Robot Club Toulon : Electrical Presentation 2019 V. Gies, V. - - PDF document

Robot Club Toulon : Electrical Presentation 2019

• V. Gies, V. Barchasz, Q. Rousset, J.M. Herve, Q. Baucher, S. Larue, Q. Anselme, and S. Marzetti

Universit´ e de Toulon, Avenue de l’Universit´ e, 83130 La Garde, France rct@univ-tln.fr Home page : http://rct.univ-tln.fr

• Abstract. Keywords: RoboCup Soccer, Middle-Size League, Multi-robot, Actuator Modeling

1 Electrical Presentation

Architecture of RCT robots relies on a cortex composed by an embedded computer interfacing advanced sen- sors such as LIDAR and cameras for positioning, scene analysis and collision avoidance, and communicating with a peripheral board for interfacing actuators and simple sensors as shown in Fig. 1. The kicking system is a third board, independent for development and safety reasons due to high voltage and EMI emissions.

• Fig. 1. RCT robots architecture description.

The embedded computer used is a LattePanda Alpha programmed in C#. This one is connect threw a USB link to a smart camera facing an omnidirectional home-designed mirror. Two SICK TIM561 LIDARs are also connected via USB for collisions and obstacles avoidance. The peripheral board is a home-designed PCB in 4-layers with a DSPfrom Microchip as main processor as shown in Fig. 3 and in Fig. 4. This board is able to drive up to six 150W motors, it manages 8 quadrature encoders and up to 20 digital or analog I/O. Basic sensors such as IR proximity sensors, ultra sonic telemeters, IMU and precision gyro are connected to this board using SPI, I2C or UART buses.

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• V. Gies, V. Barchasz, Q. Rousset, J.M. Herve, Q. Baucher, S. Larue, Q. Anselme, and S. Marzetti

Programmateur

Entrées-Sorties paramétrables

Bus Série SPI I2C

Carte Moteur V6

Robot Club Toulonnais

Quartz optionnel LEDs

Entrées numériques Hacheurs LMD18200 Alimentations Encodeurs SPI

• sc0
• sc1
• sc1
• sc0

• f

• f

• f

• Fig. 2. Peripheral Board schematic

The power board is a secondary board used for generating different power supplies safely to the other

• boards. As shown on Fig. 5, 3 switched TRACO power supply having an output current up to 1A are used

for generating 15V, 5V and 3.3V. 15V voltage is used by Sick industrial sensors, 5V is used by some sensors (rather old ones such GP2D12 IR sensors from Sharp, but no longer present in the robot), and 3.3V is used by the peripheral board for powering its DSP and most of the device connected to it. It is made on a 2 layers PCB as shown in Fig. 6 and Fig.7. The coil gun board has been inspired by Cambada and Tech United design and is shown at Fig. 8. It can adjust the kicking strength using a PWM controlling an IGBT.

Robot Club Toulon : Electrical Presentation 2019 3

• Fig. 3. Peripheral Board PCB

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• V. Gies, V. Barchasz, Q. Rousset, J.M. Herve, Q. Baucher, S. Larue, Q. Anselme, and S. Marzetti
• Fig. 4. Peripheral Board

Robot Club Toulon : Electrical Presentation 2019 5

5 5 4 4 3 3 2 2 1 1 D D C C B B A A 30V 12V 7V 5V 3V 3V 5V 30V 7V 30V 30V 30V 3V 12V 5V 30V 12V 7V 5V 3V 30V 12V 7V 5V 3V 30V 12V 7V 5V 3V 30V 12V 7V 5V 3V 12V 7V 30V Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Thursday, January 31, 2019 Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Thursday, January 31, 2019 Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Thursday, January 31, 2019 TRACO-3_3V Vin 1 GND 2 Vout 3 X2 XT60 Vin 2 GND 1 TRACO-5V Vin 1 GND 2 Vout 3 C11 CAPACITOR ARU_30V 1 2 Alim2 Alim 1 2 3 4 5 6 F-30V FUSE C13 CAPACITOR C5 CAPACITOR ARU_7V 1 2 Alim1 Alim 1 2 3 4 5 6 R13 200 C12 CAPACITOR X3 XT60 Vin 2 GND 1 D6 LED D7 LED TRACO-12V Vin 1 GND 2 Vout 3 R14 200 C7 CAPACITOR X1 XT60 Vin 2 GND 1 R10 200 D8 LED Alim4 Alim 1 2 3 4 5 6 Alim_30V Alim_30V 1 2 R12 200 D4 LED Vis_2 R11 200 Vis_4 D5 LED F-7V FUSE Alim5 Alim 1 2 3 4 5 6 Alim3 Alim 1 2 3 4 5 6 Alim_7V Alim_7V 1 2 Vis_3 Vis_1 C6 CAPACITOR

• Fig. 5. Power Board schematic
• Fig. 6. Power Board PCB

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• V. Gies, V. Barchasz, Q. Rousset, J.M. Herve, Q. Baucher, S. Larue, Q. Anselme, and S. Marzetti
• Fig. 7. Power Board PCB

5 5 4 4 3 3 2 2 1 1 D D C C B B A A VCC_15V VCC_3.3V VCC_3.3V VCC_15V Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Monday, November 12, 2018 Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Monday, November 12, 2018 Title Size Document Number Rev Date: Sheet

• f

<Doc> <RevCode> <Title> B 1 1 Monday, November 12, 2018 R10 100k U4 BS170/TO J4 Solenoid + 1 2 LS1 SCHRACK RP420024 3 4 5 6 8 7 1 2 C3 470p + C17 10u 400V R4 22k D7 US1K R11 1k5 C10 1n J5 CAP- 1 2 IXXK100N60C3H1 Q1 Q2 SPB17N80C3 C4 100n 50V U1 LM7815 IN 1 OUT 3 GND 2 R23 680 50W R5 22k + C18 1000u 35V R26 68k 0W5 R12 100 J6 CAP+ 1 2 C5 4n7 R6 22 DN2 BAT854SW R21 R13 100 L1 100u R24 680 50W DN1 BAT854SW C6 100n R7 2k 5W D8 US1K R1 1k U2 2SD106A VDD 1 GND 2 SO1 3 VL 4 RC1 5 InA 6 InB 7 RC2 8 MOD 9 SO2 10 GND2 11 VDC 12 G2 14 E2 15 Rth2 16 C2 17 G1 20 E1 21 Rth1 22 C1 23 J2 CON2 1 2 HS1 WA-T264-101E R14 150m 0W5 R27 68k 0W5 C16 100n R8 1k5 0W5 C7 390p R22 + C13 10u 400V C1 1n D4 VS-60EPS12-M3 U3 UCC3802 COMP 1 FB 2 REF 8 RC 4 CS 3 OUT 6 VCC 7 GND 5 R15 68k 0W5 D5 1N4148WSF R9 100k C8 100n R25 68k 0W5 J3 Solenoid - 1 2 D1 US1K + C20 10u 35V R3 15k D9 BZT52C13S C2 100n + C19 10u 35V J7 CON3 1 2 3 400V

• Fig. 8. Coil Gun Board schematic