Need statement - P-Division-2018-2019/Team-4 GitHub Wiki
Need Statement: "Excavation Bot"
Designers : Prateek Hongal, Guruprasad K, Abhishek Koppa, Nandan Avadhani, Rahul Horti.
Clients: ISRO.
Users: ISRO.
ISRO in its next Chandrayaana project is willing to have an autonomous excavation robot which can be helpful for collecting sample (mud, sand or gravels) for scientific study.
1.2. GATHERING PERTINENT INFORMATION
1.1 Introduction
Excavation in general term is the process of removing soil, ore or any bulk material from its original place, by digging out or digging away, and loading it (say, onto a vehicle for hauling). In this sense, it covers a variety of methods that may or may not include all the different functions of loosening (or cutting) the material, digging it and finally loading it. Also, the equipment used for this purpose are different, based on the geometry and physical properties of the environment they excavate, and the way the three basic functions (loosening, digging and loading) are executed (sequentially or combined together). There are two types of machines, in general, rotary and cyclic. The work here is intended for automation of cyclic excavating machines. Automation of excavation process becomes required in a number of applications. For instance, in mining for more productivity, safety of workers and more efficiency an automated system is desirable; in remote places like moon an automated excavating device is required to get samples. Hazardous contaminated soil removing and mining radioactive materials are other examples. Attention must be paid to the difference between an excavation operation and an excavation process. The latter is the function performed by an excavator.
Thus, excavation process comprises a combination of cutting, digging and scooping. Automation of the process, in Fact, implies the automation of the machine that performs the task. For automation, an analysis of the process and what is involved in it is necessary. It is very important to note that the physical properties of the material to be excavated have a direct effect on the excavation method and the properties and design of the equipment. In Fact they significantly determine the forces required on the cutting tool, and hence the Power requirement of the machine. For simplicity of expression, hereafter, the material to be excavated will be referred to as “bulk media” or "soil". Also, instead of excavation automaton, the term “robotic excavation” is often interchangeably used.
Digging is the process of using some implement such as claws, hands, or tools, to remove material from a solid surface, usually soil or sand on the surface of the Earth. Digging is actually the combination of two processes, the first being the breaking or cutting of the surface, and the second being the removal and relocation of the material found there.[1] In a simple digging situation, this may be accomplished in a single motion, with the digging implement being used to break the surface and immediately fling the material away from the hole or other structure being dug.
Many kinds of animals engage in digging, either as part of burrowing behavior or to search for food or water under the surface of the ground. Historically, humans have engaged in digging for both of these reasons, and for a variety of additional reasons, such as engaging in agriculture and gardening, searching for minerals, metals, and other raw materials such as during digging and quarrying, preparing for construction, creating fortifications and irrigation, and also excavations in archaeology, searching for fossils and rocks in paleontology and geology and burial of the dead.
Here is one such equipment:
Automation software
In order to gain more control over their operations, digging companies may implement digging automation software or processes. Reports generated by mine automation software allow administrators to identify productivity bottlenecks, increase accountability, and better understand return on investment. Equipment automation Addressing concerns about how to improve productivity and safety in the mine site, some mine companies are turning to equipment automation consisting of robotic hardware and software technologies that convert vehicles or equipment into autonomous digging units. Mine equipment automation comes in four different forms: remote control, teleportation, driver assist, and full automation.
Remote control
Remote control digging equipment usually refers to digging vehicles such as excavators or bulldozers that are controlled with a handheld remote control. An operator stands in line-of-sight and uses the remote control to perform the normal vehicle functions. Because visibility and feel of the machine are heavily reduced, vehicle productivity is generally reduced as well using remote control. Remote control technology is generally used to enable digging equipment to operate in dangerous conditions such as unstable terrain, blast areas or in high risk areas of falling debris, or underground digging. Remote control technology is generally the least expensive way to automate digging equipment making it an ideal entry point for companies looking to test the viability of robotic technology in their mine
| Sl no | Components | Mechanism | Link |
|---|---|---|---|
| 1 | Diodes | Allows voltage to pass in a single path. | https://youtu.be/JNi6WYKAI |
| 2 | Channels. | Signal processing and telecommunication | |
| 3 | Aurdino board. | Creates interactive objects. | https://youtu.be/1F0trDGSAQE |
| 4 | Metal. | External body of the bot. | |
| 5 | Transmitters with receivers. | Radio signals between two devices (wireless). | https://youtu.be/ARekVI_dOpk |
| 6 | Micro-switches and wires | Controls the electrical circuits and leveling. | https://youtu.be/q6nP1FjxAMU |
| 7 | Provide voltage | ||
| 8 | Motors. | Generates force in the form of rotation. |
Benefits
The benefits of digging equipment automation technologies are varied but may include: improved safety, better fuel efficiency, increased productivity, reduced unscheduled maintenance, improved working conditions, better vehicle utilization, and reduced driver fatigue and attrition. Automation technologies are an efficient way to mitigate the effects of widespread labor shortages for positions such as haul truck driver. In the face of falling commodity prices, many digging companies are looking for ways to dramatically reduce overhead costs while still maintaining site safety and integrity; automation may be the answer.
