1. SOUTHEASTCON 2016 HARDWARE COMPETITION
Michael Miranda
Roberto Miguel Sanchez
Joseph Mousa

2. HAMPTON ROADS SHIPPING CONTAINER TERMINAL CHALLENGE
A roadstead or road is a body of water sheltered form water related hazards where ships can anchor without dragging
Here ships wait their turn to enter port
OBJECTIVE
Build a fully automated robot that:
Picks up goods (containers) from a barge
Identifies goods
Drops them off to correct shipping zones
Do these tasks in under 5 minutes

3. MAP:

4. MAP A:

5. MAP B:

6. OBSTACLES: Boat Shipping zone Rail Shipping zone Truck Shipping zone
Start area
Tunnel
Barge
Containers
Qr Codes

7. BARGE 3 zones A (all blue 5” containers) 7” off of ground
B ( mixed blocks of 5” and 2.5” containers) 10” off Ground
C ( mixed blocks of 5” containers) 5” off Ground

8. CONTAINERS Zone A: Go to boat shipping zone
1.5”x1.5”x5” 8 stacks of 2 all blue blocks
Zone B: Go to rail shipping
8 stacks of 2
12 1.5”x1.5”x 5” multi colored
8 1.5”x1.5”x2.5 multi colored
Zone C: Blue blocks go to boat shipping zone others go to truck shipping
8 Stacks of 2
1.5”x1.5”x5” multi colored blocks
All blocks except blue in zone A have QR codes
All blocks spaced 1” apart

9. BOAT SHIPPING ZONE
24” by 36”

10. RAIL SHIPPING ZONE Each car is 10.75”L x 7.75”W x 5”H .5” thick walls
Spaced 1” apart
Have QR codes

11. TRUCK SHIPPING ZONE

12. START AREA & TUNNEL Start Area – 20”x 30” has start led signals
Same height as tunnel
Tunnel 17” by 17” has 1/2” drop
Robot can expand after tunnel

13. QR CODES
4 QR codes – one for each color
Yellow Red Green Blue

14. Total Number of shipping containers on barge at start of competition
SCORING
Shipping Container
(starting location and description)
Destination (location of block at end of game)
Total Number of shipping containers on barge at start of competition
Boat
Truck
Rail
Red
Green
Blue
Rail Yellow
Zone A
5” Blue Block (no QR) 3 -1 16
Zone B
2.5” Red Block -2 10 2
2.5” Green Block
2.5” Blue Block
2.5” Yellow Block
5” Red Block 15
5” Green Block
5” Blue Block
5” Yellow Block
Zone C 5 4
Additional Scoring*
Robot moves
25 points
Robot drives through tunnel
Robot successfully moves any shipping container
10 points

15. OUR SOLUTION A fully automated robot Needs: Start
IR line follower - recognizing zones
Switch for programming between both maps
Mobility
Navigation
Adjustable height
QR scanner
Color sensors to differentiate between half blocks
Pick up drop off mechanism

16. OUR SOLUTION A fully automated robot Requirements:
Must leave start area after button press/ switch
Must pick up blocks
Must read blocks
Must drop off blocks
Constraints
Initial robot size is 12” x 12” x 12” can expand to 20”x 20” x 20”
Pins available
5 minute time limit
Accessibility to different drop off zones

17. OUR SOLUTION’S STRATEGIC IMPLEMENTATION

18. HARDWARE

19. MECHANICAL DESIGN
Front View
Side View
Angled View

20. MAJOR PARTS OF ROBOT WITH PRICES
Quantity
Price
CIM motors 6 28
Other motors 3 14
Encoders 10 15
Motor Controllers 5
Arudino Mega 1 46
Rasberry pi 30
Arduino uno 25
IR SHARP SENSORS
Rack and pinion gear for arm movement 2
2 screws for scissor lift
Bars for scissor lift 8
Dowels 24
Screw for pushing wall
Mount/ boat for moving wall
Top/bottom chassis 2 20
Conveyor belt 1 30
Color sensors 8
Qr reader 24
Sprockets
Circuitry
FREE
Gear chains
IR LINE FOLLOWER 10
Batteries
Battery charger
Mecanum wheels 4
Free
Total=
1092

21. WEIGHT OF ROBOT Robot qty lbs weight total motors base 4 2.8 11.2
wheels 1
motors others 6
0.5 3
battery
12.5
conveyor belt
sensors base
motor controllers 5
qr reader
color sensors 2
0.25
scissor lift
base
micro controllers
Total=
40.45
torque required
2.25 kgcm req

22. HOW WE WANT THE BASE TO BE

23. MECANUM WHEELS

24. MOTORS FOR WHEELS - CALCULATIONS

25. MOTORS FOR WHEELS - CALCULATIONS

26. MOTOR SPECS
Physical Specs:Size: 2.5 inch diameter, 4.34 inch long body
Output Shaft size: / , with 2mm keyway
Weight: 2.82 pounds
Mounting Holes: #10-32 tapped holes (2), on a 2" bolt circle
Wire Gauge: 14 AWG
Performance Specs:Voltage: 12 volt DC
No load RPM: 5,310 (+/- 10%)
Free Current: 2.7 amps
Maximum Power: 337 Watts (at 2655 rpm, 172 oz-in, and 68 amps)
Stall Torque: 2.42 N-m, or oz-in
Stall Current: 133 amps

27. POWER -12 V 9 AH BATTERY
CIM motor - Base motors + scissor lift motors: 16.2 amp hour
CCL motor- other motors: 5.4 amp hour
Total: 21.6 amp hour
Battery: 9 V 12 amp hour battery
Each round is 5 mins. Battery will last around 30mins
2 batteries and 1 charger (12 V 4 amp hour)

28. SCISSOR LIFTS Bot is 2 inches off ground.
Need bot to raise 11 inches to reach 13 inches.
The calculated length for 2 stacks of scissors 7.77 inches.
To keep stability we chose this length so the scissors do not extend pass 45 degrees.

