development of a robotic tank, based on a smart camera
DESCRIPTION
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 - PowerPoint PPT PresentationTRANSCRIPT
DEVELOPMENT OF A ROBOTIC TANK, BASED ON A SMART CAMERA
SUBMITTED BY: DANIEL ALON AND AVIAD DAHANSUPERVISED BY: OREN ROSENCRML 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
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BACKGROUND - OUR INSPIRATIONThe Mars Rover:
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BACKGROUND - OUR GOALDeveloping a Robotic Tank based on National Instruments Hardware and Software with Semi-Autonomous abilities.
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BACKGROUND – THE INNOVATION
• Image Processing – utilizing a NI smart camera
• Control – first smartphone controlled project in the EE faculty
• State of the art technology
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STAGES OF THE PROJECTTraining & Preparations
Design & Architecture
Generating PWM Signal
Implementation of a closed-loop movement
Video display & processing
Semi Autonomous Movement & Tracking
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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.
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DESIGN & ARCHITECTURE -THE ROBOTIC TANKTraxter II by Robotics Connection:
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DESIGN & ARCHITECTURETRAXTER II
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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 CONTROLLERNational Instruments SB-RIO 9631:
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DESIGN & ARCHITECTURE -THE CONTROLLERController 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.
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DESIGN & ARCHITECTURE -THE CONTROLLERController 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.
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DESIGN & ARCHITECTURE -THE CAMERANI 1742 Smart-Camera:
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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.
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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.
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DESIGN & ARCHITECTURE - COMMUNICATION
• Done By a Wireless router.
• Each component has a static IP.
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DESIGN & ARCHITECTURE -POWER SUPPLIESThree 11.1 Volt Li-Po Batteries which located in the compartment cabin underneath the robot.Power requirements :
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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:
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driver
controller
driver
Motor LMotor R
EncodersEncoders router
camera
Ethernet
Ethernet
consoleWi-Fi
Smartphone
Wi-FiPWM
DESIGN & ARCHITECTUREThe Result:
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GENERATING PWM SIGNALIn 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.
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GENERATING PWM SIGNAL
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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.
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THE USER INTERFACE
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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.
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VIDEO DISPLAY & PROCESSING
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SEMI AUTONOMOUS MOVEMENT & TRACKINGThe algorithm:
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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.
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SUMMARY• Multidisciplinary
• First smartphone & hardware project in EE faculty
• Ease of implementation
• State of the art technology
• Wrapping up
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APPRECIATIONS & THANKSOren Rosen – Supervisor.
Kobi Kohai – CRML Lab Engineer.
Orly Wigderson - CRML Lab Practical Engineer.
Eran Castiel - National Instruments Israel.
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ANY QUESTIONS?
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THANK YOU!
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LIVE DEMONSTRATION
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