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--- en:projects:wheeled_robot [2010/03/08 08:23] – kristiseppa
+++ en:projects:wheeled_robot [2020/07/20 09:00] (current) – external edit 127.0.0.1
@@ Line 3: / Line 3: @@
 Mobile robot is one of the most popular robot for construction. Very common are sumo robots, sports robots (football, volleyball etc.), robots simulating rescue operations (firefighting, person or object finding etc.) and many other. For these kinds of robots there are many different competitions in the world and in Estonia, even standard classes have been developed (eg sumo robots). The common feature for these types of robots is mobile platform, which may have different construction and capabilities, but its main functionality remains the same. It is controlling the motors and basic navigation, which includes avoiding objects and travelling to the desired destination. Usually, a specific functionality is added to the main functionality, which is planned according to the requirements and opportunities set for the project.
-Here we look at documentation of a typical mobile robot platform project and its different phases.
+Here we look at the documentation of a typical mobile robot platform project and its different phases.
-===== Preliminary tasks =====
+===== Initial tasks =====
 Plan and construct a multifunctional mobile robot platform with basic navigation functionality using HomeLab components. Robot platform must have an easy-to-change operational functionality, when equipped with different gadgets:
@@ Line 25: / Line 25: @@
   * Cannot exceed the cost limit 10 000 EEK
-~~PB~~
 ===== The overall model of the system  =====
@@ Line 31: / Line 30: @@
 The overall model of the system is presented as a block diagram. It describes the structure, behaviour and other important aspects of the system. As an example, an hierarchical model of the overall system is depicted below.
-[{{  :examples:projects:robot:robot_block_diagram.png?500  |Model of the system structure}}]
+[{{  :examples:projects:robot:robot_blokk_diagramm.png?500  |Model of system structure}}]
 ===== Design solutions =====
@@ Line 37: / Line 36: @@
 For this task the team used a brainstorming method and generated 3 conceptually different solutions. Evaluation matrix was compiled and the most optimum construction was found. The main differences of the solutions lay in the movement schemes.
-[{{  :examples:projects:robot:robot_designsolutions.png?500  |Design solutions}}]
+[{{  :examples:projects:robot:robot_ideekavandid.png?500  |Design solutions}}]
-~~PB~~
 Simplified evaluation matrix was as following:
@@ Line 47: / Line 44: @@
 |Complexity of building		| 2 | 4 | 7 | 0,7 |
 |Maneuverability		| 4 | 8 | 8 | 0,5 |
-|Permeability/läbitavus?	| 5 | 8 | 2 | 0,3 |
+|Permeability            	| 5 | 8 | 2 | 0,3 |
 |Applicability of HomeLab	| 5 | 4 | 5 | 0,9 |
 |Weight				| 5 | 6 | 7 | 0,8 |
@@ Line 56: / Line 53: @@
 Based on the assessment the optimum solution for given task was proved to be a platform moving on two wheels with two separate motors. Further work continued developing the chosen solution into a real system.
-~~PB~~
 ===== Mechanics =====
-Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple ribakaabelühendusi, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well.
+Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple ribbon cable connections, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well.
-[{{  :examples:projects:robot:robot_3d.jpg?500  |Algne 3D mudel robotist ja selle komponentide omavahelistest paiknemisest}}]
+[{{  :examples:projects:robot:robot_3d.jpg?500  |Primary 3D model of the robot and location of its components. }}]
-Eraldi on projekteeritud roboti põrkeraud, mis on integreeritud puute- ja joonejälgimise anduritega. Põrkerauad on valmistatud trükiplaatidest, omades lisaks konstruktsioonile ka elektriühendusi. Joonejälgimise andurid on joodetud otse põrkeraua alumisele plaadile. Puuteandurid (mikrolülitid) on paigutatud kahe põrkeraua plaadi vahele ja eestpoolt kaetud ühtse kummiribaga. Kummiriba summutab põrkejõudu ja võimaldab samal ajal täpsemalt tuvastada, mis suunalt löök tuli.
+The bumper of the robot is projected separately and it is integrated with touch sensors and line following sensors. The bumper is made from PCBs and therefore has electricity in addition to construction. Line following sensors are soldered directly to the bumper of the bottom plate. Touch sensors (micro switches) are placed between the bumper plates and are covered by a single rubber piece at front. The rubber piece absorbs the hit and at the same time enables to identify where the hit came from.
