Avalanche Rover – Mechatronics Project



this is the smart aligner over it's remotely evaluates avalanche dangerous to make it safer for ski patrollers need to know about the snow pack profile or not when she missions information is displayed to the user via this LCD screen these jus joysticks are used to control individual individually without left-to-right motors and then these buttons serve various purposes for example this red button will get weather data based on the sensors in the controller itself and so it will display the barometric pressure the percent humidity altitude and temperature that's all important to a plane experts in that country's mused so to drive it basically we run on a closed-loop proportional integral derivative feedback system that the user Center rpm values in the closed-loop feedback system allows the motorist to keep the desired rpm no matter what friction is encountered so if you lift it up tonight and he gives it a slow value I can grab it and it will work really hard to maintain that speed and this is great for going up slopes because it'll adjust the PWM signal accordingly to get up the slope and internally we have an array of photo to photo cells on the top of the rover in each corner so if the rover were too covered with snow or your coat or whatever the emergency system would go on or off right now we have Lima potentiometer in the back that adjusts the threshold voltage that will consider trips for these sensors so if we adjust the analog reading here it'll go on the siren to go off there you go so what I can do is I can set it back to the threshold for this room so right now if I just leave it uncovered the light it's sensing the light it's taking that threshold and it will set off the siren but if I cover to the sensors two or more sensors you know go up like if it gets cotton a lot since you'd be able to perhaps here at us no we have a night mode that disables the emergency system so we have some blue under glow and red headlight LEDs so lets you keep track of where the rover is and it looks pretty cool so basically you have an accelerometer on here that does some math that can calculate the slope angle and feed it back to the feet of back and draw it on the screen for you so you just got to press this one button right here come back this lip right now is 33 degrees so that would be an avalanche prone slope you driving up further come back with even a steeper angle 41 degrees we have charged I will demonstrate the probing mechanism so we want to get a pressure versus depth profile to see the relative densities of the snowpack basically you're looking for a hard flare over a soft layer which is very from the sliding well press this button to initiate a test basically a servo motor will shove this rod into the stone which is cotton right now and it'll live stream data back to this screen for the user to analyze so notice the spikes are increasing as the cotton becomes more compressed it's a little variable with the cotton in there it's not totally consistent a portion of the integral derivative code was written less on to the army note and that controls the treads sends the PWM signals and and adjust them and this is the pro module in here you can see the – its friction driven by – compressional fit by unis motion servo motor this is our siren really loud and it sits nicely in there and that's our accelerometer mouthing horizontally and this is the current sensor we use and we drive an equation to convert input current to pressure based on the area of the probe these drive motors what allows us to do the PID is these encoders which we calculate our plive rpm from and back is compared with the desired value set by the joysticks all the components are soldered up on to you some further boards basically we have transmitter right here the radio receiver and they're set at different frequencies appearance and this LCD screen is a TFT LCD screen

One Comment

  1. Volthaus Lab said:

    Great work guys. Avalanche safety is a worldwide concern. And you're right, the blue LEDs are cool.

    May 23, 2019
    Reply

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