Poster FR open day
1
• The navigation system of the robot is a hybrid reflex-deliberate system, where obstacle avoidance is done with high priority based directly on sensor data (Ultrasound, laser sensor and the camera). • The control algorithm represents a state machine, where depending on situation robot assumes different states. As such, it can be in avoidance maneuver execution state, safe – plan execution and standby states, and their derivatives. • The software is based on C/C++, Python and OpenCV library, as well as few other Open Source components. 1. Research & Study Field robot is a programmable mobile robot that can execute variety of algorithms and commands to both teach basics of robotics and try new concepts in the area. 2. Demonstrations Field robot can demonstrate software or new hardware due to its modular design. 3. Classical field robot functions Field robot is suited to observe and navigate agricultural fields or other areas. The development of the “Rottweiler” field robot was done in several steps, including design of mechanical system, electronics, controls. Programming of the robot is still in progress. Field Robot “Rottweiller” (Anoshän Indreswarän, Mariya Kamenshchikova, Ilya Kamenshchikov, Lipika Kanojia, Pavel Kudryashov, Valentin Turbin, Timo Funke) Supervisor: Prof. Dr. Ronny Hartanto Faculty of Technology and Bionics, Rhine-Waal University of Applied Sciences, Kleve, North Rhine-Westphalia, Germany HSRW Open door„s day – 21 May 2016, Kleve, Germany Contact Information References Applications/Discussions Electronics & Control Software & Subsystem Overview Introduction [1] R. Siegwart. Introduction to Autonomous Mobile Robots, 2011. 472 p. [2] NVIDIA. http://www.nvidia.com/object/tegra-k1-processor.html. (retrieved at 21/04/2016) [3] http://opencv.org . (retrieved at 13/05/2016) The Rottweiler is a small and efficient field robot, that perfects in navigation and plant observation. It has a dedicated microcomputer, IMU, stereo camera, and a laser sensor. The Rottweiler is a creation of the members of the Robotics group of Hochschule Rhein Waal under the supervision of Project manager: Mariya Kamenshchikova E-mail: [email protected] Contact phone: +49 162 790 1209 Figure 1. isometric view. Functionality • Rottweiler with its powerful battery and sensors can autonomously navigate, recognize and count plants. Stability • Rottweiler uses Tegra K1 as its core processing unit, which is a powerful GPU. NVIDIA Tegra K1 drives the world's most powerful supercomputers and vision systems, which results in smooth operation of the robot. Efficiency • Rottweiler is an all-rounder in terms of design and control. Choose from the extensive list of compatible sensors, cameras, and other accessories to integrate via Rottweiler’s simpler mounting interface. BATTERY AND POWER SYSTEM BATTERY CHEMISTRY Lithium Polymer CAPACITY 14.8 V, 5.8 Ah x 4 units RUNTIME 30 mins USER POWER 340 W INTERFACING AND COMMUNICATION CONTROL MODES Autonomous or Remote controlled COMMUNICATION RS232, WLAN, Bluetooth DRIVERS AND APIs ROS, OpenCV, C++, and Python SENSORS AND PROCESSING UNIT STEREOVISION DUO MC stereo camera DEPTH SENSOR Hokuyo 2D Laser Scanner, Ultrasonic sensor AUXILIARY SENSORS IMU, Compass, Encoders PROCESSING UNIT Tegra K1 ENVIRONMENTAL OPERATING TEMPERATURE -10 to 40 °C RATING IP62 Prof. Dr. Ronny Hartanto and valuable feedback and suggestions from Prof. Dr. -Ing. Roland Schmetz and Dipl.-Ing. Christian Berendonk. SIZE AND WEIGHT EXTERNAL DIMENSIONS (L X W X H) 510 X 460 X 210 mm INTERNAL DIMENSIONS (L X W X H) 500 X 275 X 155 mm WEIGHT 15 kg WHEELS 203 mm (8 inch) Lug Tread GROUND CLEARANCE 55 mm SPEED AND PERFORMANCE MAX PAYLOAD 15 kg MAX SPEED 1.0 m/s DRIVE POWER 500 W DRIVETRAIN MODES 4-wheel drive or Front wheel drive MAX CLIMB GRADE 30° (58% Slope) Mechanical Design Figure 3. Electrical circuit of the system. Figure 2. Chassis Assembly.
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Transcript of Poster FR open day
8th Conference of the International Sports Engineering Association, July 12th to 16th, Vienna, Austria
• The navigation system of the robot is a hybrid reflex-deliberate system, where
obstacle avoidance is done with high priority based directly on sensor data
(Ultrasound, laser sensor and the camera).
