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Construction time was a merely 4 weeks and it was sold and delivered just in time for
testing the installed ducts.
Piper-bot was constructed using laser cut materials, and was powered by 4 fixed geared
motors with high traction wheels. It carried an EVI-D30 High Quality Sony PTZ
camera on board with a 2.4 GHz High Power Video transmitter. Two high intensity
MAGlite white LEDs provided enough light to clearly see details inside the ducts. An
SRF05 ultrasonic sensor attached to the front of Piper-bot provided diameter
measurements of the ducts, while an Memsic Accelerometer provided information
regarding roll and pitch angles. Battery information was also sampled using an
ADC0831 and a resistor ladder. An odometer was developed in order to register
approximate distance to dig from the inspection well in case there was need for a duct
fix. Motor control was delegated to a Motor Mind C controller from solutions cubed,
while camera PTZ commands were send via infrared through an specific application
PIC (instead of using the VISCA port). All the collected data was superimposed on the
video signal using a BOB-II video card prior to transmitting. Commands arrived to
Piper-bot via 900MHz Full Duplex Aerocomm modems.
On the command-base side, another BASIC Stamp II reads data from a Parallax Mini
keyboard, it then proceeds to send this data through the Aerocomm modem and wait for
confirmation or acknowledgment from Piper-bot. If no acknowledgement is received
the command is sent a few more times until its dropped. When no new commands are
entered, command base’s BASIC Stamp II sends a beacon command, so Piper-bot
knows the command base is still within range; if nothing is received for a while, Piper-
bot begins its autonomous navigation routine.
A Video Receiver sits at the command base, with an LCD screen that displays real-time
video and superimposed information. An optional Video Recorder can be connected to
make videos of the inspections. Batteries for both Piper-bot and Command base are Ni-
MH 6 cell type.