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# System prepended metadata

title: Progress report CRM

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Progress report CRM
===


[TOC] 

*Current teammembers*:
* Puyar, [Arne Depuydt](https://www.linkedin.com/in/arne-depuydt/)
* Nobel, [Jeremy Lebon](https://www.linkedin.com/in/jeremy-lebon-90045219/)
* [Peter Vanbiervliet](https://www.linkedin.com/in/petervanbiervliet/)
* [Philippe Van Overbeke](https://www.linkedin.com/in/philippe-van-overbeke-85a1ba20/?originalSubdomain=be)

---

## Project info
* See the real-time board of project on [Trello](https://trello.com/b/0E6T1BZ0/crm-fog)
* Software follow-up is Space env. Can't be shared.

---

## Project update

## 14/12/2022

Meeting with Philippe, Erik, Koen, Arne, Dimitri & Jeremy

* Discussing of the possibilities of O&O

* Make a new version WP's and price estimate.
* Next meeting planned 20 dec


Link video CRMbot - Navigation: [link](https://www.youtube.com/watch?v=P7_gS_rbf_Q)

### 


### Update navigation



---

## 05/12/2022

In the meeting the following things will be addressed:
* TODO's
* 3D design of the robot
* Selection of the hardware components
* Ordering materials
* Varia

### TODO

**Dimitri**
* Images of the factory environments to build a realistic digital twin.
* Electrical motor suppliers:
    * Purma motors? @Dimitri is this correct?
* Contact person or quote for the DC/AC converter Victron (48V-230VAC - 2000W)
* Hardware and software documentation needed to make a interface possible with the CRM fog unit. 

### 3D design of the robot

![](https://i.imgur.com/rXHoxVS.png)
![](https://i.imgur.com/YsrBXmW.png)
![](https://i.imgur.com/4R1bUp7.png)

### Selection / ordering of the hardware components

Focus on drive components:
* Wheel drives
    * Bruell & Hilgenfeldt
    * TVH - In process to obtain a quote
* Battery + BMS
* AC/DC converter
* Castor wheels

Normal at the end of the week a component list should be ready.

Sensors can be ordered later on.

### Varia

* Koen Denys asks if this a O&O project?
    * Yes, CRM will make use of research project of VLAIO. 
    * A extra meeting for it is needed.
---

## 27/10/2022

In period September-October the following points have been adressed:
* Selection of the hardware components
* 3D design of the robot
* Simulation of the robot

### Selection of the hardware components

#### Sensors

* [LIDAR](https://smartmobility.jetbrains.space/p/crm-fog/issues/7)
* [IMU](https://smartmobility.jetbrains.space/p/crm-fog/issues/5)
* [Depth camera](https://smartmobility.jetbrains.space/p/crm-fog/issues/9)
* [Radar](https://smartmobility.jetbrains.space/p/crm-fog/issues/53)
* Camera
* ~~Stereo camera~~

#### Communication

* [CAN interface](https://smartmobility.jetbrains.space/p/crm-fog/issues/14) 
#### Electrical
* [Battery + BMS](https://smartmobility.jetbrains.space/p/crm-fog/issues/13)
* [AC/DC converter](https://smartmobility.jetbrains.space/p/crm-fog/issues/12)
#### Compute
* [High level controller](https://smartmobility.jetbrains.space/p/crm-fog/issues/30)
#### Actuators
* [Wheel drives](https://smartmobility.jetbrains.space/p/crm-fog/issues/4)
   
	
### 3D design of the robot

A first design has been made by the mechanical team. 
With the remarks of the meeting 27/10/2022 a lot will change.

![](https://i.imgur.com/B53Aym1.png)

![](https://i.imgur.com/8TSbKUR.png)

Add-ons:
* Emergency switch

### Simulation 
A first  simulation design is made of the CRMbot.

![](https://i.imgur.com/3AYndwS.jpg)

The robot is already equipped with some basic sensors. 

![](https://i.imgur.com/B1X2dTU.jpg)

![](https://i.imgur.com/DGuj3WU.png)

A first design of factory env. is made.
    ![](https://i.imgur.com/T89gmoF.png)
    
Side notes:
* Robot is developed in ROS2 - Humble (5 year support)
* Integration of autonomous navigation is in progress.
### Remarks
#### Remarks - Test MIR 200 by CRM

1. Liquid is detected at a height of approx. 30 cm by sensors and camera.
* To solve the problem of the vapour noise. A radar sensor could be interesting. These sensors are insensitive to fog and rain. The modern ones also give the env. in pointcloud form.
2. Attack of the atomized fog on the camera
* Add ventilator or heating module for the camera
3. Integrate emergency stop button in device
* Will be added to the design
4. IP factor must be min. IP 55, preferably IP 65.Since work is often done in damp areas
* Will be added to the design
5. Wheels, certainly a height of 12 cm
* [x] Wheels radius  minimum 12 cm. Now radius of 160 mm is selected.
8. Speed of the robot must certainly be adjustable
* [x] Speed of the robot will adjustable
  Slow when disinfection active
  Fast when going from point to point
10. Robot must be able to turn on its axis
* [x] The robot is base on the differential drive control and so can turn on its axis
12. Provide handles for transport
* Will be added to the design
14. Bottom plate in stainless steel
* Will be added to the design
16. Interface with the fogger
* The documentation of CRM fog unit is needed.
18. Fogger programming must be preserved
* /
20. Preferably also to be operated via an App ??
* GUI can have a integration for the fog unit
22. LED lighting on robot (green, red, blue)
* [x] LED indication of the status of the robot/fog unit will be integrated
  For example: **Green** - env. safe, **Red** - unit active /danger for people
24. Low Battery Alarm
* [x] The selected battery and BMS will have a CAN feedback
### Meeting remarks

* Ground clearance (distance between chassis and groud): 5cm
* The robot has to be waterproof. The bottom side of the robot has to be IP 65.
* Hotspot disfection. So no continuous disinfection needed of the environment.
* The standard 230V pump will be used in the CRM fog. So DC/AC converter will be needed. Victron inverter preferred. (48V - 230VAC)
* Fog unit max. operation time: **1h**
    * Initially estimate was a operation time > 4h => the needed battery capacity was very high. 2 batteries of 100 Ah: 48V where needed
    * With the reduced operation time => only one battery of 100 Ah /48V is needed. The design 
* Disinfection product now in bottles of 1l. This should be upscaled to 10 à 20 l bottles. 
* Feedback of the nozzle spraying is needed
    * Measurement of the weight of the bottle
    * Measurement with temperature sensor at the nozzle.
* Communication with the CRM fog needed to control the nozzle. 
    * Check what communication is possible
* Width of the robot: 60 - 80 cm. Now the robot design on 65 cm
* Design of the robot may be circular or a rectangle.
* If needed the design of CRMfog unit may be altered. 
* Electrical motor suppliers:
    * [Reich motor](https://reich-easydriver.com/en/products/manoeuvring-systems/single-axle/easydriver-infinity-25)
* In the future the mobile robot can be produced by Vanhoecke Automation.
    
### TODO 
**Dimitri**
* Images of the factory environments to build a realistic digital twin.
* Electrical motor suppliers:
    * Purma motors? @Dimitri is this correct?
* Contact person or quote for the DC/AC converter Victron (48V-230VAC - 2000W)
* Hardware and software documentation needed to make a interface possible with the CRM fog unit. 