-[{{  :examples:projects:robot:pamperi_joonis.jpg?500  |Põrkeraua plaadi tööjoonis}}]
+[{{  :examples:projects:robot:pamperi_joonis.jpg?500  |Bumper plate drawing}}]
 ===== Electronics =====
-Süsteemi elektroonika on kirjeldatud põhimõttelahendusena ja klassikalise elektriskeemina koos trükiplaadi montaažiskeemina.
+The electronics of the system is described as a principle scheme and electronic scheme with PCB assembly scheme.
-[{{  :examples:projects:robot:robot_electronics.png?500  |Elektroonikakomponentide plokkskeem}}]
+[{{  :examples:projects:robot:robot_electronics.png?500  |Block diagram of electronic components}}]
-~~PB~~
+<pagebreak>
-Näitena on toodud roboti põrkeraua joonejälgimise andurite elektriskeem ja vastava trükiplaadi (PCB) montaažiskeemiga.
+As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot's bumper is shown.
-[{{  :examples:projects:robot:robot_pumper_skeem.png?500  |Põrkeraua andurite elektriskeem}}]
+[{{  :examples:projects:robot:robot_pumper_skeem.png?500  |Electric scheme of the bumper sensors}}]
-[{{  :examples:projects:robot:robot_pumper_pcb.png?500  |Põrkeraua montaažiskeem}}]
+[{{  :examples:projects:robot:robot_pumper_pcb.png?500  |Assembly scheme of the bumper}}]
-~~PB~~
+<pagebreak>
 ===== Control system =====
-Roboti juhtimine tuleneb süsteemi käitumismudelist ja on määratud lähteülesande funktsionaalsusega ning nõuete ja piirangutega. Süsteemi käitumismudelist luuakse täpsustatud juhtprogrammi algoritm, millest omakorda lähtutakse tarkvara programmikoodi koostamisel. Kõik kolm taset (käitumismudel-algoritm-lähtekood) peavad olema omavahel kooskõlas.
+The control system of the robot derives from behavioral model and is set by the functionality, requirements and restrictions of the initial task. From the behavioral model of the system a specified control program is created, which in turn is the basis for software program code. All three levels (behavioral model-algorithm-source code) must be consistent with each other.
 ==== Algorithm ====
-Algoritm kirjeldab süsteemi juhtloogikat ja on esitatud plokkdiagrammina. Lihtsama algoritmi koostamiseks piisab paarist elemendist ja nendevaheliste seoste kirjeldamisest. Kui roboti algoritm on koostatud korrektselt, siis on sellest roboti juhtprogrammi juba suhteliselt lihtne koostada.
+Algorithm describes the control logic of the system and is depicted as a block diagram. A few elements and description of their relations is enough to create a simple algorithm. If the algorithm of the robot is composed correctly, then it is relatively easy to compose a control program for this robot.
-Algoritmis on kasutatud põhiliselt kahte erinevat objekti: ümardatud nurkadega ristkülik, mis tähistab mingit tegevust ja väike romb mingi tingimuse kontrollimiseks, millele järgneb vastavalt kontrolli tulemusena edasiste tegevuste käivitamine.
+Mainly two different objects are used in the algorithm: a rectangle with rounded corners, which marks an activity and a small diamond for controlling a condition, followed by a startup of further activities in accordance with the results of the inspection.
