Saint-Petersburg State University of Aerospace Instrumentation
Robot Phoenix-1 Design
Authors: Goncharov A.
Miheev A.
Jan 2007
Introduction
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
CANbus 2.0USARTRS232RS422RS485
CANbus 2.0USARTRS232RS422RS485
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
PIC
Optron
InterfaceChip
LED
Buttons
ASK-LabController
Interface andPower Module
ASK-Lab controller is a universal solution for wide application area.
IDE “Constructor A3”
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
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
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
Robot’s software Operator’s software
Photos of Phoenix-2
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
Inside Phoenix - 2 Phoenix-2 and control console
Demonstration
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11 Demonstration
Contacts
24.01.2007: Phoenix-1
1
2
3
4
5
6
7
8
9
10
11
Goncharov Alexander
5 course student
Email: [email protected]
Miheev Aleksey
5 course student
Email: [email protected]