1 / 12

Development of an Autonomous Construction Vehicle (ACV) Using Advanced Robotics Technology

This project by Jason Taylor details the design and implementation of an Autonomous Construction Vehicle (ACV) equipped with a Mavric-IIB microcontroller and various actuators for primary robot controls. It features a 4-joint crane with a gripper for block placement and integrates multiple sensors for obstacle avoidance and motion tracking. Key components include DC motors, servos for arm and dump operations, and a roller bed for material transportation. The vehicle operates in several modes, such as drive, build, roll, dump, and track, showcasing its versatility in construction tasks.

kane-ramos
Télécharger la présentation

Development of an Autonomous Construction Vehicle (ACV) Using Advanced Robotics Technology

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Autonomous Construction Vehicle (ACV) Jason Taylor IMDL - Spring 2007 April 16, 2007

  2. Integrated System • Mavric –IIB Microcontroller • Used for primary robot controls • MAX3000 CPLD • Used to multiplex PWM signals generated by the Mavric –IIB • Used to generate “hold” signals for servos not currently being used • 555 Timer Circuit • Used to generate a 100us clock signal for the CPLD

  3. Platform • 4 joint crane with a gripper • Used for placing blocks • Roller Bed • Used for bringing pallets to crane • Pallet Dumper • Used for dumping pallets • Human Sensor • Used for finding and tracking movement

  4. Design vs. Completed

  5. Actuation • Actuation consists of 2 DC motors and 3 casters • 2 geared DC motors are used to drive the robot where it needs to go • Servos are used for the arm, the gripper, the dump, and for tracking • Arm Actuation • 3 Hitec HS-422 Servos • 2 Hitec HS 755HB ¼ Scale Servos • Rollerbed Actuation • 1 Hacked Hitec HS-422 Servo • Dump Actuation • 1 Hitec HS-322 Servo • Tracker Actuation • 1 Hitec HS-322 Servo (horizontal movement) • 1 Hitec HS-81MG Servo (vertical movement)

  6. Sensors • SRF05 sonic rangefinders • Used for main obstacle avoidance • Used to measure distance from human • GPD12 • Used for wall following • Hamamatsu P5587 Photoreflectors • Used for position sensing • CDS cells • Used for light detection • PIR sensors • Used to detect and track motion

  7. Behavior • Drive • Drive mode consists of dynamic obstacle avoidance • Build • Build mode consists of wall following and placing blocks to build a structure • Roll • Roll mode consist of moving up the next pallet of blocks when the present pallet is empty • Dump • Dump mode consists of going to an empty area and dumping the empty pallets out • Track • Track mode consists of finding movement and searching for objects in range • Attack • Attack mode combines the track mode with a slightly “altered” build mode

  8. Experiments • Building • Success laying 3 blocks in a row • Driving in a straight line • Having trouble building a straight wall • Having trouble judging where blocks need to be placed

  9. http://plaza.ufl.edu/jason342

More Related