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Autoboni

Autoboni. By Brian Smith Nate James Joey Duprey. Background. Many man hours driving around an ice rink in the same path Companies need to develop new ways to automate the resurfacing process. Problem. Design a device that can drive itself around an ice rink.

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Autoboni

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  1. Autoboni By Brian Smith Nate James Joey Duprey

  2. Background • Many man hours driving around an ice rink in the same path • Companies need to develop new ways to automate the resurfacing process.

  3. Problem • Design a device that can drive itself around an ice rink. • Recognize its distance from walls. • Be able to resurface ice by: • Melting Existing Ice • Apply Water Evenly • Smooth out ice surface

  4. Solution • Electrical • ColdFire MCF51JM64 • Ultrasonic Sensors • Electronic Compass • Temperature Sensor • DC Motors • Resurfacing • Propane Flame Heater • Water Delivery • Smoothing Towel

  5. System Diagram Front Direction of Motion Water Water Dispenser Smoothing Towel Heater

  6. Water Delivery System Direction of Motion Water Stepper moter ¾ pvc pipe Water Dispenser Smoothing Towel Heater

  7. Flow Rate • Flow rate is = Area (sq. ft) * Velocity (fps) • Q = Av • A= size of pvc pipe • A = ¾ pvc pipe • V= Velocity • V = gravity in this case • Q = .0317

  8. Water Delivery State Diagram Pin1 low? Y Turn on stepper motor Standby For main Pin 1 High? Stop N Y N Pin2 High? Stepper motor in reverse Y Pin2 Low? Y Stop N N

  9. Navigation • Navigate onto Ice • Joystick Control • Turn on Program • Warm Up Heater • Acquire Heading and Wall Distance • Resurfacing Program • Start: Blue • Then: Red, Green, Black • Cool Down • Heater turns off and cools • Device switches into standby mode • Speed • Velocity = (rpm*pi*diameter) • (4.12rpm*3.14*(14/12))= 15.1 ft/min

  10. Navigation State Diagram Standby w/ Joystick SW1 ON? Y Propane ON Manual Light Dist = 1 N SW1 OFF or Dist>9.5? HeatTemp Hot? N Water ON Resurface Dist =0, Dist + 1.5 Y Y N HeatTemp Cold? Y Propane & Water Shut off Cool Down Dist = 5 N

  11. Navigation Components • ColdFire MCF51JM64 • Controls & Communication • Electronic Compass • Follow Straight Lines • Vex Ultrasonic Sensor • Follow Walls • Scorpion XL Motor Driver • Control Motors

  12. Electrical & Controls Side Vex Corner Vex Atmel ATMEGA328 Stepper Motor Driver Water Flow Control Front Vex Electronic Compass ColdFire HCF51JM64 Joystick Atmel ATMEGA328 Scorpion XL Stepper Motor Driver Propane Flow Control W L R 5V Regulator Car Battery Thermocouple P

  13. Resurfacing (propane) View From the Back 20lb. Propane Tank Gas Line Stainless Steel Flame Bar Regulator 24 in

  14. Melting Calculations @ ¼” depth of ice removed

  15. Budget

  16. Management

  17. Work Breakdown Structure

  18. Application • Rink Size Example • 15ft x 15ft • Walled Perimeter • Weather • No Precipitation • Temp 32oF • Resurfacing Parameters • Speed 15.1 ft/min • Average Time: 20 minutes

  19. Milestones • Joystick Controlled Movement • Robot Follows Wall • Robot Follows Specific Heading • Propane Valve Automation • Thermocouple Sensing • Water Flow Valve Started

  20. Q/A

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