Colony Scout is a proposed redesign of the current dragonfly based platform targeted for deployment during the 2010-2011 timeframe. Preliminary design is being handled by dshope@andrew.cmu.edu for mechanical systems. Prototype testing commenced June 2009. As of 10-05-2010 we are on our 4th major mechanical generation and 3rd major electrical. We are hoping to move into production by March, 2011. From there it will be all about software and getting the 'bots doing interesting tasks.
The design is a 4WD, skid steer (turn in place) platform that extends the functionality of the existing platform. Design goals include a more robust sensor array, increased processing power, and the ability to explore non-level terrain. All systems (hardware & mechanical) would be designed in-house for a complete custom package. Off the shelf components are used where possible to minimize costs and simplify future maintenance. The target price per robot was $400 but PCB costs have pushed the build cost to $550/ea, still a very reasonable price.
What's new?¶
Tech | Colony III | Scout |
Processor | 8MHz 8-bit AVR | 600MHz 32-bit ARM9 + 16MHz 8-bit AVR |
Rangefinders | 5 Position (1.5-12in) IR | 48 Position, 360-degree coverage (0-20ft) Sonar |
Battery | 6.0VDC 2.6Ah NiMH | 7.4VDC 3.0Ah Lion |
Locomotion | 2 Wheel Differential Drive | 4WD Skid Steer |
Ground Clearance | None | 1.34" Clearance with Rocker Pivot to conform to terrain |
Cliff Detection | None | 3 Side Drop-off Detection |
BOM | 16 Point IR | 4 Point IR with modulation |
Wireless | Zigbee, 250kbps, 300 ft range | 2.4GHz, 2000kb/s, >300ft range |
Charging | Removable | Integrated homing and charging contacts |
Extension | None | Accessory/Expansion hardpoints and power/data connection |
Production | Botrics | In-house design and manufacturing for full control over device lifetime |
Meeting Minutes¶
Subgroup Meeting Minutes¶
Mechanical Team Meetings
Forklift Team Meetings
Board Team Meetings
Low-Level Software Team Meetings
Warehouse Behavior Team Meetings
Documentation¶
- ElectricalDocumentation
- SensorDocumentation
- CodingDocumentation
- ScoutOSDocumentation
- SimulatorDocumentation
- WarehouseBehaviorDocumentation
- ForkliftDocumentation
Reference¶
Old, possibly outdated pages¶
Reference¶
- ProductionPlan
- BillofMaterials
- BOMHardware
- MechanicalDesign
- AccessoryDesign
- AssemblyInstructions
- Meeting of the Minds
Discussion¶
- General Ideas
- MarketingIdeas
- ECE
- ECESmartAccessoryRefDesign
- ECEBreakoutBoard
- ECEDesignNotes
- Summer 2011 Scoutfly Update
- Scoutfly Reduced Board Design
- SoftwareArchitectureIdeas
- WirelessIdeas
- Scout Architecture Paper
- This should really be on the Scout wiki, but I don't know how to move it - Abe