Upload
leona-douglas
View
216
Download
0
Tags:
Embed Size (px)
Citation preview
DEVELOPMENT OF A ROBOTIC TANK, BASED ON A SMART CAMERA
SUBMITTED BY: DANIEL ALON AND AVIAD DAHAN
SUPERVISED BY: OREN ROSEN
CRML 2012
TABLE OF CONTENTS
•Background
•Stages of the Project
- Training & Preparations
- Design & Architecture
- Generating PWM Signal
- Implementation of a Close-loop movement
- Video Display & Processing
- Semi-Autonomous movement & tracking
•Future Development
•Summary
•Live Demonstration
2
BACKGROUND - OUR INSPIRATION
The Mars Rover:
3
BACKGROUND - OUR GOAL
Developing a Robotic Tank based on National Instruments Hardware and Software with Semi-Autonomous abilities.
4
BACKGROUND – THE INNOVATION
• Image Processing – utilizing a NI smart camera
• Control – first smartphone controlled project in the EE faculty
• State of the art technology
5
STAGES OF THE PROJECT
Training & Preparations
Design & Architecture
Generating PWM Signal
Implementation of a closed-loop movement
Video display & processing
Semi Autonomous Movement & Tracking
6
TRAINING & PREPARATIONS
• Thoroughly investigating LabVIEW, which is the Project’s development environment.
• Learning the FPGA, Real Time, and Robotics Modules of LabVIEW.
• Studying the image processing module of National Instruments – NI Vision assistant.
7
DESIGN & ARCHITECTURE -THE ROBOTIC TANK
Traxter II by Robotics Connection:
8
DESIGN & ARCHITECTURETRAXTER II
9
Advantages Disadvantages
• Motors have 1:52 gear ratio – very swift and can carry large weight.
• A tank-like robot - Tracks instead of wheels, better traction.
• Very small compartment cabin – no place for a large power supply .
• Tracks are made out of plastic – not intended for all terrain.
DESIGN & ARCHITECTURE-THE CONTROLLER
National Instruments SB-RIO 9631:
10
DESIGN & ARCHITECTURE -THE CONTROLLER
Controller Attributes:
• 266 MHz processor, 128 MB nonvolatile storage, 64 MB DRAM for deterministic control and analysis.
• Integrated 1M gate reconfigurable I/O (RIO) FPGA for custom timing, inline processing, and control.
• 110 3.3 V (TTL/5 V tolerant) DIO lines, 32 16-bit analog inputs, four 16-bit analog outputs.
11
DESIGN & ARCHITECTURE -THE CONTROLLER
Controller Attributes:
• 10/100BASE-T Ethernet port and RS232 serial port, 19 to 30 VDC supply input.
• Easily embedded in high-volume applications that require flexibility, reliability, and high performance.
• Ideal for low- to medium-volume applications and rapid prototyping.
12
DESIGN & ARCHITECTURE -THE CAMERA
NI 1742 Smart-Camera:
13
DESIGN & ARCHITECTURE -THE CAMERA
Camera Attributes:
• Monochrome 640 x 480 SONY CCD image sensor.
• 533 MHz PowerPC processor.
• Video capturing at up to 60 frames per second.
• Quadrature encoder support, optoisolated digital I/O, and dual Gigabit Ethernet.
14
DESIGN & ARCHITECTURE -THE CAMERA
Camera Attributes:
• Program with LabVIEW Real-Time Module or configure with Vision Assistant.
• Highly compatible with Vision Assistant
• Easy to use stand-alone, real time programming environment for vision applications.
15
DESIGN & ARCHITECTURE - COMMUNICATION
• Done By a Wireless router.
• Each component has a static IP.
16
DESIGN & ARCHITECTURE -POWER SUPPLIES
Three 11.1 Volt Li-Po Batteries which located in the compartment cabin underneath the robot.
Power requirements :
17
Current requirement
Voltage requirement
Device
1 A 7-12 V Motors
1 A 12 V Router
1 A 19-30 V Controller
3 A 24 V Camera
DESIGN & ARCHITECTURE
Final Block Diagram of the Solution:
18
driver
controller
driver
Motor LMotor R
EncodersEncoders router
camera
Ethernet
Ethernet
consoleWi-Fi
Smartphone
Wi-FiPWM
DESIGN & ARCHITECTURE
The Result:
19
GENERATING PWM SIGNAL
In order to control the motors, a PWM signal is being generated.
PWM is described as followed:
• A square wave with a fixed cycle time and amplitude is being set.
• The duty cycle of the wave is proportional to the power that we want to deliver to the motors.
20
GENERATING PWM SIGNAL
21
IMPLEMENTATION OF A CLOSED-LOOP MOVEMENT
• Android based Smartphone sends gyrometer and accelerometers signals to the SB-RIO controller, via Wi-Fi.
• The messaging protocol between the smartphone and the SB-RIO controller is OSC.
• The data from the smartphone is being processed in the controller and being translated into a PWM signal.
• The motors are responding according to the PWM signal.
22
THE USER INTERFACE
23
VIDEO DISPLAY & PROCESSING
• Our target is a black circle. based on the robot’s pose, the circle may be interpreted as an ellipse.
• Using the NI Vision Assistant, a Real Time ellipse detection algorithm was written.
• The image processing algorithm is implemented on the camera.
• The output is shown on the console’s monitor via LabVIEW VI.
24
VIDEO DISPLAY & PROCESSING
25
SEMI AUTONOMOUS MOVEMENT & TRACKINGThe algorithm:
26
Scan
Lock
Act
FUTURE DEVELOPMENTS & POSSIBLE USES• Sequel project in CRML – An autonomous, smartphone
controlled robot for indoor mapping.
• Power consumption
• All-Terrain mobilty
• Military uses.
• Research uses.
27
SUMMARY
• Multidisciplinary
• First smartphone & hardware project in EE faculty
• Ease of implementation
• State of the art technology
• Wrapping up
28
APPRECIATIONS & THANKS
Oren Rosen – Supervisor.
Kobi Kohai – CRML Lab Engineer.
Orly Wigderson - CRML Lab Practical Engineer.
Eran Castiel - National Instruments Israel.
29
ANY QUESTIONS?
30
THANK YOU!
31
LIVE DEMONSTRATION
32