image027

General information

Team name: TU Kaiserslautern
Institution: TU Kaiserslautern
Department:  
Contact: This email address is being protected from spambots. You need JavaScript enabled to view it.

Team details

Members: Stephan Belz, Peter Berg, Marc Favier, Tycho Groche, Valentin Grosse, Pascal Janki, Alex Jung, Dennis Karbach, Tommy Langers, Viktor Leonhardt, Daniel Lopez, Christian Mathies, Navid Noorshams, Dominique Nshimyimana ,Stefan Ollinger,  Kiarash Sabzewari

Robot – basic information

Web page: http://www.mv.uni-kl.de/mec/lehre/labor-mechatronik-field-robot/

Dimensions:

(W ×L ×H)

45x112x45
Weight: ~ 25kg
Num. of wheels: 4 Turning radius: 60
Rain resistance: no    

Robot – mechanical details

Drive concept: The power of Plettenberg central brushless DC drive with 2 kW is transmitted to the wheels by a permanent four-wheel drive shaft. Furthermore a miControl 100A inverter is used to control the motor in 4-quadrant mode.
Steering:

The steering system was redesigned by using the CAD software Siemens NX and were manufactured as different other new parts by the workshop of the MEC chair to increase the performance which is necessary to drive the heavy robot on any ground conditions. 

For this propose two HITEC servos HS-M7990TH operating synchronously on each axle are mounted and a gear wheel and steering rack are used to transmit the force to the wheels.

There are also some additional features, such as a piezo siren and a rotating light as well as a 7-segment display, e.g. to signalize any predefined states: detecting obstacles or show the distances to the plants.

Special characteristics: No special characteristics

Robot – electrical details

Powered by: 4 Wheel Drive
Motors:     Plettenberg central brushless DC drive + Servoamplifier mcDSA-E25
Controller: Micro Autobox DSpace
Sensors: Camera: Smart Camera Compass:  
Ultrasonic:   Gyroscope:  
Infrared:   Accelerometer: Inertial Sensor A2C59514837
Laser: Hokuyo UBG-04LX-F01 Mechanical:  
Other:  
Communication: UDP, CAN

Robot – Software

Operating system: Finroc
Programed in: C++
Tools: Matlab, Controldesk (DSpace)
Other:  

Robot – Strategy

1st task: The distance to the obstacles is measured by the corresponding laser scanner. The preprocessing scripts are run and the relevant information are filtered and prepared. Based on this information a desired position with a predefined distance to the robot is calculated. A fuzzy control system is utilized to set the steering angle and the robot speed.
2nd task: Also the blockades and the plant rows are detected by the information of the laser scanners. The plant rows are counted by detecting the gaps between the plants if the software runs in relevant state.
3rd task: The third Task will be achieved by making a map of the field
Free style:  

Robot – Investment

Work hours: 1000 Hours
Components:  
Other:  
Sponsored by: Dspace, John Deere

Problems / Challenges

 

Other