Electrical Schematics
Below are some of the specifications and features of the robot
Robot Schematic
- (2) 1.2 kW motors controlled by a Sabertooth 2x60 motor driver (no whining noise)
- (2) 10W LEDs that can illuminate up to 75ft in front of the robot
- A voltage divider connected to an Analog to Digital Converter port on the Beaglebone is used to monitor battery life
- Two 100 amp Allegro Current Sensors are used to monitor the amperage draw of each motor
- There are two cameras on board that provide a live video feed- A Logitech C920 for 720P video quality and a Logitech C510, which is used as a rear camera to pick up victims
- The primary Logitech C920 is mounted on a pan/tilt servo mount so there is a 180 degrees of vision on both the x and y axis
- Two communication protocols- 4G communication using TCP/IP protocols for long distant communication (anywhere with 4G coverage) and then a RC 2.4 Ghz network is used as a backup network when there is no coverage
- VES (Victim Extraction System) uses a system of actuators controlled by a relay H-bridge to pickup victims similar to a forklift. It can accommodate different shoulder widths
- Live two way audio system so the operator can communicate with and give direction to the victim
- Remote safety killswitch that will kill power to the motors if something unexpected were to occur
- Synchronous Regenerative Drive- The Sabertooth motor driver will return power to the battery any time a deceleration or motor reversal is commanded. This can lead to dramatic improvements in run time for systems that stop or reverse often. n. This drive scheme also saves power by returning the inductive energy stored in the motor windings to the battery each switching cycle, instead of burning it as heat in the motor windings.
- Simple, effortless control using an Xbox 360 controller
- Temperature sensors used to monitor the internal temperature of the robot
- Active cooling system that efficiently draws heat away from the electrical components that produce the most heat.
- Key switch to prevent any unwanted people from operating the robot
- Two 12v 55Ah batteries give it about 45+ mins of runtime
- Connectors are employed so components can be easily serviced, repaired, and/or replaced
- Beaglebone Black uses a 1 Ghz ARM Cortex processor
Robot Schematic
Controller Schematic
Printed Circuit Board Design