Keywords
IEM-N (KL0-electronica), robot, competición, NASA, Marte, excavar, hielo, robot, competition, NASA, Mars, excavate, ice
NASA mining robot
Abstract
Durante este proyecto se ha trabajado en el diseño y creación de un robot para una competición en la que debía recoger una sustancia que simulaba al hielo que se encontraba 30cm enterrada bajo tierra. Al principio del año el robot utilizado el año anterior fue recuperado para analizarlo y realizar las modificaciones necesarias para cumplir con las nuevas normas añadidas este año. El proyecto se dividió en 3 subsistemas diferentes: el mecánico, el eléctrico y el de autonomía. El subsistema mecánico fue el encargado de diseñar y crear el sistema de excavación. Dicho sistema acabó siendo una draga de rosario que iba acompañada de un sistema de filtrado, un sistema de bajada y un sistema de almacenamiento. Estos 3 últimos sistemas se trataban de una tolva rodeada por una malla metálica (filtrado), un gato para coche (bajada) y, finalmente, una cinta transportadora vertical junto a un cubo de plástico (almacenamiento). El subsistema eléctrico se ocupó de diseñar un nuevo circuito de distribución de potencia y del desarrollo del control manual del robot. En el nuevo circuito se sustituyeron los 5 Arduinos que se utilizaban el año pasado por un Intel NUC y una Raspberry Pi 3. El código para el control manual se escribió en Python dentro de la Raspberry Pi 3. El subsistema de autonomía se encargó de desarrollar la autonomía del robot. Durante todo el año se trabajó en el desarrollo de un algoritmo planificador de rutas y en la implantación de un IMU, una cámara Kinect y una cámara web en el robot para obtener información sobre el exterior. Desafortunadamente, a la hora de implantar los algoritmos de la autonomía en el NUC, algunos problemas de compatibilidad aparecieron y se decidió dejar de trabajar en la autonomía del robot. El resto del proyecto fue un éxito.
This project consisted on working on the design and creation of a robot for a competition in which it had to collect a substance that simulated ice that was buried 30cm underground. At the beginning of the year the robot used last year was recovered to analyze it and make the necessary modifications for the new rules added this year. The project was divided into 3 different subsystems: mechanical, electrical and autonomy. The mechanical subsystem was responsible for designing and creating the excavation system. This system ended up being a bucket ladder that was implemented along with a filtering system, a lowering system and a storage system. These last 3 systems were a hopper surrounded by a metal mesh (filtering), a scissor jack (lowering) and, finally, a vertical conveyor belt next to a plastic bucket (storage). The electrical subsystem was in charge of designing a new power distribution circuit and developing the manual control of the robot. In the new circuit the 5 Arduinos that were used last year were replaced by an Intel NUC and a Raspberry Pi 3. The code for manual control was written in Python inside the Raspberry Pi 3. The autonomy subsystem was in charge of developing the autonomy of the robot. Throughout the whole academic year a path planning algorithm was developed and an IMU, a Kinect camera and a webcam were implemented into the robot in order to obtain information about the surroundings of the robot. Unfortunately, when implementing the autonomy algorithms into the NUC, some compatibility problems appeared and it was decided to stop working on the autonomy of the robot. The rest of the project was a success.
This project consisted on working on the design and creation of a robot for a competition in which it had to collect a substance that simulated ice that was buried 30cm underground. At the beginning of the year the robot used last year was recovered to analyze it and make the necessary modifications for the new rules added this year. The project was divided into 3 different subsystems: mechanical, electrical and autonomy. The mechanical subsystem was responsible for designing and creating the excavation system. This system ended up being a bucket ladder that was implemented along with a filtering system, a lowering system and a storage system. These last 3 systems were a hopper surrounded by a metal mesh (filtering), a scissor jack (lowering) and, finally, a vertical conveyor belt next to a plastic bucket (storage). The electrical subsystem was in charge of designing a new power distribution circuit and developing the manual control of the robot. In the new circuit the 5 Arduinos that were used last year were replaced by an Intel NUC and a Raspberry Pi 3. The code for manual control was written in Python inside the Raspberry Pi 3. The autonomy subsystem was in charge of developing the autonomy of the robot. Throughout the whole academic year a path planning algorithm was developed and an IMU, a Kinect camera and a webcam were implemented into the robot in order to obtain information about the surroundings of the robot. Unfortunately, when implementing the autonomy algorithms into the NUC, some compatibility problems appeared and it was decided to stop working on the autonomy of the robot. The rest of the project was a success.
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