HCR home robot platform for open source projects
HCR home robot platform for open source projects
The first step in the robot dreams
And robot enthusiasts forum by the DFRobot together to create
Project information: wiki.roboticfan.com / hcr.ashx (please copy to the IE browser open)
Project Forum: http://bbs.roboticfan.com/board.aspx?boardid=62(please copy to the IE browser open)
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Straight line 1
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straight line 2
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Collision Sensor Test
Design
Shape: Round
Length: 34.2cm
Width: 31.3cm
Height: 26.6cm
Net weight: 3Kg about
Speed: 1 m / s
Drive: 2 differential drive, a caster
Motor: 12V hollow cup planetary gear motor, power 17W, speed 120rpm, With 12 lines 2-phase encoder, No-load speed: 8100RPM (revolutions per minute)
Diameter: 30mm
Motor length: 42mm
Total length: 85mm
The shaft diameter: 6mm
The shaft length: 35mm
Output Power: 17W
Torque: The torque
No load current: 75mA
Locked Rotor Current: 1400mA
Encoders: Optical
Number of outputs: AB Dual Output
Each circle pulse: 12CPR (pulse per cycle)
Reduction ratio: 64:1
Wheel diameter: 136mm
Climbing capacity: 20 degrees
Project Profile
Home care robot as a mobile platform, users can be wired \ wireless network, remote network, mobile phone and other means of communication to achieve control of the platform, this complete family information, the state's remote monitoring, and can be moved by remote control or autonomous , obstacle avoidance, etc. to set the location to complete the action specified by the user, the same time, power is low, in addition to the corresponding sound and light alarm, the needs to have the automatic charge function.
The ultimate goal of this project is to make the robot through, so that more fans can be fully integrated into the robot to the robot, in improving the production of a level, to allow more fans to the robot " play together. " In addition, through this project to further tap the robot's social needs, let the robot adapt to people's lives.
Functional design expected
Contact-type obstacle avoidance and non-contact obstacle avoidance capabilities. This is the basic condition for indoor cruise.
With edge detection, under the stairs can not be dropped.
To receive the warning line signals, some dangerous places designated security line, can not enter.
Are out of control protection. To prevent loss of control, such as motor coaster running around and hit things.
A battery management functions. To prevent overcharge and over discharge battery damage caused by the fire and so on.
With interactive features, can have a simple voice interaction, interactive action, there is no interaction in the family can not use them.
Have wireless capabilities. It can not drag line run, nor on the ground everywhere, we have to control it have to catch up with it, switch it off. To be able to wireless control, we may be able to get control of it, in dangerous conditions at any time interrupt the operation of the robot.
Visual, this is the most basic home monitoring features.
Be able to access the Ethernet, to the remote control.
Any action implementing agencies, only two wheels a little to the role of the camera. At least one pair of simple mechanical hand and a rotating head.
Has gas, temperature sensor, capable of gas, fire monitoring.
Have some fun features, such as to recognize human faces and remember, next time can meet some of the more interesting it said.
System Architecture
Master-slave structure: namely, a processor-based, supplemented by other processors.
Central processor has to handle communications, images, sounds,________functions, best to run real-time systems such as Linux, UCOS the operation of such systems and to meet the needs of Orocos and other software, so higher, can be selected candidates ARM, PPC, etc., if there are other dedicated processors may also be considered; other mobile arm around the other during such functions as simple to achieve, therefore, may consider using a general processor, such as the 51 series, as the central control unit more external control interface, so you can consider using a logic (CPLD or FPGA) as an extension or a stand;
bus communication: The CAN bus or I2C Busother;
Wireless Communications: WLAN
Interface: Serial, USB, Ethernet port, CF card;
Controller Selection
HCR control structure
Drive: The most common L298 DC motor driver. Advantage is very cheap, a complete set of L298 50 most also about the ability of the machine the bottom of the Friends can be completely customized their own, the price will not exceed 20. In addition the technology is quite mature and L298, the drive current can meet the requirements of our HCR.
Controller: The biggest controversy came from the controller. You think a lot of machine call the shots with the ATmega168 processor features are too weak, however, ATmega168 here is just a low-level hardware control, does not require too much movement integration algorithm, only need to collect some sensor data, and some pretreatment, such as denoising . Arduino is open source and the hardware itself, the project, its design drawings and source code available. In addition, Arduinothe extension of very good, if I find that lack of analog or digital port shortage, only through an Arduino I2C another parallel expansion can be achieved. Theoretically can use 254 A version of that but 254 nuclear ah. Another advantage is to have thousands of Arduino source code and routines, very easy to learn. If you have C + + or java based learning Arduino may only take a few days.
Wireless Communications: on the basis of the Arduino add an Ethernet extension, you can connect to the router, to achieve WLan connection.
Recommended Controller owner:
Sensor programs
Distance Sensor program: In order to achieve barrier and automatic navigation, HCR must have distance sensors, expensive laser sensors, such as Sick and HOKUYO URG-04LXlaser scanning sensors is not considered within the scope of the. The only choice
Infrared sensorSuch asSharpGP2D12
Ultrasonic sensorsSuch as DFRobot of URM37V32, URM04V2.0, Devantech's SRF05,SRF08
Image SensorTheoretically, any camera can be when, but if just by relying on the camera, require complex image calculations, also needs a strong computing unit. But the advanced SLAMcapabilities needed image sensor. Therefore also necessary.
Integrated infrared and ultrasonic characteristics of more appropriate need to integrate the above three kinds of sensors.
Position Sensor Solutions: Mobile robot localization is always the big problem here, we do not consider how to achieve precise positioning, we are only a platform for open, integrated, after the appropriate sensors, to develop by the end user location algorithm. The positioning sensor, mainly coding, electronic compass, accelerometer and iGPS. IGPS program to take account of the complexity and cost, there being no need, if later needed, can be easily integrated into the system was.
Encoder: Wheeled mobile robot can get the distance and calculate its distance and angle, but there is accumulated error.
Electronic compass: Get the absolute angle, but are usually more susceptible to interference.
Accelerometer: By 2-axis acceleration sensor is processed, the robot can be accumulated and the movement distance of the corner, there is accumulated error.
