2 = $198.00 Solenoid: $10.00 Wheels: $8.69 x4 = $34.76 Bearings: $4.64 x8 = $37.12 Sprockets: $22.33 Chains: $21.94 ;Battlebot Aluminum Frame: $114.00 ;Projects Room Motors: $85.00 x2 = $170.00 ;Battlebot Miscellaneous: $20.00 ---------- TOTAL: $759.15 Existing Methods: >$1000.00

28. Conclusion • We have learned some important lessons while completing this project • We view our project as successful because most of our initial goals were attained

29. Concluding Video

30. Questions? For more details visit: aflm.atspace.com