Mobile robots. The Simplified Electronics of a Mobile Robot. (Control, Communication, Motors and Drives) (without sensory system)
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1 Mobile robots The Simplified Electronics of a Mobile Robot (Control, Communication, Motors and Drives) (without sensory system)
2 Components: Electrical Components of Mobile Robots: Control System: processors, memories, external I/O ports, and other co-processor if are needed Sensory System: inner and outer sensors, positioners (proximity sensors), Coders Electrical Motors & Drives: Actuators for motion systems and power electronics, batteries, power supplies Communication Units: transmitters and receivers for communication (long/short distance communication) Detailed information: _Mechatr/MobRobots/Literature/ MobileRobots-InspirationTo Implementation
3 The Electronic Control System without micro-processors: The Operation: Front bumper SW1 generate a signal robot set back The signal sent to each half (2 motors) of the circuit (divided by D2 and D3 diodes. By this we can set independently the specifiable time constants for the wheels to back up (implemented by R1C1 / R5C2 circuits by holding the voltage). The timing signals then direct the motors to reverse direction for a specified time. Driver circuitry provides enough current to drive the motor. Implemented with transistors and relays. Resistors may be added to regulate the speed. Detailed information: _Mechatr/MobRobots/Literature/ MobileRobots-InspirationTo Implementation
4 Electrical components of Control: In case we want to make our mobile-robot more intelligent we have to put more sensors on it. But the measurement results of these sensors have to be used (evaluation). We can build an evaluation circuit for each sensor, but that would highly increase the size of the robot. A better solution is to use a processor for control, which we can program to evaluate the datas of the sensors (software programming). This way we can spare space and energy. Where to place the processor (or LapTop)? 1. On Board? 1. Sensors are almost directly connected to the calculations. The spreading time of signals (processor sensor) almost neglectible. Fast intervention. In case of calculations and interventions it s almos the ideal solution. Used in many systems (smaller systems), but in bigger, more complicated, higher intelligency (more calculations required) systems it s just partly useable. 2. Why? The processor and it s circuits: 2. Off Board? 1. Phisical defense is needed (against hit, shake, dust, light, magnetic field, ), big space required. 2. Consuming a lot of energy (the life-time of the batteries is limited, and it also has to supply the motors). 1. Advantages: Doesn t discharge the supply. Almost all computers can make the calculations (MI). 2. Disadvantages: long transmission time (sensor-processor, processor commands motors); REAL-TIME solution is hard, limited workspace (connection can be: with wire wire length, with radiowave: transmission area, infra- (and other) beams. Visibility. 3. Compromise (partly On partly Off Board): 1. Combination of the first 2: sharing the calculations between the on-board and off-board processors. The time critical (REAL TIME) calculations are made by the on-board computer, while the less time critical are made by the offboard one. This way we can spare energy and space on the mobile-robot.
5 Electronic elements of the control: Circuits of an educational mobile-robot with a processor: Of course the strength of the processor must be choosen according to the mobile-robot intelligency-level in the on-board computer. After choosing the processor the next question is the programming software. In order to program the processor we have to know perfectly it s working and inner structure. On the picture there is a MC class Motorola processor, where the the working of the processor is maximized (all of the legs/pins are used): the biggest possible number of sensors and actuators are connected in order to use the less possible circuits to make the motors, sensors and actuators work. Further aim is to maximally take advantage of the inner built-in circuits: Inner CLOCK 8MHz crystal divided by 4 2MHz clock signal, registers, A/D-s, E outer signals (circuits) connection 16 bits rail system 2 16 (64K) addressing possibility Source Switch: Vcc source voltage, Vss ground, 3 positions: middle off, lower: loading the program into the CPU, upper: connecting the source and run the program. RESET: If we press the RESET, the program stops, then if we release the button the CPU restart. Voltage Monitoring: watch out for the voltage not to drop below 4,5V, because then the CPU behaves randomly (unpredictable). That s why the DS1233M monitors the voltage and connected to the RESET circuit in order to start the RESET signal at low voltage level.