-Algoritmis kasutatud tähiste tähendused:
+Meanings of the symbols used in the algorithm:
-^Tähis^Tähendus^0^1^-1^
+^Symbol^Meaning^0^1^-1^
-|M1|vasak mootor|seisab|pöörleb päripäeva|pöörleb vastupäeva|
+|M1|left motor|stop|rotates clockwise|rotates counter-clockwise|
-|M2|parem mootor|seisab|pöörleb päripäeva|pöörleb vastupäeva|
+|M2|right motor|stop|rotates clockwise|rotates counter-clockwise|
-|F|esimene keskmine puuteandur|signaal puudub|signaal olemas| |
+|F|first middle touch sensor|no signal|signal| |
-|FR|esimene parem puuteandur|signaal puudub|signaal olemas | |
+|FR|first right touch sensor|no signal|signal | |
-|FL|esimene vasak puuteandur|signaal puudub|signaal olemas | |
+|FL|first left touch sensor|no signal|signal | |
-|d|viide| | | |
+|d|reference| | | |
-[{{  :examples:projects:robot:robot_algoritm.png?500  |Algoritmi olekudiagramm}}]
+[{{  :examples:projects:robot:robot_algoritm.png?500  |Algorithm state diagram}}]
 ==== Source code  ====
@@ Line 113: / Line 109: @@
 #include <homelab/delay.h>
-// Põrkeandurite viikude defineerimine
+// Defining bumper pins
 pin front      = PIN(C, 0);
 pin frontleft  = PIN(C, 1);
@@ Line 119: / Line 115: @@
 //
-// Mainprogram
+// Main program
 //
 int main(void)
 {
-	// Mootorite 0 ja 1 algseadistamine
+	// Initiating motors 0 and 1
 	dcmotor_init(0);
 	dcmotor_init(1);
-	// Andurite viigud sisendiks
+	// Sensor pins as inputs
 	pin_setup_input_with_pullup(front);
 	pin_setup_input_with_pullup(frontleft);
 	pin_setup_input_with_pullup(frontright);
-	// Lõputu tsükkel
+	// Endless cycle
 	while (true)
 	{
-		// Mootorite päripäeva käivitamine
+		// Clockwise motor startup
 		dcmotor_drive(0, 1);
 		dcmotor_drive(1, 1);
-		// Keskmise anduri signaali kontroll
+		// Controlling the middle sensor signal
 		if (pin_get_value(front))
 		{
-			// Mootorite reverseerimine
+			// Reversal of the motors
 			dcmotor_drive(0, -1);
 			dcmotor_drive(1, -1);
-			// Paus 1 sekund
+			// Paus 1 second
 			sw_delay_ms(1000);
-			// Vasaku mootori päripäeva käivitamine
+			// Left motor clockwise startup
 			dcmotor_drive(0, 1);
@@ Line 156: / Line 152: @@
 		}
-		// Vasaku anduri signaali kontroll
+		// Controlling the left sensor signal
 		else if (pin_get_value(frontleft))
 		{
-			// Parema mootori reverseerimine
+			// Reversal of right motor
 			dcmotor_drive(1, -1);
@@ Line 166: / Line 162: @@
 		}
-		// Parema anduri signaali kontroll
+		// Controlling the right sensor signal
 		else if (pin_get_value(frontright))
 		{
-			// Vasaku mootori reverseerimine
+			// Reversal of left motor
 			dcmotor_drive(0, -1);
-			// Paus 2 sekundit
+			// Paus 2 seconds
 			sw_delay_ms(2000);
 		}
@@ Line 179: / Line 175: @@
 </code>
-~~PB~~
 ===== Ready-to-use solution =====
-Projekti raames valminud robotplatvorm on valmistatud üldjoontes plastikust, välja arvatud mootori kinnitused, mis on valmistatud alumiiniumprofiilist. Elektroonikamoodulid on paigutatud üksteise peale, aku on lahtiselt kahe plaadi vahel. Põrkerauad on valmistatud trükkplaadist ja värvitud mustaks. Roboti pealmine plaat on täiesti sile, võimaldades sinna kinnitada erinevaid soovitud seadmeid. Projekti raames paigaldati robotplatvormile lihtne radar, mis koosnes väikesest RC servomootorist ja infrapunaandurist. Teise lahendusena paigaldati platvormile intelligentne kaameramoodul masinnägemise ülesannete lahendamiseks. Mõlemad variandid on näidatud allolevatel piltidel. Kolmandaks seadmeks katsetati standardmanipulaatorit, mille lülisid juhitakse samuti standardsete RC servomootoritega, kasutades nende ajuri juhtimiseks jadaliidest.
+Robot platform completed under this project is largely made from plastic, except from motor mountings, which are made from aluminum. Electronic modules are placed on top of each other and the battery is loose between the plates. Bumpers are made from PCB and painted black. The top plate of the robot is completely flat, allowing to attach different desired devices. A simple radar was installed on the robot, which consisted of a small RC servo motor and an infra red sensor. As a second solution, intelligent camera module was installed on the platform for solving machine vision problems. Both solutions are brought out on the following pictures. Standard manipulator was tested as a third device, which components are controlled with standard servo motors as well, using serial interface for controlling their actuator.
