|
|
BOBIII - WiFi Linux Robot
General specifications
Spécifications :
General specifications:
- Dimensions : cylinder: diameter 16cm x height 18cm
- Weight : 900g
- Max speed : 1 m/s
- Autonomy : 2 - 3h
Functions:
- Wall following
- Environment discovery and cartography (made with wall following and other basic behaviour).
- Wall recognition (still in progress...)
- Orientation and position realignment inside buildings with walls oriented 90deg from each others (still in progress)
- Path planning
- Obstacle avoidance
- Playing soccer
- Web based HMI
Electronics:
- Motherboard : Acme FOX LX with Axis ETRAX 100 LX 32Mo RAM + 8Mo Flash
- Operating system: LINUX kernel 2.4
- Language : C
- Ethernet port
- WiFi via USB key
- Second controler : PICBASIC 3B (For interfacing motors, sonars, LCD display, buzzer). Link to motherboard via serial port.
- Decoder: HCTL 2032 directly linked to the FoxBoard
Sensors:
- 5 Ultra Sonic Sensors
- Optical quadrature encoders mounted directly on wheels. Made with rests of mouse.
- CMU Cam
Power :
- Batteries : Ni-Mh 9.6V 2.3Ah Made with 8 LR6 elements
- Charger : integrated charge regulator made with Max712
- External Power supply for charging battery, and powering the robot
- Charge time: 4h
- Motors driven via LM298
- 2 independant rearmable fuses (polyswitch)
- 5V 700mA switching regulator made with LM2575
Mechanics:
- Chassis made with 3mm plexiglass
- Assembly with M3 screw and
- Small toy motors (1W each)
HMI :
- LCD screen 2x16 characters
- Mini keyboard with 4 buttons (left, right, OK, cancel)
- Mini buzzer
- HMI via html page on integrated web server
|
|
|