29. SENSORS 2 COLOR SENSORS 1 QR SENSORS 2 LONG SHARP RANGE IR SENSORS
Used to differentiate blocks on conveyor belt.
1 QR SENSORS
Used to distinguish railroad carts.
2 LONG SHARP RANGE IR SENSORS
Used in navigation for orientation of robot.
4 SHORT SHARP RANGE IR SENSORS
Used to detect walls and object.

30. TOP HALF OF ROBOT - DESIGN
Angled View
Front View

31. SOFTWARE

32. CONTROL UNITS
Bottom
Arduino mega 2560
Top
Raspberry Pi 2
Arduino Uno

33. BOTTOM COMMUNICATION

34. TOP COMMUNICATION

35. NAVIGATION Use dead reckoning Adjust at known places
Calculating current position based on previous position and distance traveled
Adjust at known places
Use sensors to center at known spots
Update current position with known position

36. BOTTOM PROGRAMMING //initialize all components
//Function and class declarations
Class Point {
Public:
Double x;
Double y;
Point (double a=0, double b=0):x{a},y(b){} };
Enum Movements (forward,backwards,left,right);
Enum Direction (NORTH, EAST, SOUTH, WEST);
directions& operator++(directions& d) {
directions original = d;
d= static_cast<directions>((d+ 1)%4);
return original; }
directions& operator--(directions& d)
d= static_cast<directions>((4 + d -1)%4);

37. BOTTOM PROGRAMMING Void lift (int height); Void navigate(Point p);
Void turn90Right();
Void turn90Left();
Void turn180();
Void ReadRails();
Move(movements m);
Point ZoneA, ZoneB, ZoneC, Rail1,Rail2,Rail3,Rail4, Truck,Boat;
Point * Red, Green, Blue, Yellow;
Grid[x][y] //grid to represent map 1 represent obstacles
{1, 1,1,1,1,1
1, 0,0,0,0,1 ……}
Int height;
Point position;
Direction direction;

38. BOTTOM PROGRAMMING Int main(){ While(led is not on){ Check for led}
Navigate (zoneA);
Adjust(zoneA);
Lift(7);
SignalTop(pickUpBlocks);
While(notDoneZoneA) {
if(TopSignaledToMove)
Point newPoint = GetPointFromTop
Navigate(newPoint);
Adjust(newPoint);
SignalTop(Ready); }
if(TopSignaledToLift)
Lift(newHeight);

39. BOTTOM PROGRAMMING Navigate (zoneB); Adjust(zoneB); Lift(10);
SignalTop(pickUpBlocks);
While(notDonePickingUp);
Navigate(Rail1);
Adjust(Rail1);
ReadRails();
SignalTop(Ready);
While(notDoneZoneB) {
if(TopSignaledToMove)
Point newPoint = getColorFromTop;
Navigate(newPoint);
Adjust(newPoint); }
if(TopSignaledToLift)
Lift(newHeight);

40. BOTTOM PROGRAMMING Navigate (zoneC); Adjust(zoneC); Lift(10);
SignalTop(pickUpBlocks);
SignalTop(Ready);
While(notDoneZoneC) {
if(TopSignaledToMove)
Point newPoint = getColorFromTop;
Navigate(newPoint);
Adjust(newPoint); }
if(TopSignaledToLift)
Lift(newHeight);

41. BOTTOM PROGRAMMING Void turn90Right() {
//use wheels and IR sensors to turn
direction++; }
Void turn90Left()
direction--;
Void turn180()
turn90Right();

42. BOTTOM PROGRAMMING Void turn90Right() {
//use wheels and IR sensors to turn
direction++; }
Void turn90Left()
direction--;
Void turn180()
turn90Right();

43. BOTTOM PROGRAMMING Void navigate(Point p) { movements m;
While( abs(p.x – destination.x) > tolerance && abs(p.y – destination.y) || tolerance)
{ while(abs(p.x – destination.x) > tolerance ) {
If(destination.x > p.x)
{m = //Move West left/right/forward/back based on current facing direction
//check grid to see if can keep moving in this direction, if not break loop
Move(m);
destination.x -= distance traveled; }
else
{m = //Move East left/right/forward/back based on current facing direction
destination.x += distance traveled;
} //end x coordinate loop and send StopSignal to arduino uno

44. BOTTOM PROGRAMMING //Void navigate(Point p) continued
while(abs(p.y – destination.y) > tolerance ) {
If(destination.y > p.y)
{m = //Move North left/right/forward/back based on current facing direction
//check grid to see if can keep moving in this direction, if not break loop
Move(m);
destination.y -= distance traveled; }
else
{m = //Move South left/right/forward/back based on current facing direction
destination.y += distance traveled;
}//end y coordinate loop and send StopSignal to arduino uno
}// end navigate

45. BOTTOM PROGRAMMING Void move(movements m) {
//send signal to arduino uno based on the movement
//arduino uno spins motors until stop signal is sent }

46. LEARNING COMPONENTS

47. POSSIBLE PROBLEMS
As top moves away and closer to bottom the wires between the two sections
might get pinched or pulled apart
Delay of parts
Breaking of parts
Not enough pins
BUDGET

48. BY NEXT PRESENTATION Top of robot cad design
Finalized parts to purchase/begin purchasing
call companies for more funding
Revise based on comments today.

49. QUESTIONS?