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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: • Melt existing ice • Apply water • 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. 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

  7. ColdFire MCF51JM64 • Processing Speed 50MHz • Flash Memory: 64KB • 44 Pin Chip • ADC Channels: 8 Pins • I2C Channels: 1 Pair • TPM1: 4 Pins • TPM2: 2 Pins

  8. Ultrasonic Sensors • Vex Range Finder • Range: 1 inch – 9.8 feet • Send 10ms pulse • Receive Echo_time in (ns) • Speed of sound at 32oF: 1087ft/s • Formula • Dist = (Echo_time *(12in/ft)*1087ft/s)/(2*1,000,000) • Example • (3679*12*1087)/(2,000,000) = 24in = 2ft

  9. Electrical Compass • Honeywell HMC6352 • Purpose • Keep robot moving straight within 2.5 degrees • Specs • Input 2.7 to 5V • Temp Range • Standby -67 to 257oF • Operating -4 to 158oF • Communication • I2C • C Programming in Processor Expert • Continuous Readings • Output • 2 Bit Binary • 0 to 3599 with a 1/10 degree of accuracy

  10. Motor Driver • Scorpion XL Dual Motor Driver • Purpose • Control & Move Wheels • Specs • Input • Voltage: 4.8 to 28VDC • Current: 12.5A with 45Apeak • Communication • Timed pulses • 1ms pulse – Neutral • 1.5ms pulse – Forward • 2ms pulse - Reverse

  11. Electrical & Controls

  12. 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

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

  14. Melting Calculations Phase Change from Ice  Water m = Heat Energy = 350,000 BTU/hr = mass = Heat of Fusion = 334 J/g 350,000 btu/hr(1055.06J/btu) = 369,271,000J/hr 369,271,000J/hr = 922.30in3/min Velocity

  15. Budget

  16. Management

  17. Management

  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. Q/A

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