-[{{  :examples:projects:robot:robot_radar.png?580 |Robot infrapuna radariga}}]
+[{{  :examples:projects:robot:robot_radar.png?580 |Robot with infrared radar}}]
-[{{  :examples:projects:robot:robot_camera.png?580  |Robot intelligentse kaameramooduliga (CMUcam3)}}]
+[{{  :examples:projects:robot:robot_camera.png?580  |Robot with intelligent camera module (CMUcam3)}}]
-~~PB~~
 ===== Economic calculation =====
-Majanduslik kalkulatsioon hõlmab endas komponentide maksumust ja roboti detailide valmistamise ning koostamise kulusid.
+Economic calculation includes the cost of components and robot production costs. The currency used in following tables is Estonian Kroon (EEK).
-Komponentide maksumuse tabel
+Table of components cost
-^Komponent^Mark^Kogus^Hind^Maksumus^
+^Component^Mark^Quantity^Price^Cost^
-|Mootor|M LE149.6.43|2|500.-|1000.-|
+|Motor|M LE149.6.43|2|500.-|1000.-|
-|Mikrokontroller|uC ATmega128|1|900.-|900.-|
+|Microcontroller|uC ATmega128|1|900.-|900.-|
-|Mootorite juhtplaat|Actuator Board v1.2|1|700.-|700.-|
+|Motors actuator board|Actuator Board v1.2|1|700.-|700.-|
-|Toiteplaat|TP|1|500.-|500.-|
+|Power plate|TP|1|500.-|500.-|
-|Joonejälgimise andurid|LFS QRD1114|8|30.-|240.-|
+|Line following sensors|LFS QRD1114|8|30.-|240.-|
-|Puuteandurid|TS Microswitch|8|25.-|200.-|
+|Touch sensors|TS Microswitch|8|25.-|200.-|
-|Kere plaat|ABS |4|50.-|200.-|
+|Hull plate|ABS |4|50.-|200.-|
-|Trükiplaadi toorik| |2|50.-|100.-|
+|PCB blank| |2|50.-|100.-|
-|Mootorikinnituse profiil|Al-L |2|10.-|20.-|
+|Motor mountings profile|Al-L |2|10.-|20.-|
-|Ratas|60/10 mm |2|30.-|60.-|
+|Wheel|60/10 mm |2|30.-|60.-|
-|Aku|NI-MH 9,6 V|1|350.-|350.-|
+|Battery|NI-MH 9,6 V|1|350.-|350.-|
-|Erinevad kaablid| |10|20.-|200.-|
+|Different cables| |10|20.-|200.-|
-|Mutrid-poldid| |1|50.-|50.-|
+|Nuts-bolts| |1|50.-|50.-|
-|Muud tarvikud| |1|100.-|100.-|
+|Other acsessories| |1|100.-|100.-|
 ^ Total  ^ ^ ^ ^ 4620.- ^
-Hinnanguline tööjõu- ja tootmiskulu üksikeksemplari korral.
+Estimated labor and production cost for a single copy.
-^Töö^Aeg (h)^Hind^Maksumus^
+^Work^Time (h)^Price^Cost ^
-|Konstruktsioonidetailide freesimine|1|300.-|300.-|
+|Milling construction details|1|300.-|300.-|
-|Trükiplaatide (põrkerauad) freesimine|0,5|500.-|250.-|
+|Milling PCBs (bumpers)|0,5|500.-|250.-|
-|Roboti konstruktsiooni koostamine|0,5|250.-|125.-|
+|Construction of the robot|0,5|250.-|125.-|
-|Põrkeraudade koostamine (komponentide jootmine)|1|300.-|300.-|
+|Building bumpers (soldering components)|1|300.-|300.-|
-|Programmeerimine|5|300.-|1500.-|
+|Programming|5|300.-|1500.-|
-|Dokumentatsiooni koostamine|3|250.-|750.-|
+|Compiling documentation|3|250.-|750.-|
-^Kokku^ 11 ^ ^ 3225.- ^
+^Total^ 11 ^ ^ 3225.- ^
-Roboti hinnanguline maksumus kokku **7845.-**
+Estimated cost of the robot **7845.-**
-Arvutatud roboti maksumus on siiski hinnanguline, kuna tegemist on õppeotstarbelise projektiga, kus enamik tööd ja koostamist on tehtud oluliselt suuremas mahus, kuid otsese rahalise tasuta. Seetõttu on töö- ja ajakulu ligikaudne ja ei kajasta tegelikku olukorda.
