Automated Bridge Scour Inspection

FSU/FAMU College of EngineeringTeam 7

Proposal

10/27/2010

Top-Level Design Block

Griffin Francis - ME

Vertical Motion ModuleCircumferential Motion ModuleSONAR Tilt

Vertical Motion Module

Objective:

• Mechanically achieve motion with respect to sea floor

Considerations for Approach:

• Drive train design

• Constraining motion

• Motor control

Vertical Motion Module

Design Concepts:

• Pulleys, geared drive, thrusters, buoyancy manipulation, rollers

Proposed Approach:

• High-friction contact rollers

• Worm-gear drive train

• Non-driven guide rollers

• DC motor with control unit

Vertical Module Concept

Circumferential Motion Module

Objective:

• Mechanically achieve motion with respect to circumference of piling

Considerations for Approach:

• Drive train design

• Constraining motion

• Motor control

Circumferential Motion Module

Design Concepts:

• Geared drive, thrusters, rollers

Proposed Approach:

• High-friction contact roller

• Slot guided bearings

• DC motor with control unit

Circumferential Motion Module Concept

SONAR Tilt

Objective:

• Mechanically position SONAR sensor with respect to vertical axis of piling

Considerations for Approach:

• Independent motion

• Constraining motion

• Motor control

SONAR Tilt

Proposed Approach:

• SONAR sensor boom

• Hinged to circumferential module

• Servo motor for hinge rotation

• Controlled directly by microcontroller

SONAR Tilt Concept

Assembled Concept

Schedule: Griffin

Matthew Kent - ME

Localization

Robot Structure Fabrication

Encoders

Optical Rotary Encoders

• At least two Channels

• Incremental

Speed

• Placement

Resolution

Durability

• Waterproof

System Structure

Waterproof housing for Electronics

• Cables

• Rotating Shafts (Difficult)

Materials and Fasteners

• Lightweight

• Corrosion Resistant

Schedule: Matt

Ryan Szoke - EE

Electronics:

• SONAR

• Power Supply Design

• Electrical System Integration

SONAR Sensor• Buy and Test SONAR Sensors - Budget limits• Test for Accuracy, Resolution, Range - Use best sensor after testing multiple ones• SONAR used for depth readings & scour data

collecting - Lots of testing with programming and mechanical movements

Power Supply Design

Battery

(need all specs) Voltage Regulators

(if component does not have one)

Circuit Protection

(Fuses) On/Off Switch

AGM Battery

Capacity 12000mAh (12aH)

Voltage 6.0 V

Size 5.94 x 1.34 x 3.70 in.

Weight 4.6 lbs (getting heavy)

Price $13.99

Electrical System Integration

Wiring Electrical Components - Connect motor controller, microcontroller to battery - All connections secured

Schedule: Ryan

Dezmond Moore - CPE

Microcontroller Programming:

• Autonomous Operation

Program Modules

Vertical Movement

• Encoder

• Sonar

• Motor Controller

Circumferential Movement

• Encoders

• Motor Controller

Sonar Tilt

• Servo

Vertical Movement Flow Chart

Circumferential Movement Flow Chart

SONAR Tilt Flow Chart

Schedule: Dezmond

Drew Doan - CPE

Microcontroller Programming:

• SONAR

Software Development:

• Mapping Software

SONAR Sensor Programming• SONAR sends/receives

sound wave

• Time from transmission to reception needs to be converted to a distance by microcontroller

• Distance = (Speed of Sound * Time) / 2

• Freshwater ~1500m/s

• Saltwater ~1435m/s

• Distance stored in RAM on microcontroller

• Activated at every “scan point”

Software Development• Once scan is complete, robot returns to surface for

data analysis

• The microcontroller is connected to an external computer via USB

• The data needs to be used to create a 3D image of the scour region surrounding the bridge pile

• Program needs to automatically read the data and use it as the input for the image processing software and produce an image w/ minimal work by technician

• Image should be easily readable and understood; ideally a key will be included showing depth/color relationships

Mapping

Data @ each “scan point”:

• Vertical Position

• Circumferential Position

• Angle of sensor

• Distance to target

Use Mathscript in LabVIEW to design a program w/ MATLAB functions that converts the data into x,y,z coordinates

Possible Outcomes

LabVIEW Visual Data

Schedule: Drew

BudgetItem Quantity Price Total

Microcontroller 1 $200.00 $200.00Motor Control Unit 1 $100.00 $100.00

12V DC Motor 2 $15.00 $30.00SONAR Sensors 3 $100.00 $300.00

Valve-regulated lead-acid battery 1 $90.00 $90.00Optical Shaft Encoders 2 $100.00 $200.00

Worm Gear 2 $50.00 $100.00Worm 2 $25.00 $50.00

Mounting Materials - - $100.00Circular Ring 1 $100.00 $100.00

High-Friction Rollers 3 $1.20 $3.60Ball Bearings 4 $12.00 $48.00

Shaft 3 $5.00 $15.00Square Vertical Rail 1 $10.00 $10.00

Video Camera 1 $200.00 $200.00Servo 1 $20.00 $20.00Wires - - $20.00

Halogen Light 1 $20.00 $20.00Software Licenses - - $100.00

Test Supplies - - $120.00Soldering Kit 1 $15.00 $15.00

Voltage Regulators 2 $10.00 $20.00Circuit Components - - $30.00

Robot casing and fittings - - $50.00

Subtotal of Expense $1941.60

Full Schedule