6WD all terrain robot

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Description

The main goal of this project is to build a 6WD mobile robot capable of moving and collect data in rough terrain. Such a robot could be used to patrol the surroundings around your house, company or hard to reach and hazardous places. Thanks to the image from the fpv camera you can control the robot even if it is out of sight. This feature allows the robot operator to perform remote inspection tasks in areas that are difficult to access or are dangerous for humans.

Robot parameters :
- External dimensions (LxWxH): 405x340x220 mm (robot prepared for transport)
- Total weight: 7 kg
- Ground clearance: 45 mm
- 4DOF manipulator
- 3 cameras: 2x FPV, 1x WiFi

Details

Examples of applications:

protection of facilities and areas against the access of unauthorized persons
exploration and inspection of hard to reach places
- tunnels and pipes
inspection of dangerous places for human life and health
- chemically contaminated places
- buildings threatening to collapse
transport and neutralization of dangerous objects (explosives, harmful and toxic chemicals)

Example problem and its solution

Formulation of the problem:

Currently a classic monitoring and protection system use of stationary cameras that monitor only the part of the area that should be protected. This disadvantage causes that the system is incomplete and provides only partial control over what is happening in the protected area. Additionally, the camera itself usually does not have the ability to monitor environmental parameters.

Solution to the problem:

The solution to the problem formulated above is a camera placed on a remotely controlled or autonomous vehicle. Such a vehicle can reach every corner of a protected area and give us a real-time preview if everything is okay. It can also send measurement data of physical quantities (e.g. gases, temperatures) to the base station. Furthermore, the transmitted image is processed to detect moving objects with specific features in the selected protected zone. If such objects appear then the system will send an emergency notification to the owner or security office.

The main controller in this electronic system is Arduino Mega 2560. To be able to control six motors I used two BTS7960B Motor Drivers (H-Bridges). Three motors on each side are connected to one motor driver. Each of the Motor Driver can be loaded by the current up to 43A that gives a sufficient margin of power even for the mobile robot moving over rough terrain. The electronic system is equipped with two power sources. One for supplying the DC motors and servos (LiPo battery 11.1V, 5500 mAh) and the other to supply Arduino, wifi module, fpv camera and sensors (LiPo battery 11.1V, 5500 mAh).

Components

6 × DC 12V 180RPM High Torque Gear Reducer Motor https://goo.gl/UtnKRi

2 × Wheel Rim & Tires HSP 1:10 Monster Truck https://goo.gl/vtCiwX

2 × Lipo Battery 11.1V, 5500mAh https://goo.gl/N3tUf9

6 × Hex DC Gear Motor Connector https://goo.gl/ULGAob

4 × CJMCU-VL53L0X Laser ToF Time-of-Flight Ranging Sensor https://goo.gl/PpStN2

Project Logs

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Testing grasping and moving an objects
codersilver • 03/21/2018 at 00:54 • 0 comments

The robot has a manipulator with 4 degrees of freedom. All rotary axes are controlled from the 2.4 GHz transmitter. In the following video we can see how the robot grabs and lifts a screwdriver and a wheel from the floor.
Custom application for 6WD security robot
codersilver • 02/06/2018 at 12:21 • 0 comments
Currently I'm developing a dedicated application for 6WD security robot. This app providing the following functionality:
- preview and record the image in real time
- snapshots
- detecting moving objects
- marking detection zones
- automatic sending of alarm notifications
I'm using Python, OpenCV and TensorFlow when creating and testing this software.
Testing preview from WiFi and FPV cameras
codersilver • 02/05/2018 at 01:49 • 0 comments

The view from the wifi camera is displayed on the smartphone and from the fpv camera on the laptop.
Cameras used in the project:
1. RunCam OWL Plus - https://goo.gl/4fSgZ5
2. XiaoMi YI Wifi camera
The first tests on the snow
codersilver • 01/23/2018 at 15:05 • 0 comments

Due to winter conditions in my area, I decided to do field tests in a nearby forest. How did it go? See for yourself ;)
Grasping and moving an object based on a camera view
codersilver • 01/16/2018 at 08:48 • 2 comments

The first tests of grasping and moving an object based on a camera view. The inspection robot is remotely controlled from a safe distance by the operator.
Tests in rough terrain
codersilver • 12/30/2017 at 22:58 • 0 comments

Tests of a 6-wheel robot in rough terrain. Overcoming obstacles at different speeds.
The first tests of 6WD robot
codersilver • 12/28/2017 at 19:20 • 0 comments

The above video shows the first tests of 6WD robot in my room. This robot is able to carry a load of several kilos very easily, on the video it transports 8 bottles of water equivalent to 12 kg. The robot can also easily overcome various obstacles encountered on its way. The speed of the robot is regulated in its full range via a 2.4 GHz transmitter.
The parts needed:
1. DC 12V 180RPM High Torque Gear Reducer Motor - https://goo.gl/UtnKRi
2. Tires HSP 1:10 Monster Truck - https://goo.gl/vtCiwX
3. Arduino mega 2560 - https://goo.gl/G5MxXs
4. VL53L0X Laser ToF Sensor - https://goo.gl/PpStN2
5. 5500mAh 3S 45C Lipo Battery -- https://goo.gl/N3tUf9
6. Stainless Steel Power Push Button Switch - https://goo.gl/ScvF9J

Control:
1. FrSky TARANIS Q X7 2.4GHz 7CH Transmitter - https://goo.gl/3JhLwe
2. FlySky FS 2.4GHz 6 CH Receiver - https://goo.gl/afmiPq
Automatic gripping of an object
codersilver • 12/15/2017 at 11:15 • 0 comments

Automatic gripping of an object that has been detected by the VL53L0X laser sensor. Depending on the distance in which the object is from the gripper, it closes or opens so that it can easily grab the object.
Parts:
1. VL53L0X Laser ToF Sensor - https://goo.gl/PpStN2
2. CJMCU-219 Current Monitor Sensor Module - https://goo.gl/dmRR5c
3. Digital Servo - https://goo.gl/Mgt8Xh
4. Arduino mega 2560 - https://goo.gl/G5MxXs
5. Robot metal gripper - https://goo.gl/uLgSp3
6. Breadboard - https://goo.gl/eeKuiu

Source code: link
RunCam Split - getting the camera preview
codersilver • 12/03/2017 at 23:47 • 0 comments

Just a quick instruction how to connect the RunCam Split camera and get preview from it on the mobile device like a tablet or smartphone.
Gimbal connection and control
codersilver • 12/03/2017 at 18:22 • 0 comments

In this project log I'll show you how to connect and control a 2 axis gimbal from Ehang Ghost Quadcopter using Taranis Q X7 2.4GHz transmitter and FrSky V8FR-II receiver.