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September 2011

Computer Engineering Department. September 2011. Nowadays robots take a significant part in almost all fields of life of mankind. Everywhere where precision, repetitiveness or endurance are required robots support people in realization of their purposes. They automate production lines.

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September 2011

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  1. Computer Engineering Department September 2011

  2. Nowadays robots take a significant partin almost all fields of life of mankind.

  3. Everywhere where precision, repetitiveness or endurance are required robots support people in realization of their purposes.

  4. They automate production lines

  5. They support human in medicine

  6. A special group of machines are robots dedicated to military purposes. One of their unique function is an ability to make decisions on the battlefield.

  7. TECHNICAL UNIVERSITY OF LODZ Computer Engineering Department MOBILE ROBOT FOR SURVEILLANCE AND MINE DETECTION TASKS September 2011 Project chairman: prof. Dominik Sankowski

  8. Constructors • Computer Engineering Department Technical University of Lodz • Prexer Computer Engineering Department

  9. Scientific team prof. Dominik Sankowski Stanisław Kwiatkowski Marcin Bartłomiejczyk Marcin Bąkała Sylwester Błaszczyk Wojciech Dadan Piotr Duch Rafał Jachowicz Sławomir Jeżewski Roman Krzeszewski Maciej Łaski Zbigniew Stolarski Adam Śmigielski Adam Wulkiewicz

  10. Mobile Robot systems • Vision system • Sensor system(laser scanner, GPS itp.) • Control system • Metal objects detection system

  11. Vision system - head

  12. Vision system – cameras Daylight camera Noctovision camera Thermovision camera

  13. Picture in Picture system • Multiple source image analysis and merging • EDMA system usage • Real-time execution

  14. Image auto-focus algorithm • Real-time execution • Precise lens position control • Continuous auto-focusing

  15. Template detection and tracking

  16. Autonomous template tracking

  17. Operator mobile console • Intuitive user interface • Military endurance standards tests • Multiple choice of semi-automatic commands

  18. Operator mobile console

  19. Mobile robot sensors • Hokuyo – laser scanner • Sharp – infrared distance sensor • Senix – ultrasonic sensor • xSens - gyroscope, accelerometer, compass • ublox - GPS

  20. Mobile robot sensors - placement Gyroscope, acceletormeter, compass GPS Laser scanner

  21. Map of the environment • Occupancy grid – areas on the grid indicates probabilities of obstacle presence in the robot environment • Simultaneous localization and map building • Data from the laser scanner are sufficient for map building

  22. Map building

  23. Map building

  24. Map building

  25. Map building

  26. Map building

  27. Map building

  28. Map building

  29. Map building

  30. Map building

  31. Trajectory definition • Trajectory is calculated to avoid obstacles present in the environment of the robot • A* algorithm optimalized implementation for DSP processors

  32. Autonomous obstacle avoidance

  33. Mobile robot movement detection • Infrared distance sensors usage • Object detection in the ambience of the robot algorithm • Signal processors usage • Real-time execution S1_data[N] S2_data[N] i - pozycja dx [ mm] Następny pomiar

  34. Control system • Layer 1: drive system – processors and software for low-level programming control of robot’s wheels and arm systems • Layer 2: Sensor system – processors and software dedicated to sensor devices support • Layer 3: Sensor data integration – processors and software dedicated to analysis and integration of the data received from the sensor system • Layer 4: Image acquisition – devices for image acquisition and preprocessing. Should be isolated from the sensor system due to high resources consuming requirements • Layer 5: Environment reconstruction – microprocessor system dedicated to analysis and integration of the integrated sensor data and the image data • Layer 6: Navigation system – software dedicated to trajectory calculation • Layer 7: Communication system – processors and software dedicated to communication between the robot and the operator

  35. Metal object detection system • Light, kevlar construction • Automatic calibration according to surface structure • Large detection range • Light detection signalization

  36. Metal object detection system

  37. Thank you for attention

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