Designing the Opening Component

Click to go to Opening.

There are many aspects that need to be considered when developing the mechanical system.

Planning

Completion	Due Date *a little flexible	Stage
	29-Sept	Answered all Research Questions
	29-Sept	List of Requirements the opening should fulfill
	29-Sept	Set Specifications/Facts for tote & speed
	1-Oct	Mechanisms and Design Decisions Done to get to final concept
	6-Oct	Detailed Sketch(es) of Opening
	6-Oct	Description of how it works & how to build
	9-Oct	Build mini model?

Facts

KS-OpeningP1-27-09

Drone Tote	Height	Width	Depth	Weight
Minimum				0.2 kg
Maximum				5 kg
Average	12 cm	15 cm	26 cm	2.5 kg

Totes expected to be handled p/day: 20 max

Time Spent handling a tote: 1 minute

Tote has barcode located in bottom right corner of the tote on both the front and back face, simplifies orientation problem.

Problem Description

Goal: The goal in this stage of the system is to receive a package from a drone, have it oriented in the appropriate position for further processing, and get it to the next stage of delivery.

KS-OpeningP2-27-09

Factors/Constraints

Environmental Factors	Dynamic Factors	Technical Factors
Rain	Birds	Waterproofing?
Snow	Bugs	Moisture Resistance?
Debris		Temp. affects on function?

Tasks / Functions

Task/Function	Description
Positioning	Drone+/or Package reaches the correct place for dropping the package or entering the system
Identification	package+/or drone needs to be identified by the system so that it can further handle the package
Accuracy	drone landing/dropping of the package should be accurately placed in the landing zone
Speed	The rate at which a package should be handled to the next stage of the system
Size of Landing Zone	The size may effect accuracy of package dropping (want to make this as large as possible)
Flight Path Problem	How many DoF does the drone have to approach the opening?

Assumptions:

• Drone has Obstacle Detection to avoid objects in its way

Research Questions

Identification

Question: What kind of identification methods are there and how do they work? Radio Frequency ID Communication - [Wiki] transponder signals Barcode Scanning
Omni-Directional Scanner -
Fixed Position Scanner -
Require external power sources, otherwise batteries that need replacement often
Wiki-BarCode Scanners
[UPC Codes]
[Barcodes]
Barcode Scanner(s)

• MPSi system- omnidirectional or Single scanner (CRT, speed, direction, etc)

What this research contributes to the design of this component:
(Make selection about the type of scanner that can be used & Barcode and information stored on the barcode)

Orientation / Location Finding

Question: What kind of methods are there to position robots/carts/etc. and how do they work? Landing Radius casting - Light Beaconing Transponder signal? RFID <http://www.google.com/patents/US7636621> <http://www.google.com/patents/US20130261870> <http://en.wikipedia.org/wiki/Parking_sensors> <http://en.wikipedia.org/wiki/Proximity_sensor> <http://en.wikipedia.org/wiki/Position_sensor>

Question: What are kinds of sensors that help detect contrast or symbols?

What this research contributes to the design of this component:
(Make a selection as to which orientation method will be implemented (if any))

Ideas

• 

  KS-OpeningP3-27-09
  Sloped Platform & Door Ideas

• 

  KS-OpeningP4-27-09
  Flat Platform & Debris Ideas

• 

  KS-OpeningP5-27-09
  Orientation Idea & Conveyor Idea

• 

  KS-OpeningP6-27-09
  Funnel & Door Ideas

Drone Drop Zone

Sloped Platform

Labels: Drone Drop Zone
See page3 in gallery above for sketch.

How it Works	Pros	Cons
As the name suggests, this set-up has a platform that is sloped with alignment to the roof. The slope allows for the package to be dropped and travel down with gravity towards the opening of the chimney. Also this system has a wiper which pushes the package in alignment after dropping. To make sure the package does not fall off the platform, there are guides.	Wiper can be used to clean off debris & snow.	Drone flight path slightly obstructed due to wiper & guides
	Allows wide land/drop zone for the drone.	May look odd on buildings with flat roofs
	Drone can be oriented, but is not necessarily required b/c system aligns package after drop

• See door mechanisms that could couple to this component to bring package into the system
• See orientation mechanisms that could couple to align package

Flat Platform

Labels: Drone Drop Zone
See page4 in gallery above for sketch.

How it Works	Pros	Cons
This set-up has a platform that is flat and makes the use of two wipers. One in the x direction and one in the y direction, which will be used t align the package accordingly with the opening of the chimney. Guides prevents the package from falling off the platform.	Gets package oriented and to location	Flat less effective than slanted
	Allows for big area land/drop zone	Drone flight path slightly obstructed by wipers & guides

• See door mechanisms that could couple to this component to bring package into the system
• See orientation mechanisms that could couple to align package

Conveyor

Labels: Drone Drop Zone See page5 in gallery above for sketch.

How it Works	Pros	Cons
Similar to the other two platforms above. This idea has a large landing platform but has a continual moving conveyor located on one side. A wiper pushes the package onto the grated conveyor which leads the package to the chimney.	Continual movement of conveyor limits debris and snow accumulation	Maintenance very important
		Possible noise issues?

• See door mechanisms that could couple to this component to bring package into the system
• See orientation mechanisms that could couple to align package

Funnel

Labels: Drone Drop Zone
See page6 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Covered Funnel

Labels: Drone Drop Zone with Door Mechanism
See page6 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Door Mechanisms

Garage Door

Labels: Door Mechanism
See page4 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Double Doors

Labels: Door Mechanism
See page6 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Folding Doors

Labels: Door Mechanism
See page6 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Double Flap

Labels: Door Mechanism
See page6 in gallery above for sketch.

How it Works	Pros	Cons
	Pro here
	Pro here
	Pro here

Orientation

RFID & Beacon

Labels: Orientation
See page5 in gallery above for sketch.

How it Works	Pros	Cons
This is a possible solution for orientation & identification of the package. Through a radio frequency ID (RFID) a drone can signal to the delivery system that it is in range (or vice versa). Over this RFID information can be sent about the size and location of the drone drop zone so that the drone can find it. Once hovering over it, the drone can then align itself with a light beacon located at a point on the platform.	Can transfer information about the package over the RFID as well	Beacon can be blocked by environmental obstacles
	Allows specification of drone platform location and size of drone zone	Possible hacking?

Contrast Symbol

Labels: Orientation
See page5 in gallery above for sketch.

How it Works	Pros	Cons
This is a possible solution for orientation & identification of the package. Through a symbol painted on the drone zone platform, the drone can perceive the contrast and orient itself accordingly to the symbol.	Simple Solution of painting a symbol	Paint can fade
	Allows specification of drone platform size on basis of symbol	Not a method to help find the platform

Requirements

Functional	Product	Process	External