Squeeze

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Squeeze V1

Squeeze is a an exploratory RPV. We are looking here at a 'professional grade robot' who has a job waiting. He crawls around between rafters and floor boards. His main role is to pull network cables and alarm across roof spaces too small for people. His alternative role is to explore such spaces for cable routes.

bulletSmall and flat: 3.25" tall, 7.25" long and about 8" long to the bottom of the antenna pivot.
bulletImages are returned via a 2.4GHz camera.
bulletThe treads are motivated by digital servos modified for continuous rotation. They are built into the tread frame as not to take up any space in the central body. Yes, he's slow but actually very powerful.

This is the first iteration.

Front View

Pre lighting and camera articulation

Side View

The AA battery holders are still in place as is the prototype outer tread skirt. This is in 1/8" aluminum but scheduled to be replaced by a 1/4" peice.

Right Left

This view shows the second power switch in place - it controls the 9v battery for the servo controller.

Rear

At this point there is only one antenna for the 2.4GHz camera. The DB-9 is the input to the servo controller which uses a cable drive while we wait on the IP serial converter.

Belly UP!

This shows the belt drives on the tread units. They are made from hobby procured drive belts for gas driven race cars. We got the belts and pullys for about $14.

With Ruler

With Ruler

Front Veiw

This shows the new lighting system, camera and cooling holes for the light. It works pretty well but needs a flood instead of a spot. Even at distance the spot tends to overpower the range of the camera. It just appears as a big white spot in the center of the screen.

Left Side

Not much new but the battery wings.

Rear View

THis gives an idea of the antenna proximity. As long as i seperate the frequescies on the 2.4 systems I don't have too much trouble. The ES1AWB IP-Serial converter I used is solid but some times unpredictable as to which Access Point it hooks up to. Once the link is made, it's solid.

Low Mode

For crawling around in the ceiling the antennas fold down. It's verticle profile is about 3.25"!

Same

Collar

This is a view down the back showing the camera/light cooling fan. The whole box stays pretty cool. I'm really not sure if I need all of the cooling since getting the heat tollerance for the camera out of X-10 was impossible. I don't want to find out the hard way so the fan is there.

Back View

Low mode.

Squeeze V2

V1 provided several valuable insights. The design is sound but the power estimates were off. Completion of the lighting and camera pivot also provided some challenges. Space in the electronics cavity is now at a premium.

bulletPower has been beefed up using rechargeable 2,000 mA hour NiCad's. Originally AA battery power packs were slung on either side of the electronics housing. This was done so that field techs could quickly replace the power supply with a readily available source. Unfortunately they just sag too much during the movement. It moves fine but our camera signal resolution dropped off too quickly and the notoriously power sensitive Pontech controller kept reseting. In all, we got about 10 minutes of reliable operation with a complete fresh set of AA batteries.
bulletThe Camera pivot is in place. We tried an array of white LEDs as a lighting system. Did not have the punch to light up more than about 18" so a 12v mini halogen spot was put into service. Now too strong - the camera lighting adjustment range is too narrow. In a dark room/space you will get a bright white/yellow dot in the center of the screen.
bulletThe IP serial driver has been installed and he's completely self sufficient. The control is done via a WiFi IP addressable serial converter which uses a virtual serial port on the laptop. It works quite well once it's linked.


Last updated: 01/05/09.