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Saint-Petersburg State University of Aerospace Instrumentation Robot Phoenix-1 Design

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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Saint-Petersburg State University of Aerospace Instrumentation Robot Phoenix-1 Design

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  1. Saint-Petersburg State University of Aerospace Instrumentation Robot Phoenix-1 Design Authors: Goncharov A. Miheev A. Jan 2007

  2. 24.01.2007: Phoenix-1 Introduction 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

  3. 24.01.2007: Phoenix-1 Web-camera Laptop Toshiba High level RS-232 Rotation Speed Sensor -1 Sensors Controller ASK-Lab Low level Rotation Speed Sensor -2 Left and Right Motor Control Bridges Actors Control System of Robot 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.

  4. 24.01.2007: Phoenix-1 Keyb LCD D I/O D I/O A/D I/O D I/O Q, 20MHz P18 МS P18 SL P18 SL P18 SL ALTERA RST supervisor I2C CLK RTC BAT 3V RST OPTO DECOUP OPTO DECOUP OPTO DECOUP 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 ASK-Lab Controller Architecture 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

  5. 24.01.2007: Phoenix-1 ASK-Lab Controller Appearance Interface and Power Module ASK-LabController LED PIC Buttons Optron Interface Chip ASK-Lab controller is a universal solution for wide application area.

  6. 24.01.2007: Phoenix-1 DEVELOPER INTERFACE “Constructor A3” APPLICATION GENERATOR “Constructor A3” Libraries System Realloc- catable code User Automatic Generated Code Microchip assembler System RTmOS A3 Kernel Interrupt level Task manager Device drivers User Software ASK BUS 3.1 I2C User Application Codes Librarian Inter Task Information Exchange Viewer IDE “Constructor A3” High level algorithm description ; high prior form {RSi} task {USARTRecTimer} prior {high} period {5} cond {} ; low prior form {RSi} task {USARTRecInt} prior {low} maxdur {10} from {RSo} task {USARTSendInt} prior {low} maxdur {10} ; background form {RSi} task {USARTRec} prior {back} maxdur {10} cond {EnableFlag} from {RSo} task {USARTSend} prior {back} maxdur {10} cond {!(RunFlag)} MPLAB Standart Developer Interface IDE MPLAB (Microchip,USA) TARGET HARDWARE

  7. 24.01.2007: Phoenix-1 Radio Control - 1 • Operator sees robot by his own eyesight and control movement of robot by control console by RF channel. • Operator’s control commands are transmitted to robot’s controller, where they are converted to executive signal to actors (motors). • Video from camera and sensors signals are written to laptop’s HDD. • Later, the saved video and sensors information are used to teach neuron.

  8. 24.01.2007: Phoenix-1 Radio Control - 2 • 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. • Operator sees video image and uses joystick to movethe robot. • Operator’s control commands are transmitted to robot’s laptop and are converted to executive signal for actors (motors). • Later, the saved video and sensors information are used to teach neuron.

  9. 24.01.2007: Phoenix-1 Screenshots of High-Level Software Operator’s software Robot’s software

  10. 24.01.2007: Phoenix-1 Photos of Phoenix-2 Inside Phoenix - 2 Phoenix-2 and control console

  11. 24.01.2007: Phoenix-1 Demonstration Demonstration

  12. 24.01.2007: Phoenix-1 Contacts Goncharov Alexander 5 course student Email: go-shurik@yandex.ru Miheev Aleksey 5 course student Email: miheev@aanet.ru

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