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

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

Control System of Robot

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Left and RightMotor Control

Bridges

RS-232

Web-camera

Laptop Toshiba

Controller ASK-Lab

RotationSpeed Sensor -1

RotationSpeed Sensor -2

Actors

Sen

sors

High level

Low level

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.

ASK-Lab Controller Architecture

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LCD

P18МS

P18SL

P18SL

P18SL

OPTODECOUP

OPTODECOUP

OPTODECOUP

OPTODECOUP

ALTERA

RTC

I2C

Keyb

DI/O

DI/O

A/DI/O

DI/O

CANbus 2.0USARTRS232RS422RS485




CLK

RST

supervisorRST

Q, 32.768

Q, 20MHz

BAT3V

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

ASK-Lab Controller Appearance

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PIC

Optron

InterfaceChip

LED

Buttons

ASK-LabController

Interface andPower Module

ASK-Lab controller is a universal solution for wide application area.

IDE “Constructor A3”

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DEVELOPERINTERFACE“Constructor

A3”

IDEMPLAB

(Microchip,USA)

MPLABStandart

DeveloperInterface

System

Libraries

User

Realloc-catable code

APPLICATIONGENERATOR“Constructor

A3”

System

RTmOS A3

Kernel

UserSoftware

Interrupt level

ASK BUS 3.1I2C

Task manager

User Application

Codes

Device driversAutomaticGenerated

Code

Microchip assembler

High levelalgorithmdescription

; high priorform {RSi} task {USARTRecTimer} prior {high} period {5} cond {}

; low priorform {RSi} task {USARTRecInt} prior {low} maxdur {10}from {RSo} task {USARTSendInt} prior {low} maxdur {10}

; backgroundform {RSi} task {USARTRec} prior {back} maxdur {10} cond {EnableFlag}from {RSo} task {USARTSend} prior {back} maxdur {10} cond {!(RunFlag)}

Librarian

InterTask

InformationExchange

Viewer

TARGETHARDWARE

Radio Control - 1

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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.

Analogcontrolconsole

RF transiver RF reciever

Laptop Web-cam

ControllerSpeed

Sensors

MotorBridges

PC Wi-Fi AP

Wi-Fiadapter

Laptop Web-cam

ControllerSpeed

Sensors

MotorBridges

Joystick

Radio Control - 2

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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.

Screenshots of High-Level Software

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Robot’s software Operator’s software

Photos of Phoenix-2

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Inside Phoenix - 2 Phoenix-2 and control console

Demonstration

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Contacts

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Goncharov Alexander

5 course student

Email: [email protected]

Miheev Aleksey

5 course student

Email: [email protected]

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

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