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QUT-Motorsport / QUTMS_Driverless

Welcome to the QUTMS Driverless team repository, used to develop perception, planning and control pipelines in ROS2 for a driverless FSAE racecar
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Compute Enclosures and Mounting #65

Closed alistair-english closed 2 years ago

alistair-english commented 2 years ago

For George

b1n-ch1kn commented 2 years ago
alistair-english commented 2 years ago

Compute Box Requirements

Fits in it:

Connections:

GeorgyUshakov commented 2 years ago

The Two-Box Solution.

Demonstrating that all the non-ROScube components can fit inside a 30x30x10 box: this could work

TheBox 2.zip

GeorgyUshakov commented 2 years ago

Some options for TheBox™es:

Plastic boxes - most are IP66 or thereabouts which is like the highest grade of protection (or even above that which means we're good on the waterproofing front; 1st digit represents solid protection and 2nd digit represents liquid protection): Brenclosures: https://www.brenclosures.com.au/plastic-enclosures/ (prices unknown) Polynova PC: 270x270x170, IP66 Polynova PM: 270x270x165, IP65 Polynova PN: 360x250x150, IP67

RS PRO Grey Polycarbonate General Purpose Enclosure, IP65, 344 x 289 x 117mm: $121.04; https://au.rs-online.com/web/p/general-purpose-enclosures/1972019

RS PRO Grey Fibreglass Enclosure, IP67, 300 x 300 x 175mm: $231.85; https://au.rs-online.com/web/p/general-purpose-enclosures/0507999

RS PRO Grey PET Enclosure, IP66, 255 x 250 x 120mm: $228.86; https://au.rs-online.com/web/p/general-purpose-enclosures/9188825

GRP IP68 Grey Terminal Enclosure 250H x 255W x 125D: $71.34; https://www.tro.com.au/GRP-IP68-Grey-Terminal-Enclosure-250H-x-255W-x-125D

Metal boxes - more expensive and with less options found so far: Aluminium Electrical Enclosure 300H x 300W x 150D IP66 Grey: $269.85; https://www.tro.com.au/Aluminium-Electrical-Enclosure-300H-x-300W-x-150D-IP66

Aluminium Electrical Enclosure 300H x 250W x 150D IP66 Grey: $260.70; https://www.tro.com.au/Aluminium-Electrical-Enclosure-300H-x-250W-x-150D-IP66

RS PRO Silver Die Cast Aluminium Enclosure, IP66, Shielded, 250 x 250 x 100mm: $90.05; https://au.rs-online.com/web/p/general-purpose-enclosures/5173428 ^ wouldn't fit ROScube but very cheap

Note: a 25x25 enclosure would need to stack some components on top of each other in order to fit a fan (eg. CAN to Ethernet on top of Jetson as below), although a deeper box may use the extra depth for the fan instead. thebox25cm

Note note: I presume we can just cut the fan exhaust hole/s into the box ourselves - would be best in terms of flexibility in box choice and component arrangement, but may lead to waterproofing issues (I saw shrouds mounted where the exhaust is and the thing was called weatherproof so that might be enough).

b1n-ch1kn commented 2 years ago

Neat, these look like good options with sufficient mounting options/

Metal boxes might get toasty for the computers in the sun lol.

b1n-ch1kn commented 2 years ago

Initial harness diagram for routing cables in and out of boxes

image

b1n-ch1kn commented 2 years ago

Was looking into the: Polynova PC 270x270x170 - $165: https://www.tradezone.com.au/product/b-r-270mm-w-x-270mm-h-x-170mm-d-square-adaptable-box-with-clear-lid-22558.html

I found some more options at good prices: Fibox 300x230x110 - $132.06: https://au.rs-online.com/web/p/general-purpose-enclosures/2189896 Fibox 278x278x130 - $131.34: https://au.rs-online.com/web/p/general-purpose-enclosures/1943134 Fibox 278x278x180 - $119.08 (lol 50mm taller but $12 cheaper): https://au.rs-online.com/web/p/general-purpose-enclosures/1943077

To note, Fibox was originally specced for the backpack, at 450x500 or smth

b1n-ch1kn commented 2 years ago

Enlec 302313C - $42.25: https://www.tro.com.au/Polycarbonate-Enclosure-Clear-Lid-IP66-300H-x-230W-x-130D This one is cheap, deceptively cheap, so I dont 100% trust it but it is rated to IP66, is in stock, and they're a QLD company. The ROSCube is 240x210 so it would likely fit, but they havent given us any internal measurements or datsheet. Might be worth contacting them.

b1n-ch1kn commented 2 years ago

TLA test sizes

b1n-ch1kn commented 2 years ago

Contacted Tro Pacific to get datasheets for: https://www.tro.com.au/Polycarbonate-Enclosure-Clear-Lid-IP66-300H-x-230W-x-130D

Enlec 300x230x130.pdf image


https://www.tro.com.au/GRP-IP68-Grey-Terminal-Enclosure-250H-x-255W-x-125D (this one out of stock)

AllBro 250x255x125.pdf

image

b1n-ch1kn commented 2 years ago

Given sizing constraints and the datasheets from the 4 test TLA options, the ones that can house the ROSCube are:

Fibox 278x278x180 - $119 https://au.rs-online.com/web/p/general-purpose-enclosures/1943077

Polynova 270x270x170 - $165 https://www.tradezone.com.au/product/b-r-270mm-w-x-270mm-h-x-170mm-d-square-adaptable-box-with-clear-lid-22558.html *update, after sizing this up in solidworks I think the 8mm smaller Polynova wont cut it for the roscube. We'd need that for connectors hanging out

b1n-ch1kn commented 2 years ago

Option for Enlec 300x230x130 still on the table for secondary components. Cheap and attainable too - $42.25 https://www.tro.com.au/Polycarbonate-Enclosure-Clear-Lid-IP66-300H-x-230W-x-130D

b1n-ch1kn commented 2 years ago

regarding chat today, i also also specced out how this would fit. 100mm longer than the prev option, with abundance of room for connector glands at the front

Fibox 378x278x180 - $136.07 https://au.rs-online.com/web/p/general-purpose-enclosures/1943132

Would allow for the rear vent fan if we had the snorkel design for the fan on top