Grison Power RoBock
- Functional sequence
- Mechanical construction
- Electronical construction
- Informatic structure
The sequence can be divided into the following positions:
Both robots start on a random place on the opposite site of the obstacle.
Both robots pull themself up on a defined height (200mm) and scan their side to find the LED on the target platform.
As soon as both robots scanned their side, they pull themself up to the docking position (700mm).
After both robots are in docking position, they pull them to each other with the third wire and connect with magnets.
Swing over and land
Now that the robots are connected, they swing over to the side of the robot that is on the side of the target platform and land.
The mechanical part of the «Bündner Power RoBock» contains three plates arranged parallel one above the other which contain all necessary components. The appearance of a cube results through the lateral connections.
The mechanical part consists mainly of three plates arranged parallel one above the other. Through lateral connections, the appearance of a cube results in which all necessary components are accommodated.
On the upper side of the top plate are all control elements as well as the indicator LEDs. On the lower side of the cover plate, a magnet, a magnet counter plate and a cable eye are mounted.
The center plate contains components like the main board, battery holder, cable winches and other cable eyelets.
On the bottomplate, the heaviest components were placed to keep the center of gravity low. These components are: two cable winches, another magnet and a magnetic counter plate as well as four light sensors to recognize the target platform.
The structure was kept as practical as possible, in order to save material and to simplify the assembly, on the other hand to be able to exchange components as easily as possible.
The "Bündner Power RoBock" contains many different components, which all fulfill a specific task. The heart of the robot is the main printed circuit board. All components of the robot are connected to it. It is equipped with all circuits and serves as an interface between actuators and sensors.
Also on the main print is the brain of the robot, the MPC board. The software runs on it and makes the robot independent. In order to communicate with other robots, a Wifi module was installed in the main print. This allows the robots to send commands to each other and to coordinate the process.
The «Bündner Power RoBock» is powered by three powerful 12V engines so that the mountain can be conquered. The required energy is obtained from a powerful battery. The motors are connected to encoders, which are used to control the motors and their speeds.
If the robot connects with the partner robot, they are held together by 2x2 electromagnets. In order to be able to check whether the robots have coupled, a photoresistor is used. Its resistance depends on the brightness.
To search the platform, we installed four light sensors. These are located on the bottom of the robot on small printed circuit boards. The OPT photodiodes, as they are called in the technical language, have a color filter, which can hide the daylight and only recognize the red LED of the target platform.
Various switches and LEDs are mounted on the cover of the robot. These give the "Bündner Power RoBock" not only a professional look, but are also for easier handling and visual support. The various LEDs visualize various activities, such as docking with the partner robot or landing on the platform.
That the „Bündner Power RoBock“ can do his job, the software was developed with the software-language Java. The software consists of different subsystems, which have their own functions.
With the three motors, the robot can move to any point at a suitable speed and keep it stable there. The position of the robot is permanently measured.
In order to be able to exchange information with the partner robot during the sequence, data are exchanged via WLAN. These data in the form of codes are sent or received, so that both robots know what the other is doing.
Sensors are used for certain positions of the robot. The measured values are processed and used for the further procedure.
In order for LEDs to light up or a switch position to be detected, the software has functions which can control or read them.
Last but not least, there is also a software part that coordinates the tasks of the subsystems. For this purpose, the sequence is adjusted by software engineering and the appropriate subsystems are integrated.