Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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34 Chapter 3. Mechanical Construction The main component in our system is the the STL Main Board, known also as STLCam. The STL Main Board is a low-cost vision system for acquisition and real-time processing of pictures, consisting of a ST-VS6724 Camera (2 Mpx), a ST-STR912FA Microcontroller (ARM966 @ 96MHz) and 16MB of external RAM (PSRAM BURST). The schematics of the STL Main Board is shown in Appendix D.2. ST-STR912FAZ44 Microcontroller The microcontroller main components are: a 32 bit ARM966E-S RISC processor core running at 96MHz, a large 32bit SRAM (96KB) and a highspeed 544KB Flash memory. The ARM966E-S core can performsingle-cycle DSP instructions, good for speech recognition, audio and embedded vision algorithms. ST-VS6724 Camera Module The VS6724 is a UXGA resolution CMOS imaging device designed for low power systems, particularly mobile phone and PDA applications. Manufactured using ST 0.18µ CMOS Imaging process, it integrates a highsensitivity pixel array, digital image processor and camera control functions. The device contains an embedded video processor and delivers fully color processedimages at upto30fpsUXGA JPEG,orupto30fpsSVGAYCbCr 4:2:2. The video data is output over an 8-bit parallel bus in JPEG (4:2:2 or 4:2:0), RGB, YCbCrorBayer formatsandthedevice iscontrolled viaanI2C interface. The VS6724 camera module uses ST’s second generation SmOP2 packaging technology: the sensor, lens and passives are assembled, tested and focused in a fully automated process, allowing high volume and low cost production. The VS6724 also includes a wide range of image enhancement functions, designed to ensure high image quality, these include: automatic exposure control, automatic white balance, lens shading compensation, defect correction algorithms, interpolation (Bayer to RGB conversion), color space conversion, sharpening, gamma correction, flicker cancellation, NoRA noise reduction algorithm, intelligent image scaling, special effects. MC33887 Motor Driver Carrier All electric motors need some sort of controller. The motor controller may different features and complexity depending on the task that the motors will have to perform.
3.7. Hardware Architecture 35 The simplest case is a switch to connect a motor to a power source, such as in small appliances or power tools. The switch may be manually operated or may be a relay or conductor connected to some form of sensor to automatically start and stop the motor. The switch may have several positions to select different connections of the motor. This may allow reduced-voltage startingof themotor, reversingcontrol or selection of multiplespeeds. Overload and over-current protection may be omitted in very small motor controllers, which rely on the supplying circuit to have over-current protection. Figure 3.15: Structure of an H bridge (highlighted in red) The DC motors cannot be controlled directly from the output pins of the microcontroller. We need the circuit so called ’motor controller’, ’motor driver’ or an ’H-Bridge’. The term H-Bridge is derived from the typical graphical representation of such a circuit. An H-Bridge (Figure 3.15) is built with four switches (solid-state or mechanical). When the switches S1 and S4 are closed (and S2 and S3 are open) a positive voltage will be applied across the motor. By opening S1 and S4 switches and closing S2 and S3switches, this voltage is reversed, allowing reverse operation of the motor. To drive motors we used a PWM signal and vary the duty cycle to act as a throttle: 100% duty cycle = full speed, 0% duty cycle = coast, 50% duty cycle = half speed etc. After some testing we optimized the percentage of the duty cycle in order achieve a better performance. This optimization will be mentioned later in Control Chapter. For the motor control, we started by using the H-Bridge motor control circuits provided by our sponsor. The initial tests have been performed by implementing the correct PWM waves using these boards. Later, we real-
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49: 3.7. Hardware Architecture 33 In sh
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: ior, which will be useful in the re
Page 93 and 94: Bibliography [1] Battle bots-http:/
Page 95 and 96: BIBLIOGRAPHY 79 [25] Han et al. A n
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
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B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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