• The control algorithm represents a state machine, where depending on situation
robot assumes different states. As such, it can be in avoidance maneuver
execution state, safe – plan execution and standby states, and their derivatives.
• The software is based on C/C++, Python and OpenCV library, as well as few other
Open Source components.
1. Research & Study
Field robot is a programmable mobile robot that can execute variety of
algorithms and commands to both teach basics of robotics and try new
concepts in the area.
2. Demonstrations
Field robot can demonstrate software or new hardware due to its modular
design.
3. Classical field robot functions
Field robot is suited to observe and navigate agricultural fields or other
areas.
The development of the “Rottweiler” field robot was done in several steps,
including design of mechanical system, electronics, controls. Programming of the
robot is still in progress.
Field Robot “Rottweiller” (Anoshän Indreswarän, Mariya Kamenshchikova, Ilya Kamenshchikov,
Lipika Kanojia, Pavel Kudryashov, Valentin Turbin, Timo Funke)
Supervisor: Prof. Dr. Ronny Hartanto Faculty of Technology and Bionics,
Rhine-Waal University of Applied Sciences,
Kleve, North Rhine-Westphalia, Germany
HSRW Open door„s day – 21 May 2016, Kleve, Germany
Contact Information
References
Applications/Discussions
Electronics & Control
Software & Subsystem Overview
Introduction
[1] R. Siegwart. Introduction to Autonomous Mobile Robots, 2011. 472 p.
[2] NVIDIA. http://www.nvidia.com/object/tegra-k1-processor.html. (retrieved at
21/04/2016)
[3] http://opencv.org . (retrieved at 13/05/2016)
The Rottweiler is a small
and efficient field robot,
that perfects in navigation
and plant observation. It
has a dedicated
microcomputer, IMU,
stereo camera, and a laser
sensor. The Rottweiler is a
creation of the members of
the Robotics group of
Hochschule Rhein Waal
under the supervision of
Project manager: Mariya Kamenshchikova
E-mail: [email protected]
Contact phone: +49 162 790 1209
Figure 1. isometric view.
Functionality
• Rottweiler with its powerful battery and sensors can autonomously navigate, recognize and count plants.
Stability
• Rottweiler uses Tegra K1 as its core processing unit, which is a powerful GPU. NVIDIA Tegra K1 drives the world's most powerful supercomputers and vision systems, which results in smooth operation of the robot.
Efficiency
• Rottweiler is an all-rounder in terms of design and control. Choose from the extensive list of compatible sensors, cameras, and other accessories to integrate via Rottweiler’s simpler mounting interface.
BATTERY AND POWER SYSTEM
BATTERY CHEMISTRY Lithium Polymer
CAPACITY 14.8 V, 5.8 Ah x 4 units
RUNTIME 30 mins
USER POWER 340 W
INTERFACING AND COMMUNICATION
CONTROL MODES Autonomous or Remote controlled
COMMUNICATION RS232, WLAN, Bluetooth
DRIVERS AND APIs ROS, OpenCV, C++, and Python
SENSORS AND PROCESSING UNIT
STEREOVISION DUO MC stereo camera
DEPTH SENSOR Hokuyo 2D Laser Scanner, Ultrasonic sensor
AUXILIARY SENSORS IMU, Compass, Encoders
PROCESSING UNIT Tegra K1
ENVIRONMENTAL
OPERATING TEMPERATURE -10 to 40 °C
RATING IP62
Prof. Dr. Ronny Hartanto and valuable feedback and suggestions from
Prof. Dr. -Ing. Roland Schmetz and Dipl.-Ing. Christian Berendonk.
SIZE AND WEIGHT
EXTERNAL DIMENSIONS (L X W X
H)
510 X 460 X 210 mm
INTERNAL DIMENSIONS (L X W X
H)
500 X 275 X 155 mm
WEIGHT 15 kg
WHEELS 203 mm (8 inch) Lug Tread
GROUND CLEARANCE 55 mm
SPEED AND PERFORMANCE
MAX PAYLOAD 15 kg
MAX SPEED 1.0 m/s
DRIVE POWER 500 W
DRIVETRAIN MODES 4-wheel drive or Front wheel drive
MAX CLIMB GRADE 30° (58% Slope)
Mechanical Design
Figure 3. Electrical circuit of the system.
Figure 2. Chassis Assembly.
