aluminum smelter inspection robot joe foley, instructor ru hönnun-x vorið 2011
TRANSCRIPT
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Aluminum Smelter Inspection Robot
Joe Foley, InstructorRU Hönnun-X
Vorið 2011
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The Customer
Currently:• An inspector with a
thermal camera on a cart walks down the inspection route under the smelter pots
• He checks the video looking for hotspots
Aluminum Plant at Straumsvík
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Inspection Corridor
• Big corridor so maintenance vehicle can fit
• Open to outside = cold• Lots of vehicles
Corridor, column 3
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The Team
B.Sc. Students at Háskólann í Reykjavík
Instructors: Dr. Jón Guðnason and Dr. Joseph Foley
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Structure of Work
• 12 week period– SCRUM – Teams
• Mechanical• Electrical• Sensors• Software
• 3 week intensive– Integration, testing
Design review at SCRUM
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Wheels
• Independent two drive wheels with front caster
• Hubs custom machined(AISI 6060).
• Front wheel stock
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Outer Shell
• Stainless Steel AISI 304.• Bent, welded, screwed
together.• Edges further sealed
with RTV rubber• Sized for 6 batteries.
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Electrical Passthrough
• Partition for electrical isolation and environmental
• Easy to access motors and batteries without disturbing electronics
• Edges and passthroughs sealed
Partition on hinge
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Top
• Stainless Steel AISI 304• Top angle for mounting
the RFID antenna• Nice ergonomics for
switches
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Power Source
Motor power:• 2 12V Golf-cart
batteries• In series to make 24
Volts• Peak 50 Amps Electronics power:• 12V small battery• Everything else
12 Volt Motor batteries
12 Volt Electronics batteries
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Motors
• 2 24 V, 120W DC motor from scooters.
• 2750 rpm through the 1:9 transmission
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Motor Controllers
• Pololu 24v12. – One per motor
• RoboClaw– Originally for both
motors, but repurposed for analyzing the tachometers
– Sent to FitPC controller via serial
Polulu 24v12
RoboClaw
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Spennudreifing
• 24V power– Relays for emergency
stop and general safety
• 12V power– Three relays– Eight sensors– FitPC computer– Arduino microcontroller– Audio amplifier– LED lighting
24V Safety cutoff
12V distribution
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Arduino Mega
• Sensor processing is done through the Arduino Mega
• Motor commands are sent directly to the controller
• The Arduino Mega has a ATMega2560 processor which has – 56 digital IO pins– 13 analog inputs– USB– 4 serial ports
Arduino Mega
Shield for Mega
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Audio Amplifier
• Audio feedback and warnings allow the robot to indicate status and get attention
10W Amplifier
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Electrical Block Diagram
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Fit PC
• 1,6 GHz processor• 1 GB memory• Size: 100x115x26mm• 60GB Solid State disk
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Operating System
• Ubuntu server.• Non-GUI Linux.• ROS (Robotic Operating
System).
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Image to Temperature
• Python og OpenCV in Linux• Individual pixel processing
– 255 (= white) is max temperature
– 0 (= black) is minimum temparture
• Adjust our threshold according to the range– Example: Range set to 100°C
upp í 350°C– Value of 100:
100*(250°/255)+100° = 198 °C
Greyscale raw image
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Data processing
If above our threshold (300C) then store image
Temperature statistics in Sqlite database:
• Average• Standard deviation• Maximum• Current position (ROS)
False color highlighting threshold as green
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RFID• Location found using RFIDReader: • TagSense Micro UHF (800-
100MHz)• 3,8cm * 4,6cm * 0,7cm• USB interface• Voltage: 5V• Current: 250 mAAntenna:• Frequencies: 865 – 956 MHz• Gain: 6 dBi• SMA connector (inverted) • Reads tags up to 80 cm
Micro UHF reader
Antenna
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RFID
Merkin:• ShortDipole Impinj
Monza 4 from UPM. • Frequency: 860-960
MHz • Size: 93mm*11mm• 96 Bits of information– Aluminum pot, column,
etc.RFID tag
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RFIDLocation
Map of corridor
• One tag per pot•Each number is associated with information in the SQLite database•Database instructs possible future actions for robot
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User Interface
• User can track current location of the car remotely
• Queries the SQLite database to track and find out status
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Position control(e. Localization)
Encoder: • 27.600 pulses per rotation.• Wheel radius R = 13,54cm• Circumference = =
85,07cm• Resolution=
R2
Encoder
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Turning (IR - feedback)
l = distance between sensorsd = delta of sensor readingsd = sk1 – sk2
l
d1tan