Wall Drawing Robot. Chia-Ching, Lin. Ph. D. Kao-Hui, Lin TW044

Transcription

1 Wall Drawing Robot TW044 Team leader Team partners Advising professor Pang-Tzu, Liu Sheng-Ying, Wu Chia-Ching, Lin Ph. D. Yu-Ping, Liao Ph. D. Kao-Hui, Lin Department of Electronic Engineering & Mechanical Engineering of Chien-Hsin University of Science and Technology 1

2 Outline Motivation Features System Architecture Hardware software co-design Summary 2/29

3 Motivation Robot has been applied in various field, the robot has become an assistant in human s life. For example: cleaning robots!! Pool Cleaning Robot Pool Cleaning Robot 3/29

4 City Art Some place is too high for people to draw for city art. Some wall is vary large, it is very dangerous to draw on it. Dangerous 4/29

5 Can a robot be an artist? A robot artist will be very cool! 5/29

6 IoT Applications INTERNET OF THINGS 6/29

7 ibongo robot We want to develop a painting robotibongo robot that can draw what it sees. The user can monitor and control the robot with the website. (IoT) Hello kitty is our model ibongo robot 7/29

8 Many people like selfie The user can take a picture first and use ibongo robot to draw selfie picture. Selfie The robot paints 8/29

9 System Architecture The system includes an embedded system (video capture and processing part) and an ibongo robot. Video capture and processing ibongo robot for painting 9/29

10 System Architecture Take a picture ZnYnXn Z5Y5X5 Z4Y4X4 Z3Y3X3 Z2Y2X2 Z1Y1X1 ibongo Robot AA Z Y X Contour Coordinates DE1-SoC 10 /29

11 ibongo Robot Video 11 /29

12 Block Diagram of the Embedded System DE1-SoC HPS/ARM QSYS CCD Camera Linux QT GUI AXI VIP LCD Screen FPGA SDRAM Coordinates extract and transmit User logic Bluetooth device 12 /29

13 How to extract the contour coordinates? Hello kitty is our model Image Processing with VIP function Edge Detected and shown on LCD screen 13 /29

14 LCD Signal Hsync Vsync Active video 14 /29

15 How to extract the contour coordinates? VGA_HS VGA_VS Contour Extract Counter {VGA_gray,X_coord,Y_coord} FIFO data VGA_R VGA_G VGA_B VGA_CLK adder shift Compare 10<X< 265? 100<Y< 299? VGA_GRAY >=120? Write_EN wrreq VGA_CLK 15 /29

16 Hardware Software Co-design GUI Video data Data in the FIFO Start Open picture Take a picture Check picture Robot go 16 /29

17 Take a picture Read coordinates from FIFO to HPS Resequence the coordinates. Start FPGA SoC HPS FPGA/Qsys Open picture Take a picture IORD( ) LWAXI Capture FIFO Controller FIFO rdreq Q Check picture Robot go 8192 words 17 /29

18 Resequence the coordinates Original Path is shorter Resequence 18 /29

19 Check picture Set white color for all pixel Sets the color for the pixel that is specified by the x and y coordinates Write the x and y coordinates to FIFOX, FIFOY, FIFOZ Start FPGA SoC HPS FPGA/Qsys FIFOX Open picture Take a picture IOWR() LWAXI Capture FIFO Controller wrreq Data FIFOY FIFOZ Check picture Robot go 19 /29

20 Robot go Start Open picture Take a picture Check picture Robot go 20 /29

21 Robot go HPS write to PIO : High level transmit FC FD FD FD FD FC FA FC FA AA Z Y X FPGA SoC HPS IOWR( ); LWAXI 1 FPGA/Qsys PIO Controller Transmit Controller Start UART_ Controller bps 21 /29

22 Website Internet of Things The user can monitor the captured picture and control the coordinates transmission with the website. Lighttpd Webserver Robot Go 22 /29

23 ibongo Robot DE0-Nano-SoC Limit Switch DC Motor Bluetooth Module Motor Driver ibongo robot Color Pen 23 /29

24 ibongo Motion Control >0 < 0 dx >0 < 0 24 /29

25 Block Diagram on ibongo DE0-Nano-SoC HPS/ARM FPGA FIFO Initial Detector UART Controller Bluetooth device Linux API QSYS LWAXI LWAXI {Z, Y, X} Custom Component PIO Controller Motor Controller DC Motor Encorder Limit Switch DC Motor Drivers User logic 25 /29

26 Website Internet of Thing The user can monitor and control ibongo with the website. Lighttpd Webserver 26 /29

27 IoT Demo 27 /29

28 Summary We ve implemented a painting robot based on DE1- SoC and DE0-Nano-SoC, called ibongo. ibongo can draw the portrait of what it sees. It s co-design between hardware and software. The user can monitor and control the robot with the website. (IoT) We have developed an algorithm to shorten the robot painting path. 28 /29

29 Thanks for Your Attention! 29 /29