6 1.) Inner structure of the given processor: XTAL, EXTAL clocksigns synchronization. (1 operation is min. 2 cycle 1 instruction minimum 1 microsecundum. Railsystem: between memory and CPU. Reading and writing datas is multiplexed, first the address goes to the bus (to all 16 bits), then from the 8 bits width line according to the control signal the reading out or writing in takes place in the memory. See pic.: The CPU can work in 4 mode, which can be set by MOD-A, MOD-B wires. The modes setting the functions of the ports: 1. Extended multiplex mode: B, C port works as a part of the rail 2. Single chip mode: external memory can not be connected, B port is digital output, C port is digital I/O port 3-4. The rest 2 modes are the special boostrap, it s for reading the programs and testing.
7 2.) Ports: Port E: 8 channels A D converter (0-5)V, or 8 bit digital input Port D: 6 lines, all can be controlled separately for inputs and outputs. 0-1: part of the communication system CPU is connected to the terminal or to another PC trough this. 2-5: fast speed synchronized datatransfer. Port C: parallel port control. Port B: parallel port datas. Port A: 8 lines: 0-2: inputs, reaction toouter events. 3-6: controlling the outputs. 7: universal, impulse accumulator and generator. For an outer signal it s starts the inner counter and when the counter hits 0 it changes the signal from high to low level. If the number of ports on the CPU is not enough, it can be expanded. But the expansion have to be adapted to the sensors and to the CPU. When adapting to CPU we have to add an addressdecoder and a data-puffer circuit to the outer port, see the picture:
8 Communication: In case the controllers are not placed on the mobile-robot (processor, calculator circuits) there is a need for communication between them. The communication can be realised on: Wire Radiowave (Bluetooth) Infrared. Communication trough wire: Advantages fast, effective (if the information travels on several parallel wires), the wires can work as supply-wire. Disadvantages mobility decreasing (moving and workspace is limited), handling of the wire must be solved (knotting, coiling up), influencing the path-planning. Wireless communication: Usually emulating the wired transmission. Radiowaves: Can be serial or multi-channel parallel communication, or on internet trough the satelites (telecommunication, tele-robotics). The size of the workspace is limited by the radiant area. IR: serial communication (slow), visibility is needed (influencing the path-planning). Source of disturbance: strong sunlight (protect with structured (modulated) lightbeam) Advantages: fast, bandwidth is variable, modulation is variable. Disadvantages: Signal strength decreases in some areas (pit where the signal can t get in, obstacle which block the signal solution: placing several transmitters), interference, a receiver must be placed on the mobile-robot (need for space, supply).
9 Communication - Bluetooth, IR, RF: The BlueTooth communication modul devices on the pictures works with 2,4[GHz] frequency, connected to the PC trough a serial port. Also they can directly connected to the micro-controller (some well-known: Basic Stamp, Basic X, OOPic, Brainstem,..). Another feature is that they can communicate in both directions without failure (100%). The IR modules, in case they can see each other, can communicate in both directions within app.: 10[m]. The RF modules works at MHz frequency range and the power of the transmitter limits the range of the duplex communication ( [m]) (FWCM).
10 Tele - Communication: Can be done trough radio-wave or internet. On the pictures the structure of the system can be seen. A micro-mobile-robot controller tele-operation system parts:
11 Tele - Communication: The SURVEYOR SRV-1 mobile-robot control by tele-operation camera system The mobile-robots common structure: Processor: ARM7DMI, 32 bits, 60MIPS Camera: max 640x480 Infrared sensor (coverage cca 1000m inside visibility, local path planning, communication between the agents WiFi communication (ZigBee , coverage cca 100m), 2 motors drive Working: Local path planning (trough infra sensors) Remote path planning with camera (camera camera picture sending to the communication base, which forwards to the PC (consol monitor) trough USB picture evaluation and controlling the robot based on the picure appeared on the consol Communication Camera
12 Tele Communication (Cont.): This is consol for controlling the mobile robot. At the top the picture from the camera. The distance of the mobile-robot is affecting the REAL TIME control. Eg. if the mobile-robot is on the Mars, we have to calculate with a delay about 7 minutes. With the buttons below we can control the motion or set some features (like camera resolution).
