Transcript Autonomous Sprinkler System - Florida International University

Autonomous Robotics Sprinkler System
Team 10:
Frank Azcuy
Armando Camacho
Benjamin Sturman
FIU Department of Mechanical Engineering
Miami, Florida
EML4551 - Spring 2015
Advisor: Dr. Sabri Tosunoglu
Problem Statement
 Current conventional automated sprinkler systems are expensive
 Do not always provide full coverage
 Loss of time while maintaining lawn
 Irregularity of watering intervals
Motivation
 Current conventional systems are
wasteful and inefficient
 Decrease water waste
 Design a reasonable cost system
for lawn care
 Take advantage of recent robotic
advancements
Project Objectives
 Provide a new cost effective autonomous sprinkler robot
 A robot that will be able to detect the overall landscape
in order to water entire lawn
 Self charging to remain completely autonomous and
provide the convenience of current standard systems
Literature Survey
 Few products on the market (Droplet Robotic Sprinkler,
Water Walker System)
 High cost sprinkler system
 Current sprinkler robots are not fully autonomous
Literature Survey
 Utilize similar concepts as autonomous vacuum cleaners
 Instead of cleaning floor, an area will be watered
 These robot’s room memory, self docking, and object
avoidance systems show that it is feasible
Literature Survey
 “Deep watering” a lawn requires at least 1 inch of water
per square foot.
 The average residential flow rate and pressure depends
on the size of the residence
 Average pressure ranges from 35-60 psi
Survey of Related Standards
 ARSS will adhere to:
 The Occupational Safety and Health
Administration (OSHA) and International
Organization for Standardization (ISO)
 Procedures for safe operation of robots
and end users
 Irrigation Associations (IA)
 Distribute water safely and efficiently
while adhering to local regulations
 The Institute of Electrical and Electronics
Engineers (IEEE)
 Standards and safety of electronic
systems
Constraints and Considerations
 Must be lightweight and powerful to carry a length of
hose
 Must be able to keep the hose connection always
pointing towards base to prevent tangling
 Must be exposure proof and handle various terrains
effectively
Design Alternatives 1 & 2
 Mecanum wheels allow for
horizontal strafing
 3 wheel omnidirectional
drivetrain
 Complicated and expensive
 Each wheel is angled allowing
robot to move side to side
 Provide insufficient traction for
surfaces that are not flat
 Insufficient traction for surfaces
that are not flat
Design Alternative 3
 2 wheel drivetrain, each are
powered
 Circular Roomba chassis
 Home docking station
 Less maneuverability, more
traction
Proposed Design
 Body
 Circular Chassis
 Powerful 2 wheel drivetrain
 Lightweight for easy transport
 Solar powered charging dock
 Weather and exposure proof
Proposed Design
 Irrigation System
 Rotating sprinkler head
 Rotating sprinkler base to
prevent tangling
 Hose retrieval system
 Variable water valve
Proposed Design
Proposed Design
 Software
 Collision detection
 Humidity Detection
 Cliff (Pool) detection
 Emergency water cut-off
 Multiple programmable
yard profiles
Design Studies and Simulation
 Simulations to be conducted:





Structural
Vibrations
Thermal
Fluid mechanics
Drop test analysis
 Energy consumption will be calculated and
simulated.
Calculations
 Pressure loss along length of hose must be calculated to ensure
adequate pressure remains for watering
𝑝2 −𝑝1
𝜌
=
𝑓𝐿 𝑉 2
𝐷 2
+
𝑉2
𝐾
2
 Torque generated for the rotary head can be calculated using
control volume approach
 A sprinkler angle for the nozzles of 45º was chosen for minimum
pressure loss and maximum distance
 Average time to water can be calculated using 𝑡 =
𝐴2
𝑅𝑄
Global Learning
 Use of multi-lingual user’s manuals
 Universal Units (SI, US)
 Provision of universal power adapters (110/220 volts)
 Use of industry standard safety warnings