Rollin BicskeiRollin Bicskei Eric BornemannEric Bornemann Jason Wells Jason Wells Ryan BidlackRyan Bidlack

ELM 4701 October 2008ELM 4701 October 2008

Toromatic

Team Brown & Associates:

BackgroundBackground InformationInformation

• New stringent environmental standardsNew stringent environmental standards

• New technological advances help with production New technological advances help with production and profitand profit

• Robots are slowly being developed and accepted Robots are slowly being developed and accepted as a profitable solution to plant care and weed as a profitable solution to plant care and weed removal applicationsremoval applications

Problem statementProblem statement

Organically remove weeds from a Organically remove weeds from a cornfieldcornfield

SolutionSolution StatementStatement

SW1

SW2

SW3Battery

Controller

Corn

Tiller

Broken Beam sensor

Travel

•Tracked Bot

•Tiller and Spinning Disk control weeds

•Lever arms act as push button controls

•Broken beam sensor in front for E-Stop

•Navigation Plan

System Diagram

Drive SystemDrive System

Roto-tiller Tracked drive

Roto-tilling systemsRoto-tilling systems

Tilling Disk on a Spring Tilling Disk on a Spring armarm

Roto-tiller mounted to Roto-tiller mounted to the rear of the MARV2 the rear of the MARV2 PlatformPlatform

Tiller

Disk Tiller

SpringMechanical Stops

Tilling Motors SwitchTilling Motors Switch

SensorsSensors

SW3SW1

SW2

“Broken Beam” Optical Sensor

•3 Pushbuttons (SW#)

•1 Optical Sensor set up as a “Broken Beam”

Electrical Schematic Electrical Schematic SensorsSensors

Switch 1Switch 1

Switch 2Switch 2

Switch 3Switch 3

Optical SensorOptical Sensor

68HCS12Controller

Drive Motor 1Drive Motor 2

Drum Motor

Disk Motor

Robot System Diagram

Navigation State Diagram

Forward Tilling

Slight Right

Slight Left

Redirect Toro

180 Turn

All Off

SWL == onSWR == on

On btn. ==onOff btn. ==on

RTS RTS

Opt. == on RTS RTS Timer1 >= 15sec

SWR = Right switch

SWL = Left Switch

Opt. = Optical Sensor

RTS = Return from subroutine

Example Loop

Right Button Active

BudgetBudget

ItemItem QuantityQuantityReal CostReal Cost Per ItemPer Item Out of PocketOut of Pocket Total CostTotal Cost

MARVMARV 11 $400$400 $0$0 $0

12V Motors12V Motors 22 $17.50$17.50 $0$0 $0$0

Controller/ Controller/ SoftwareSoftware 11 $160$160 $0$0 $0$0

Drum Mat.Drum Mat. 11 $10$10 $10$10 $10$10

Track BeltTrack Belt 22 $45$45 $90$90 $90$90

Alu./ PolyAlu./ Poly NANA $100$100 $0$0 $0$0

Total Funds allocated Total Funds allocated $200$200

Total Funds BudgetedTotal Funds Budgeted $100$100

Funds In ExcessFunds In Excess $100$100

Personnel AssignmentsPersonnel AssignmentsMechanical Design and FabricationMechanical Design and Fabrication Managers: Jason Wells, Rollin BicskeiManagers: Jason Wells, Rollin Bicskei

Fabrication assistants: Ryan Bidlack, Eric BornemannFabrication assistants: Ryan Bidlack, Eric Bornemann

Sensor Design and CalibrationSensor Design and CalibrationManager: Ryan BidlackManager: Ryan Bidlack

Sensor Implementation: Eric BornemannSensor Implementation: Eric Bornemann

Electrical and Software DesignElectrical and Software Design Manager: Eric BornemannManager: Eric Bornemann

Wiring assistants: Rollin Bicskei, Ryan Bidlack, Wiring assistants: Rollin Bicskei, Ryan Bidlack,

Jason WellsJason Wells

   Week 1Week 1 Week 2Week 2 Week 3Week 3 Week 4Week 4 Week 5Week 5 Week 6Week 6

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MARV LayoutMARV Layout                  

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BuildBuild                  

Mechanical Mechanical SystemsSystems                  

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TestTest                  

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ScheduleSchedule

QuestionsQuestions

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