+The cost calculation of the robot is estimated, since it is an educational project, where most of the work and construction is done in significantly larger volumes, but without direct charge. Therefore, the work and the approximate time spent does not reflect the real situation.
 ===== Project management =====
-Mehhatroonikasüsteem (Robot) on loodud meeskonnatööna ja kindla ajakava ning eelarvega, omades seega enamuse olulisi projekti tunnuseid. Projektijuhtimise seisukohalt olid olulised tegevused: aja planeerimine, meeskonnatöö planeerimine ja juhtimine, eelarve jälgimine ja vahendite hankimine, jooksev aruandlus juhendajale, lõpptulemuse presentatsioon ja dokumenteerimine. Projekti aruandele lisatakse töögruppide koosolekute protokollid, projekti plaan (soovitavalt Gantti diagrammina), ressursijaotus (k.a. inimressurss) ja planeeritud ning tegelik eelarve. Näiteks on toodud lihtne tegevuste plaan Gantti diagrammina.
+Mechatronic system (Robot) is created as a team work with a firm timetable and budget, thus having  most of the significant features of a project. The key activities of the project management were: time planning, team work planning and management, budget monitoring and obtaining supplies, current reporting to the supervisor, presentation and documentation of the outcome. The project report includes working groups minutes of meetings, project plan (preferably in a Gantt diagram), resource allocation (including human resources), planned and actual budget. For example a simple action plan is given as a Gantt diagram.
-[{{  :examples:projects:robot:roboti_projekt_gantt.gif?580  |Projekti tegevusdiagramm}}]
+[{{  :examples:projects:robot:roboti_projekt_gantt.gif?580  |Action diagram of a project}}]
 ===== Summary and conclusions =====
-Majanduslik kalkulatsioon näitas meile, et roboti tootmishind on üsna kõrge, eriti kui tegemist on ainueksemplariga, kuid jäi siiski lähteülesandes etteantud piiridesse. Tootmise hinda saaks kindlasti oluliselt alandada, optimeerides komponentide ja materjalikulu ning tootes korraga suurema koguse roboteid. Projekti käigus tutvusime mehhatroonikasüsteemi projekteerimise, valmistamise ja testimisega, mis andis meile esmakordse sellelaadse kogemuse.
+Economic calculation showed that the production cost of the robot is quite high, especially when dealing with a single original, but remains within a predetermined initial task. Production costs could certainly be substantially reduced through the optimization of materials and components, and producing a larger quantity of robots at the same time. During this project we learned how to project a mechatronic system, how to construct and test it, which gave us the first time experience of this kind.
-Töö lõpus selgus tõsiasi, et roboti korralikuks töötamiseks on vaja oluliselt rohkem aega planeerida testimisele, seda eriti tarkvara osas. Erinevad moodulid ei pruugi alati koos korrektselt töötada, kuigi eraldi katsetades oli kõik korras. See näitab, et süsteemi moodulite integreerimine on tõsine väljakutse ja selleks tuleb planeerida oluliselt rohkem aega ja ressurssi.
+At the end of the work a fact revealed: in order for the robot to function properly significantly more time should be planned for testing, especially for the software testing. Different modules may not always work properly together, although as a separate experiment it works. This shows that the integration of the modules of the system is a serious challenge, and therefore more time and resources should be planned for this.
-Kokkuvõteks arvame, et projekt oli väga huvitav ja hariv ning andis aimu integreeritud süsteemide projekteerimisest ja valmistamisest.
+In conclusion, we believe that the project was very interesting and instructive, it gave an indication how to design and construct integrated systems.
 ===== References and materials used =====
-  - Home Lab generic manual http://home.roboticlab.eu
+  - HomeLab generic manual http://home.roboticlab.eu
-  - ATmega128 datasheet
+  - ATmega2561 datasheet
   - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008
   - Friendenthal, S., Moore, A., Steiner, A., A Practical Guide to SysML, Elsevier, 2008
   - Perens, A. Project Management, Külim, 1999
   - Bräunl, T. Embedded Robotics, Springer-Verlag, 2003

en/projects/wheeled_robot.1268036587.txt.gz · Last modified: 2020/07/20 09:00 (external edit)