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Miniature Autonomous Zamboni

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  1. Miniature Autonomous Zamboni By Brian Smith Nate James Joey Duprey

  2. Background • Many man hours driving around an ice rink in the same path • Companies need to develop new ways to automate the resurfacing process.

  3. Problem • Design a device that can drive itself around an ice rink. • Recognize its distance from walls. • Resurface ice by: • Melting Existing Ice • Apply Water Evenly • Smooth out ice surface

  4. Application • Rink Size Example • 15ft x 15ft • Walled Perimeter • Weather • No Precipitation • Temp 32oF • Resurfacing Parameters • Speed 15.1 ft/min • Average Time: 20 minutes

  5. Solution • Electrical • ColdFire MCF51JM64 • Ultrasonic Sensors • Electronic Compass • Temperature Sensor • DC Motors • Resurfacing • Propane Flame Heater • Water Delivery • Smoothing Towel

  6. System Diagram Front Direction of Motion E Compass Water Water Dispenser Smoothing Towel Heater

  7. Electrical & Controls Front Vex Corner Vex Side Vex Switch 1 Electronic Compass ColdFire HCF51JM64 Joystick Scorpion XL L R 5V Regulator Car Battery

  8. Navigation Flow Chart Standby w/ Joystick SW1 ON? Yes Propane ON Manual Light Dist = 1 No SW1 OFF or Dist>9.5? HeatTemp Hot? No Yes Water ON Resurface Dist =0, Dist + 1.5 Yes No HeatTemp Cold? Yes Propane & Water Shut off Cool Down Dist = 5 No

  9. Navigation • Navigate onto Ice • Joystick Control • Turn on Program • Warm Up Heater • Acquire Heading and Wall Distance • Resurfacing Program • Start: Blue • Then: Red, Green, Black • Cool Down • Heater turns off and cools • Device switches into standby mode • Speed • Velocity = (rpm*pi*diameter) • (4.12rpm*3.14*(14/12))= 15.1 ft/min Start

  10. Navigation Components • ColdFire MCF51JM64 • Controls & Communication • Electronic Compass • Follow Straight Lines • Vex Ultrasonic Sensor • Follow Walls • Scorpion XL Motor Driver • Control Motors

  11. Electrical & Controls Front Vex Corner Vex Side Vex Switch 1 Electronic Compass ColdFire HCF51JM64 Joystick Atmel ATMEGA328 Scorpion XL Stepper Motor Driver Propane Flow Control L R 5V Regulator Car Battery Thermocouple P

  12. Resurfacing (propane) View From the Back 20lb. Propane Tank Gas Line Valve Control System Steel Flame Bar 22.5in

  13. Propane Subsystem Schematic

  14. Propane Valve Assembly Optic Sensor Shaft Coupler Valve Mount Sensor Mount Stepper Motor Motor Mount

  15. Phase Change Rate Phase Change from Ice  Water = Heat Energy =350,000 BTU/hr = mass = Heat of Fusion = 334 J/g 350,000 btu/hr(1055.06 J/btu) = 369,271,000 J/hr 369,271,000 J/hr = 922.38 in3/min  Volume Rate of Melting Want to melt aprox. 0.250in = distance/min = velocity Velocity  =13.7ft/min

  16. Electrical & Controls Front Vex Corner Vex Atmel ATMEGA328 Stepper Motor Driver Water Flow Control Side Vex Switch 1 Electronic Compass ColdFire HCF51JM64 Joystick Atmel ATMEGA328 Scorpion XL Stepper Motor Driver Propane Flow Control W L R 5V Regulator Car Battery Thermocouple P

  17. Water Delivery System Direction of Motion Water Tank 5 gallons DC moter ¾ pvc pipe Water Dispenser Smoothing Towel Heater

  18. Water Delivery Subsystem Schematic + 5V Opto Arduino Motor Controller 11 10 9 12 11 Enable 7 Navigation board

  19. Water Delivery Flow Chart Pin1 low? Y Turn on stepper motor Standby For main Pin 1 High? Stop N Y N Pin2 High? Stepper motor in reverse Y Pin2 Low? Y Stop N N

  20. Flow Rate • V = Volume (5 gallons) • v = Velocity (fps) (13.7 ft/min) • A= Area of rink (15ft*15ft = 225sqft) .13365ft^3/ gallon * 5 gallons = .668ft^3 H = 0.668/225 = .00297ft^3 0.0356in 0.0356in + .250in = .2856 in

  21. Estimated Budget

  22. Management

  23. Work Breakdown Structure

  24. Milestones • Joystick Controlled Movement • Robot Follows Wall • Robot Follows Specific Heading • Propane Valve Automation • Thermocouple Sensing • Water Flow Valve Started

  25. Q/A