Electrical

The electrical subsystem will be interfacing with all other subsystems, whether through wires or wireless. A 48V battery will power the ESC, which will then power the motors. A 12V step-down converter will be used to power the electronic keypad and the CPU. Fuses will also be utilized to protect the electrical components. A 5V step-down converter will be used for the power distribution board that allocates power to the sensors, GPS and its antenna, and warning systems. Additionally, a microcontroller is used to communicate with the CPU and some sensors. The HexCamera and GPS will be connected to the CPU to transmit data to the Control Center. An emergency stop, which will be placed in the exterior of the vehicle, is also connected to the CPU and will continuously check whether it is pressed, and if it does, it will command the ESC to enable brake and disable throttle. There will also be a kill switch that is connected to the battery and will be located inside the vehicle to avoid unnecessary press. Finally, a PS4 controller will operate the vehicle manually.

CPU & CONTROLLERS

Jetson TX2

A fast AI computing device that offers up to 8 GB of memory. This is the vehicle's CPU that will communicate to the Control Center.

Arduino Uno

Arduino Uno has a wide array of resources available online. It will communicate to the CPU and some of the sensors.

Electronic Speed Controller

The ESC serves as the bridge between the motors and electrical subsystem. It will be programmed to run the motors.

SENSORS

HexCamera

Each camera has a 120 degree field of vision. The Jetson TX2 deep learning capability will utilize the cameras to detect obstacles.

Ultrasonic Module

This sensor can measure the distance between the obstacle and the vehicle. Multiple Ultrasonic Modules will be placed in the blind spots of the HexCamera.

Tactile Bump Sensor

When the vehicle comes in contact with an object, the tactile bump sensor will be programmed to stop the vehicle and choose a new desired course of action.

GPS

GPS Breakout

The Adafruit Ultimate GPS Breakout will be keeping track of the vehicle. It has a 3-meter position accuracy.

Antenna

An external antenna to increase the GPS accuracy and range of tracking.

BATTERY SYSTEM

LiFePO4

To power the entire system, 15 LiFePO4 batteries will be connected in series with the BMS123 to achieve a voltage output of 48 V. The battery operates at 3.2 V and 100 Ah and is stated to be non-spontaneous.

Battery Management Sytem

The BMS123 is operable with 2-5 volts and can be connected with 255 different cells.

Kill Switch

An ampere battery switch will be attached to the battery as well to cut the power supply to the whole system, making it inoperable. This will be used as an emergency switch in case anything goes wrong with the electronics and maintenance so powering the robot on and off will be quick and easy.