REFERENCES:
- YouTube.
- Wikipedia.
- Researchgate.net.
| Questions such as | This question helps the designer to |
|---|---|
| 1.In what kinds or areas do you want this bot to work on? | Establish client’s objectives |
| 2.Should the bot have enough strength to handle the outer damages? | Establish client’s objectives |
| 3.How long do you want the bot to work at a stretch? | Establish client’s objectives |
| 4.Do you want a camera on the bot? | Establish client’s objectives |
| 5.What should be the holding capacity of the bot? | Identify constraints |
| 6.When do you want this bot to be ready? | Identify constraints |
| 7.What should be the size of the bot? | Identify constraints |
| 8.What should be the operable range of bot? | Identify constraints |
| 9.What is the main function of the bot? | Establish functions |
| 10.How should the excavated material be transported? | Establish functions |
| 11.What are the other functions that the bot should be able to perform? | Establish functions |
POSSIBLE ANSWERS TO THE ABOVE QUESTIONS:
- All sorts of areas.
- Yes.
- For a hour at a stretch.
- Yes.
- At least 500 grams.
- By 21st of March.
- Height : 1 feet, weight : 3 to 5 kg.
- At least 10 meters.
- Excavation.
- The bot itself should be able to carry the excavated material.
- Movement,360 degrees rotation.
Obtain the information through basic survey and customer interaction and arrive at requirements
| Observation from Lit.survey | Requirements |
|---|---|
| 1. The land to be excavated is hard. | The nails used to dig should be hard and sharp. |
| 2. The land will be uneven. | The bot requires big and strong wheels for its movement. |
| 3. The sample of the material should be collected. | The bot needs space for storage. |
| 4. The bot should be able to operate from long distance. | The signal strength should be strong,so as to increase the range. |
| 5. Bot should be user-friendly. | The controls of the bot should be easily understood by common people. |
1.3 Identify client’s objectives
Step 1: Prepare a list of design objectives
| Sl.no | Objectives |
|---|---|
| 01. | The bot should be able to move on all kinds of paths. |
| 02. | The bot should have strong outer body. |
| 03. | The bot should have high battery life,so that it could work for loner period of time. |
| 04. | The bot should be able to dig through rough lands as well. |
| 05. | The bot should have a good carrying capacity. |
1.4 Prioritize the identified design objectives
Priority among various objectives is set through a technique called Pair-wise Comparison Chart (PCC).
| Objectives | Mobility | Strong outer body | High battery life | Ease of operation | Storage |
|---|---|---|---|---|---|
| Mobility | **** | 0 | 0 | 1 | 1 |
| Strong outer body | 1 | **** | 1 | 1 | 1 |
| High battery life | 1 | 0 | **** | 1 | 1 |
| Ease of operation | 0 | 0 | 0 | **** | 0 |
| Storage | 0 | 0 | 0 | 1 | **** |
Rank the objectives in order of decreasing value of importance and the list is version 1.4
- The bot should have a strong outer body,so that the internal parts do not get damaged.
- High battery life,so that it could work for longer period of time .
- Able to operate on all types of paths (mobility).
- Storage.
- Ease of operation.
Based on the information gathered through interaction with client, initial survey and completing phase 1.3 the problem definition is formulated as follows
Problem definition version 1.3
Prepare a bot which digs through the mud and and collects mud samples ,which must have a strong outer body and has enough battery life to work without breakdown,which also operates on all kinds of paths, has a good range ,ease of operation at a low cost.
1.5 Identify constraints
- The cost should not exceed Rs.5000.
- The bot should be operated from a range of 10 meters.
- Holding capacity of the bot should be at least of 500 grams.
- Weight of the bot should be around 2-3 kg.
Problem definition version 1.5
Prepare a bot within Rs.5000 which digs through land and collects mud samples which can work on all sorts of roads, which must work at a distance of 10 meters from the controller and whose holding capacity is 500 grams. Weight of the bot should be around 2-3 kg.
1.6 Establish functions
- Movement.
- Storage unit of the bot.
- 360 degrees rotation of the excavator.
- It should be controlled by the wireless means.
Problem definition version 1.6
Prepare a bot which must cost within Rs.5000 which digs through land and collects mud samples which can work on all sorts of roads, which also works from a distance of 10 meters from the controller and whose holding capacity should be 500 grams. The main objective of the bot should be to dig, collect and store the excavated material. It should carry a minimum load of 100 grams at a stretch and should be also able to transport,must have a strong outer body with high battery life so that it could work for longer period of time without breakdown and must be efficient and reliable and should indicate by a buzzer that the work is done.The bot should be controlled by wireless means.