Transcript Semi-automatic Field Line Marker

Athletic Field Marking Device
Anthony Cortese, Ryan Crump, Matthew Lawler, Patrick
Shaughnessy (Team Leader), John Sudia
Project Objective
• To create a semi-automatic device that provides
a means of lining an athletic field.
Solution Requirements
• Must accurately paint a straight line between
two determined points
• Must have the capability to make error
corrections on its own.
• Must operate with as little human interaction as
possible
System Goals
• The device should be able to complete a line 120
yards long
• The device should require less long term costs than
current methods
• The device should require less human labor than
current methods
• The device should complete its tasks in a reasonable
amount of time
Major Challenges
•Dealing with the accuracy of all of the components
in our machine
•Creating a drive system that can correct itself
when deviating from the desired path
•Keeping the expense of the product to a minimum
•Working in a multi-disciplinary team atmosphere
Current Spraying Devices
Wide Boom
Small Boom
Components of Design Solution
• Guidance System
• Drive System
• Paint Delivery System
Potential Guidance Solutions
• Differential RTK GPS
• High accuracy GPS, ranging from 10cm to 1cm
• High cost and complex implementation
• Laser Optical Guidance
• Utilizes laser scanners which give out X and Y
coordinates and heading
• High accuracy but cost prohibitive
• Infrared Sensor
• Reflective infrared sensor
• Cheap and easy to implement
Potential Drive System Solutions
• Gas Powered Engine
• Heavy vibration
• Weight issues
• Complex integration
• Electric Motor
• Cheap and readily available
• Easy to control
• Simple integration
Potential Paint Delivery Solutions
• Compressed Tank
• A compressed tank
• Paint modulation control
• Spray nozzle
• Complex and expensive
• Aerosol Spray Can
• Inverted spray can
• Solenoid to trigger it
• Simple and low cost
Guidance System Solution
Ryan Crump
Schedule
Guidance System Solution
• An infrared sensor retrieves location data
• Microcontroller receives and processes data
from sensor
• Motor controller receives instructions from the
microcontroller and outputs voltage to motors
Guidance: Infrared Sensor
• The Lynxmotion board consists of three
reflective infrared sensors
• Our system uses the outermost sensors to
determine its location relative to the target line
• These sensors each relay either a ‘0’ or ‘1’ for
absence or presence of a line
Guidance: The Handy Cricket
• The Handy Cricket microcontroller processes the
digital output received from the sensor
• Based on input, the microcontroller determines device
location relative to line
• The microcontroller determines appropriate correction
necessary and transmits data to motor controllers
Code Block Diagram
Start
Input
left sensor
Increase left
Motor speed
N
Left sens = 0
N
Input
right sensor
Increase right
Motor speed
Y
Right sens = 0
N
Stop
Y
Input right
sensor
Right sens = 0 Y
No change
Guidance: Motor Controller
• The motor controller can precisely control the
speed and acceleration of the motors for easy
path correction
Electrical Schematic
12 V
+ -
Digital I/O
5V
+ -
Microcontroller
IR
Sensor
+
5V
Signal
+
- 5V
Signal
Relay
+-
Serial bus
IR
Sensor
12 V
+ -
+
MC
-
+
MC
-
12 V
M
M
Solenoid
Sensor input
Drive & Paint System Solutions
Patrick Shaughnessy
Drive System Solution
Drive System Solution
• Each side is independently powered by a
separate DC motor
• That DC motor drives a sprocket connected to
its side’s drive train
• That drive train is responsible for transferring
power to both wheels
Drive System: Motors
• The motors are ¼ HP, 180 RPM and require a
12 volt/3 amp power supply
• Max torque and lower speeds needed for our
application
• 2:1 gear ratio was selected to give more torque
and a lower speed
Drive System: Gear Ratio
• To achieve our gear ratio, the motor turns a 12 tooth sprocket
which is attached by a chain to a 24 tooth sprocket on the rear
axle
Drive System: Drive Train
• The rear axle has an additional sprocket which
connects to another sprocket on the front axle
in a 1:1 ratio by a chain
• Each axle is supported by two ball bearing
mounts attached to the frame
• The 8” diameter wheels are locked onto the
axles by a custom wheel mount
Drive System: Drive Train
Paint Delivery Solution
• The paint delivery system consists of a linear
pull solenoid, trigger and spray paint can
• The solenoid will pull a trigger which will
dispense paint from the can
• When it is necessary to halt painting the
solenoid will release the trigger ceasing the
paint flow
• Width of line is adjustable
Paint Delivery System Pictures
Cost Analysis
The Handy Cricket:
Lynxmotion Sensor:
Gamoto Motor Controller:
Solenoid:
Wheels:
Bearings:
Sprockets:
Chains:
Aluminum Frame:
Motors:
Miscellaneous:
TOTAL:
Existing Methods:
$99.00
;Prof. Dougherty
$32.00
$99.00 x2 = $198.00
$10.00
$8.69 x4 = $34.76
$4.64 x8 = $37.12
$22.33
$21.94
;Battlebot
$114.00
;Projects Room
$85.00 x2 = $170.00
;Battlebot
$20.00
---------$759.15
>$1000.00
Conclusion
• While we have not yet completed our project,
we have learned some important lessons
• We still view our initial goals as attainable and
anticipate reaching them upon conclusion
Concluding Video
Questions?