ican’09 the third prize Automated Barbecue based on sensors presentation ican automated barbecue.pdf

1Automated Barbecue - based on μ-sensors Gress, Sascha Sch?fer, Daniel Wern, Christian Understanding a swinging barbecue in the south-west of Germany a barbecue consists of 3 legs 1 chain 1 grill 1 open fire 2 3Goals automated barbecuing no control by humans necessary adjustment of height for optimal grill-temperature adaption of swinging amplitude of the grill to achieve a homogeneous temperature distribution 4Grill-temperature two Pt-1000 temperature sensors mounted in the grill plain which can handle up to 450°C 1 sensor placed in the middle, 1 sensor in the outer region because of the rotation we get a highly homogeneous mean grill-temperature 5Grill-temperature by research and experiment the optimal grill- temperature was found to be about 140°C adjustment of the height in relation to the measured temperature 6Rotation Implemented via a rotating plate with an eccentric point of suspension capturing of the movement by a 2-axis accelerometer 7Signal processing sensors are read out by microcontroller signals to expect: temperature-sensor: change of voltage, dc- signal (comparable with reference) accel.-sensor: sinus-shaped ac-signal, magnitude proportional to deflection 8Approach to solve the differential equation g Sl ir ? ar m ? AM α Lagrange: 3 DOFs 3 DEs 0)sin()cos()sin()cos())sin(( 0)sin( )())sin(( 2 2 2 2 2 2 =???+?????????+???? =??? =??+? ???? ?? ?? ?α?????? α? ?? SSSSIS S ASI lgmlmllrmlm lm tMlrm 9Calculation of deflection gmF rmF G Z ?= ??= 2ω ω ZF GF g Sl ir ? ar )sin(??= += Sa ai lr rrr approach: 222 2 22 )( )sin( gr r FF F F F l r GZ Z S Z S a +? ? = + === ω ω? 10 Construction creation of circular movement 11 Microcontroller choosing a controller with integrated motor driver 2 PWM-outputs to actuate the motors 3 analogue inputs to capture sensor values 12 13 Ready for Eating! 14 Market perspectives very popular in the south-west of germany good acceptance of the product upcoming soccer world championship could be ideal timing for marke