| Popis: |
As a result of the 2 world wars, every year there’re still approximately 300 ton of bombs found on Belgian soil. To uncover these explosives on a safe manner the use of a remote controlled vehicle can reduce the possible threat of human casualties. The Belgian Army has given us, VIVES University College, the task to convert an existing skidsteer so that it can be remote controlled. The skidsteer is fitted with a custom shovel arm so it’s possible to reach a reasonable depth to uncover the bomb. The body of the skidsteer is also reinforced to withstand a possible bomb blast. The operator can control the machine with a remote control. These actions are transferred with Bluetooth and translated in CANopen PDO messages. The messages are received by a safety controller and with this information the hydraulic actuators are moved. The actuators are connected to the existing mechanical control of the machine. The manual gas throttle of skidsteer is replaced by an electrical gas throttle actuator that is controlled with SAEJ1939 conform messages. To improve the stability of the machine a CANopen inclino sensor is integrated. The diagnostic information is visualized on a screen that gets his information through CANlayer2 messages. ispartof: iCC 2017 location:Nuremberg date:7 Mar - 8 Mar 2017 status: accepted |
