Team Project: A Surveillant Robot System

Transcription

1 Team Project: A Surveillant Robot System Functional Analysis Little Red Team Chankyu Park (Michael) Seonah Lee (Sarah) Qingyuan Shi (Lisa) Chengzhou Li JunMei Li Kai Lin

2 System Overview robots, Play a bridge role between robots and remote user, Provide live video Internet A lab experimenter Remote robots, Receive a detected signal, See behavior of robots USB Robot main controller A remote user A WebCam The invader Robot IR Communication Room The surveillant robot Legend System & User Internet InfraRed USB March 3,

3 Top-level function 1: Manage system A remote user, A remote Computer Send video Connect Notify control 2: Manage Robots A lab experimenter, Robot main controller 3: Transfer live video A lab experimenter, Robot main controller Alarm camera Notify Status Robot Runaway status 4: Wandering 5: Detect an intruder /an survelliant 6: Raise alarm 7: Runaway Both robots Both cameras A survelliant robot A intruder robot March 3,

4 2 nd -level functions (1/7) 1: Manage system A remote computer A Remote User 1.1a: select function Client Program 1.2: RMI proxy RMI Registry robots Receive Notify 1.3: RMI Proxy RMI Registry 1.4: Notify detection to the user Client Program A Remote User 1.1b: configure connection P2P cam software 1.6: open connection FTP Connect video Video Stream 1.7: Stream buffering FTP 1.8: Display video P2P cam software March 3,

5 2 nd -level functions (2/7) 2: Manage Robots Main Computer Remote User from remote Initiate 2.1: RMI proxy RMI Registry 2.4: command dispatcher Server Program 2.7: transfer camera command Server Program 2.8: transfer robot command Server Program 2.3: Camera proxy camera Vision Recognition SW 2.2: IR proxy robots Status of robot Notify from camera 2.2: IR proxy 2.3: camera proxy Vision Recognition SW 2.5: analyze status Server Program 2.6: conversion of notification Server Program RMI Registry 2.1: RMI proxy 2.2: IR proxy - survellinet 2.2: IR proxy - intruder Notify to remote Raise alarm runaway March 3,

6 2 nd -level functions (3/7) 3: Transfer live video Main Computer Initiate A Remote User 3.1: Initialization P2P cam software Connect Video 3.2: Open connection P2P cam software FTP 3.3: Sending Video Web Cam P2P cam software FTP Video stream March 3,

7 2 nd -level functions (4/7) 4: Wandering Both robots Robots 4.1: Start wandering 4.2: Wandering Embedded program Embedded Program Status of robot : Initialization 4.2.1: decide direction 4.2.2: control motors 4.1.3: Run Motors Wheels 4.1.2: Standby Motors Wheels 4.2.3: detect wall 4.2.4: receive signal from sensor Walls Touch Sensors March 3,

8 2 nd -level functions (5/7) 5: Detection of Intruder/Survelliant Both cameras 5.1: Start detection 5.2: detection Vision Recognition SW Vision Command Vision Recognition SW Vision Command Notify from the camera : Initialization 5.2.1: capture video 5.2.4: recognize object 5.1.3: Run 5.1.2: Standby Motors Wheels 5.2.2: Divide region 5.2.3: detect color March 3,

9 2 nd -level functions (6/7) 6: Raise alarm A survelliant robot Alarm 6.1: IR Proxy 6.2: Raise alarm Embedded program Sound device 7: Runaway Intruder robot runaway 7.1: change runaway mode 7.2: start runaway Status Embedded program Motors Wheels March 3,

10 States and Modes - 1 Modes of both robots States of survellient robot Stand-by Ready Stop Stop Start Run Stop Wandering Start Detecting Test Mode Pausing & Alarming Time-out March 3,

11 States and Modes - 2 Modes of both robots States of intruder robots Stand-by Ready Stop Stop Start Run Stop Wandering Start Start Detecting Test Mode Runaway March 3,

12 Functional Architecture A Remote Computer 1..n 1..n RCX TM Microcomputer P2P Cam Software FTP GUI Commander Mode Checker RMI 8-bit processor 32kb RAM A serial data communication port Robot Main ler 1 IR Operator Wandering P2P Cam Software Robot ler Vision Recognition Input port Output port Web Cam Vision Command 2 Touch Sensors 2 Motors March 3,