The Inspection Process

Transcription

1 The Inspection Process BAA Education Day October 25, 2014 Presented by Bill Landin Lead Robot Inspector Chesapeake Regional 1

2 Agenda Purpose and Goals Event Flow Inspection Key Points Initial Inspection Mechanical Inspection Electrical Inspection Pneumatics Inspection Power On Check Inspection Close Out Final Thoughts 2

3 Purpose and Goals Purpose Represent regional committee Enforce robot rules as written by the GDC Ensure safety of robot Goals Get all teams on the field for ALL matches Teams must pass inspection to compete Not being on the field hurts your own team and alliance partners Help teams improve their robots 3

4 Regional Event Flow Wednesday Night (Optional) Early load-in Drop off only Begin bag inspection Thursday Early morning pit setup / un-bagging of robots Practice matches INSPECTIONS, INSPECTIONS, INSPECTIONS Friday Complete any remaining inspections (goal is to have none!) Random inspections and re-inspections Saturday Random inspections and re-inspections Weigh-in for elimination robots 4

5 Key Points Start Inspection Early Locate major problems early Easier to get improvements/changes re-inspected Once passed, can utilize standby practice line Inspectors Help and guide teams through the inspection process Want to speak primarily to students Two Starting Options Team visits inspection station and requests inspector Team brings robot over to the weight/size station Typically best to send a team representative to Inspection station first 5

6 Inspection Initial 6

7 Initial Inspection Weight Robot Remove battery and bumpers Include all robot mechanisms Bumpers Weigh each set individually Include all mounting hardware Team places items on scale DO NOT STEP ON SCALE Size Remove bumpers 2014 Requirement: <=120 lbs Requirement: <=112 in. Inspection method varies over years 7

8 Initial Inspection (cont.) Continue in Pit Minimize representatives in pit Prefer 2 key students Ensure all stored energy in lowest energy state Turn off robot Relieve pressures (i.e., air in storage tanks) Release springs / surgical tubing / bungee cords, etc. Team must prove robot is safe 8

9 Initial Inspection (cont.) Bumpers (Red & Blue) Construction Proper plywood backing Pool noodles Durable fabric cover Proper display of team number Mounting Corner protection Perimeter positioning Height from floor Securely fastened Ease of removal REFER TO GAME MANUAL Recommendation: Don t use bumper covers 9

10 Inspection Mechanical 10

11 Mechanical Inspection Sharp Edges and Protrusions Hazard to personnel or field Leading edges of the robot (surface area of at least 1 square inch) Edges (minimum radius of 0.030) Points and corners (minimum radius of 1/8-inch) Improperly cut tie-wraps Areas of concern Robot parts that interact with game pieces Near 120 amp breaker Near battery connections 11

12 Mechanical Inspection (cont.) Prohibited Materials No parts made from hazardous materials No parts that are unsafe or cause an unsafe condition Specifically prohibited items: Loud distractive audio devices (speakers, sirens, air horns) Sensor or control system jammers Lasers (laser pointers) except Class I Flammable or noxious, toxic gasses Anything that produces hazardous inhalable particles (unsealed/unpainted lead) Pyrotechnics Liquids including caustic chemicals or hydraulic fluids. Lubricants ok if contained Teams to provide MSD Sheets for anything questionable 12

13 Mechanical Inspection (cont.) Energy Storage Devices One battery (See Game Manual for allowable types) Springs, surgical tubing, bungee cords, etc. Teams must prove to inspector that system is safe Pressurized air in storage tanks Batteries integral to or part of COTS computing device, only to power device 13

14 Mechanical Inspection (cont.) No Damage to Other Robots or Field No spearing, entangling, upending or adhering Traction devices Should not cause damage to the playing field carpet No: Metal Sandpaper Hard Plastic Studs Cleats Any other attachment that will cause carpet damage 14

15 Mechanical Inspection (cont.) Decorations Cannot interfere with electronics or sensors Including color distraction Bill of Materials (BOM) Total cost of materials <= limit Total cost of any one component <= limit Cost = Material + Labor Labor from team members and recognized team sponsors are excluded Can be provided in printed or electronic form 2014 Limits: $4000 / $400 15

16 Mechanical Inspection (cont.) Frame Perimeter Non-articulated (rigid structure) Determined by wrapping a piece of string around the robot at the level of the bumper zone No part can extend outside frame perimeter except bolt heads, rivet heads, nuts Typically defines the starting configuration End Game Game pieces must be removable from robot without power at end of match 16

17 Inspection Electrical 17

18 Electrical Inspection No Electrical Component Modifications Exceptions: Motor mounting Motor output shaft Trim motor wires Remove window motor locking pins 18

19 Electrical Inspection (cont.) Battery Check allowed types Only one battery at a time on the robot Mounting must be VERY secure 6-gauge wire minimum Insulated leads check all batteries Anderson connectors on batteries and chargers 19

20 Electrical Inspection (cont.) Power Distribution (PD) and Breakers Must be easily visible Do not bury under other structure!!! Allowable breakers: Only Snap-Action up to 40A Main 120A Breaker Apply and remove power Must be easily accessible Highly recommend labeling All 6-gauge wiring connections should be well insulated 20