13 The motors: Most used motors in mobile-robotics: Direct current DC (servo) motors (good controllability) Alternating current AC motors (in case of bigger vehicles) Stepper motors Other motors In general the DC motors are used, because of their DC supply, so that we don t need to consume energy for conversion. DC motors can be used with brush or without brush (brushless) with electronic commutation. The motors in robots usually works on high RPM, but with low torque. So that we have to use transmisson between the shaft of the motor and the driven mechanism to get higher torque. Transmission are often already insidethe motor housing. It s important to change the polarity of the motors electrically (direction of rotation). In robots the DC servo motors mostly used to diffract the steering wheels to control and check the position. The built-in position and torque checking makes it enabled for us. Other motors can be: 1. Piezzo-electric motors Camera focusing;the working of the motor is based on the piezzo-electric phenomenon 2. Ultrasonic motors Has low RPM, but high torque
14 Estimation of the power of motors (calculation): The well-known formula is valid here as well: P m =.P e (P m mechanical power, P e electric power; P e = U.I; P m = M. ). To estimate the power of the motor let s start with the classical mechanical correlations: F = m.a, where we have to add-in the friction (cause if a=0 v is constant F=0, which is not true.) The extended formula is: F app =F f +F w, ;where F f friction force, and - friction coefficient: F f = F N = m.g.cos. In the following: F w =m.g.sin. From this we can write up: The power of the motor on a slope: P m = F app. V If the mobile-robot is driven by 2 separate motors (2 back wheels), then we can divide the power into 2 parts: (r - radius of the wheel) P/2 = M. where = v/r F app =.m.g.cos + m.g.sin
15 Estimation of the power of motors (calculation) cont.: The life of the motors depends on their power and supply. Let the energy of the accumulator be E [joule], it s lifetime t [sec]. This case we can estimate the lifetime as: t = E/P The distance (D) the mobile-robot travels during this time can be calculated by the formula of the speed: D = v.t Converting between [Joule] and mah, eg.: 3[V] / 1300[mAh] accumulator: Joule 3V.1300x10 3 C sec 3600sec Ah.. A h 14,04[ CV] 14,04[ J ]
16 Estimation of the power of motors (example): We have a m=650[g] mobilerobot, which max speed is v=0,15[m/sec], and we want to go up on a slope of Θ=30 0. The friction coefficient is =0,3. The needed power (for pulling motors): In such cases we like to oversize the motor, because of the unknown terrain, and it shouldn t give the highest torque at the maximum power. Assume a 3x oversizing, P m = 2,1[W]. So if we divide the power to 2 motors, then we can design the motors with: P m / 2 1[W] power. P m F app. v (0,65.9,8).(0,3.cos30 m. g.( cos sin ). v 0 sin30 0 ).(0,15) 0,73[ W ]
17 Motor interfaces (Control): Speed control: In order to change the speed of the mobile-robot we use the PWM (Pulse-Width Modulation). The level of the average voltage changes with the pulsewidth RPM changes! Direction control: Used to control the forward-backward motion, by changing the direction of the current, which changes the direction of the rotation of the motor. (Pic.: H-bridge) The micro-processor doesn t have enough current to drive the motor, so we need a fitting. It could be: relay, transistor, MOSFET, or motor driver IC. One solution is the H-bridge, where 4 switches controlled by a microcontroller (processor). PWM arány t t on period
18 Electronic wiring of the motors (example): L293D is a typical DC motor control circuit. (basically 2 H-bridges integrated into one IC ) DIR direction control PWM pulse-width settings to change the RPM
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