Transcript Intro
Saint-Petersburg State University of Aerospace Instrumentation
Robot Phoenix-1 Design
Authors:
Goncharov A.
Miheev A.
Jan 2007
24.01.2007: Phoenix-1
Introduction
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Project “Phoenix-1” was
started 02/04/05 and was realized
by mixed student and engineer team
during autumn semester. Backbone
of team is formed from students
(4221 and 4022 student groups)
and engineers of Student Design
Center of SUAI.
Mobile robot PHOENIX-1
orients in external environment with
web-cam and has to follow a white
stripe of the arbitrary shape
24.01.2007: Phoenix-1
Control System of Robot
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Webcamera
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Laptop
Toshiba
High level
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Sensors
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Rotation
Speed
Sensor -1
RS-232
Controller
ASK-Lab
Rotation
Speed
Sensor -2
Actors
Low
level
Left and Right
Motor Control
Bridges
Laptop gets video images from web-camera and processes them.
Controller gets data from speed sensors and sends them to laptop by
RS-232 using protocol ASK-Bus 3.1.
Backwards controller receives control commands from high-level program.
Controller converts this control commands into executive signals to actors:
PWM left, PWM right, Direction of rotation left, Direction of rotation right.
24.01.2007: Phoenix-1
ASK-Lab Controller Architecture
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Keyb
LCD
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D
I/O
D
I/O
A/D
I/O
D
I/O
P18
SL
P18
SL
P18
SL
ALTER
A
Q, 20MHz
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P18
МS
RST
supervisor
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I2C
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CLK
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RST
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OPTO
DECOUP
OPTO
DECOUP
OPTO
DECOUP
RTC
BAT
3V
OPTO
DECOUP
Q, 32.768
CANbus 2.0
USART
RS232
RS422
RS485
CANbus 2.0
USART
RS232
RS422
RS485
CANbus 2.0
USART
RS232
RS422
RS485
CANbus 2.0
USART
RS232
RS422
RS485
MULTIPROCESSOR ARHITECTURE - FOUR PIC18F458 CONNECTED WITH I2C
CONTROLLER HAS FOUR EXTERNAL OPTO DECOUPLED BUSES FOR INDUSTRIAL
INTERFACES LIKE RS232 / RS422 / RS485
A LOT OF PINS (ANALOG, INTERRUPT INPUTS, DIGITAL I\Os, PWM OUTPUTS) GIVE
POSSIBILITIES TO HAVE LARGE AMOUNT OF PERIPHERY DEVICES
24.01.2007: Phoenix-1
ASK-Lab Controller Appearance
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LED
Interface and
Power Module
ASK-Lab
Controller
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PIC
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Buttons
Optron
Interface
Chip
ASK-Lab controller is a universal solution for wide application area.
24.01.2007: Phoenix-1
IDE “Constructor A3”
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; high prior
form {RSi} task {USARTRecTimer}
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High level
algorithm
description
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; low prior
form {RSi}
from {RSo}
task {USARTRecInt}
task {USARTSendInt}
; background
form {RSi}
task {USARTRec}
from {RSo} task {USARTSend}
prior {high}
period {5}
prior {low}
prior {low}
cond {}
maxdur {10}
maxdur {10}
prior {back} maxdur {10}
prior {back} maxdur {10}
cond {EnableFlag}
cond {!(RunFlag)}
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DEVELOPER
INTERFACE
“Constructor
A3”
APPLICATION
GENERATOR
“Constructor
A3”
Librarian
Inter
Task
Information
Exchange
Viewer
Automatic
Generated
Code
Microchip
assembler
MPLAB
Standart
Developer
Interface
Libraries
System
User
Realloccatable
code
System
Interrupt level
RTmOS
A3
Kernel
Task manager
Device drivers
User
Software
ASK BUS 3.1
I2C
User
Application
Codes
IDE
MPLAB
(Microchip,USA)
TARGET
HARDWARE
24.01.2007: Phoenix-1
Radio Control - 1
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Analog
control
console
Laptop
Web-cam
Controller
Speed
Sensors
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RF transiver
RF reciever
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Motor
Bridges
1. Operator sees robot by his own eyesight and control movement of robot by
control console by RF channel.
2. Operator’s control commands are transmitted to robot’s controller, where
they are converted to executive signal to actors (motors).
3. Video from camera and sensors signals are written to laptop’s HDD.
4. Later, the saved video and sensors information are used to teach neuron.
24.01.2007: Phoenix-1
Radio Control - 2
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Wi-Fi
adapter
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Laptop
Web-cam
Controller
Speed
Sensors
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Joystick
PC
Wi-Fi AP
Motor
Bridges
1. Video from camera is compressed and transmitted to operator’s PC by Wi-Fi.
Simultaneously, video and sensors signals are written to laptop’s HDD.
2. Operator sees video image and uses joystick to move the robot.
3. Operator’s control commands are transmitted to robot’s laptop and are
converted to executive signal for actors (motors).
4. Later, the saved video and sensors information are used to teach neuron.
24.01.2007: Phoenix-1
Screenshots of High-Level Software
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Robot’s software
Operator’s software
24.01.2007: Phoenix-1
Photos of Phoenix-2
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Inside Phoenix - 2
Phoenix-2 and control console
24.01.2007: Phoenix-1
Demonstration
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Demonstration
24.01.2007: Phoenix-1
Contacts
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Goncharov Alexander
Miheev Aleksey
5 course student
5 course student
Email: [email protected]
Email: [email protected]