21 Electrical Inspection (cont.) Robot Radio The D-Link DAP-1522 Rev B (black front) is the ONLY radio allowed Must be set to bridge in the Pits It s recommended that the teams secure this switch setting Tape is reasonable Powered through Voltage Regulator Module Mount so indicator lights are visible to field crew 21

22 Electrical Inspection (cont.) Wiring Type No aluminum All wire from battery to PD have min #6 AWG 40 amp breakers have min #12 AWG 30 amp breakers have min #14 AWG 20 amp breakers have min #18 AWG Color Positive supply (+24, +12, +5 VDC) Red, White, Brown or Black with stripe Negative return Black or Blue 1 Wire per WAGO Splices and terminal blocks may be used to further distribute 22

23 Electrical Inspection (cont.) 23

24 Electrical Inspection (cont.) 24

25 Electrical Inspection (cont.) Servos Unlimited number Max power rating of 4-Watts at 12-Volts Up to teams to prove this to their inspector HiTech HS322HD allowed without proof Connect to Digital Sidecar PWM only Electrical Solenoid Actuators No greater than 1-inch stroke No greater than 10W continuous duty at 12-volts 25

26 Electrical Inspection (cont.) Motors Refer to Game Manual for allowable types, quantity, and power requirements Controlled by: Spike Relay or Talon, Victor, Jaguar Speed Controllers Driven by PWM signal from roborio or by CAN bus 26

27 Electrical Inspection (cont.) Custom Circuits, Sensors and Additional Electronics Cannot directly alter power pathways Cannot directly control speed controllers, actuators or relays High impedance voltage monitoring or low impedance current monitoring ok Any WIFI remote cameras used have to be pre-approved by FIRST 27

28 Electrical Inspection (cont.) Spike Relay Must have a 20A fuse installed Frame Isolation Camera to chassis frame Each PD terminal to chassis frame Check for > 10K ohms with ohmmeter 28

29 Inspection Pneumatics 29

30 Pneumatics Inspection Minimum Components Pressure gauge to show the stored air pressure (<= 120 psi) Pressure gauge to show the working air pressure (<= 60 psi) A Norgren pressure relief valve calibrated to release at 125 psi as close to compressor as possible Prefer a rigid connection to compressor A Pressure Switch connected to the Pneumatics Control Module and calibrated (<= 120 psi) A Vent Plug Valve that vents the stored air to atmosphere Should be easily accessible Must vent high side of system to atmosphere Primary Norgren regulator to relieve back-pressure from devices and maintain a 60 psi working pressure 30

31 Pneumatics Inspection (cont.) No modifications to components except: Remove mounting pin from cylinder Wiring modified to connect to control system Do NOT paint components Compressor Any type allowed if meet specs Teams need to show documentation Only one can be used Can be off-board Must still be controlled by robot Minimal pneumatics must still be on robot No need for spike relay with new control system 31

32 Pneumatics Inspection (cont.) Pneumatic Solenoid Valves Non-KOP Solenoid valves are restricted to 1/8 NPT port diameters Teams need to provide documentation If solenoid valves rated below 125 psi are used, an additional pressure relief valve must be added to the working pressure circuit and set to a lower pressure than the valve rating Only one solenoid per pneumatic actuator Controlled by Spike relay or NI 9472 Digital Output module 32

33 Pneumatics Inspection (cont.) 33

34 Inspection Power-On Checks 34

35 Power-On Checks Operator Console Checks Check size Ensure bluetooth is disabled on driver control PC Pneumatics Check Vent pneumatics system and re-close vent valve Tether robot and apply power/enable robot Check the high pressure gauge shows <= 120 psi Check the working pressure gauge shows <=60 psi Compressor should stop at 120 psi or less Check operation of pneumatics relief valve Short the leads of the switch Make sure relief valve relieves at no more than 125 psi 35

36 Power-On Checks (cont.) Robot Signal Light Must be visible by field crew from 3 in front of robot Used for diagnosing communication issues on field Connect to RSL supply terminal on roborio RSL must be wired for solid light operation, by placing a jumper between the La and Lb terminals on the light Only one allowed 36

37 Power-On Checks (cont.) Driver Station Checks Verify proper display of battery voltage Verify proper team number configuration Verify firmware versions 37

38 Inspection Team Signs Inspection Form Team Captain Team Mentor Affix Inspection Sticker on Robot 38

39 Questions???? Bill s contact info: landinw.first@gmail.com 39

40 Final Thoughts Read The Game Manual Be familiar with The Robot section Keep up on changes to the manual Have a prioritized Thursday plan with Robot Inspection being a top priority List of tasks, person responsible, when the task will start, how long the task should take, what must be accomplished (inspection) vs. what would be nice to accomplish (adding improved arm) Begin Your Inspection Early Easier to go back and fill the holes later Ask Questions / Help Inspectors are there to help Other teams want to help We want you to be on the field competing. 40

41 Supplemental Material 41

42 Pneumatics Components Norgren Pressure Relief Valve Vents to atmosphere whenever the internal system pressure exceeds 125 psi. This is an adjustable device, but must be calibrated to 125 psi. Must be attached to or as close to the compressor (with brass fittings) as possible Norgren Adjustable Pressure Regulator This is an adjustable device, but must be set to 60 psi or less. Cannot substitute any other regulator for this device. All black, no yellow ring Vent Valve Must be in an accessible place. Must vent the high pressure side of the system to atmosphere. 42

43 Typical Pneumatics Layout 43