Eurobot 2007

  

2007-06-09

  Frankreich / La Ferte Bernard

As a team of two we decided to compete with our robot MULLRATS made for this event

The task in 2007 is to clean up an area of about 2m*3m from PET bottles, ALU cans and D-size batteries

90 seconds time and played simultaneous against another robot
(see
eurobot.org for more information)

The robot has been made without lathe and millingmachine.
We only used an electrical multitool and a drill without stand

Mullrats can contain up to 10 objects (today we only use up to 7 object-places)

and uses 14 PCB's, 9 motors and 12! Atmel microcontrollers

 

status of our bot in february/march 2007:

 

Austrobot 2007 in Wels 14.4.2007:

Mullrats contains 14 PCB's:

the robot is seperated in a lot of pieces for relieving the brain-PCB and for easier developing

1

Brain-PCB

AT MEGA 128 @16 Mhz

 

 

contains the brain of the robot, and is the middle of the star-shaped assembly

 

 

additional contains the object detection via IR-sensors and the optional remote control

 

 

 

1

Position-PCB:

AT MEGA 128 @16 Mhz

 

 

continuously calculates the absolute position of the robot

 

 

 

1

CAM-PCB:

AT MEGA 8 @17,2 Mhz, AT TINY 12 @1,2 Mhz

 

 

uses a OV6620 cam module for digitazing the surroundings

 

 

 

6

MOTOR-PCB:

AT TINY 26 @16 Mhz  (3 without TINY)

 

 

each one uses a VNH2SP30-E chip mounted piggyback,

 

 

this chip can handle a maximum of 30A and 41V in the right conditions

 

 

 

1

Control-PCB:

AT MEGA 16 @4Mhz

 

 

controls the motors of the gate

 

 

 

2

MOTOR-PCB:

AT TINY 2313 @20 Mhz

 

 

not developed by us, it's a copy

 

 

 

1

I/O -PCB:

ATTINY 26 @16 Mhz

 

 

simplest PCB, 4 pins are connencted to LL-Fet's which are for pulsing four

 

 

IR-Led's with higher current than the tiny could deliver, four  IR-transistors are

 

 

connected to the ADC channels

 

 

   LINK to entry

 

 

 

1

Colour .PCB:

ATTINY 26 @1Mhz

 

 

uses a very cheap colour sensor for object recognition (sorting) in the robot

overview:

the bot is mostly empty on the bottom and runs over the garbage objects
IR-sensors are checking the waste, and in the right moment, a gate shuts the open front of the bot and aligns a single object 
a barrel seperated in four chapters turns the first object one position up
there are three interlocked barrels which are able to handle the objects from one to another  -> place for 10 objects
at the rear of the third barrel is a door which opens on demand for passing out the objects in the recycle bins

Eurobot france:

due to technical problems we were not able to pass the technical homologation:
back at home before eurobot we were able to collect two points on an average of 80%
in france we were only able to make points on the testtables but never on the match-tables  :-(
getting more than one object simultaneus in our robot was the main problem
others:
table and objects were printed and not painted, they moved very different
the centre of gravity of the foam-filled cans wasn't always in the middle, they weren't always rolling down on a slope,
we didn't filled them on the testtable back home...

resume:

  • we were able to implement all of our functions, !! WE LEARNED A LOT !! 
  • our concept wasn't good, the robot wasn't able to pick up more objects at a time
  • the robot was to slow
  • because of building the robot only with a multitool and drill a few mechanical parts were not solid enough
  • the project was much too hard for a first robot
  • the atmosphere at eurobot was really impressing

impressions:


typical pit


french finals

 

 

Impressum: Thomas Krug Fritz-Konzert-Str.6 A-6020 Innsbruck

 

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