RobAIR-ICSOC12: Difference between revisions
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==Hardware== |
==Hardware== |
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[[RobAIR]] is based on the [[Wifibot]] robot. |
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[[RobAIR]] est basé sur le Robot [http://www.wifibot.com/ Wifibot] est une plateforme mobile à 4 roues motorisées (ou 2 roues motorisées + 1 roue folle) munie d'une carte Atom exécutant un OS embarqué (Windows XP embedded ou Linux). |
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The Wifibot had a chassis with 4 wheels geared by 4 DC motors with hall encoders. The Wifibot is controlled by an Atom D510 main board running Linux (Ubuntu) or Windows CE. |
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Wifibot' nuiltin sensors are |
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Plusieurs dispositifs USB sont montés sur la plateforme mobile: |
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* |
* PTZ webcam[http://www.logitech.com/en-us/38/3480 Logitech QuickCam® Orbit AF] ou [[Logitech Quickcam Sphere AF]] |
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* Hokuyo [[Lidar]] ([http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html URG-04LX-UG01]) |
* Hokuyo [[Lidar]] ([http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html URG-04LX-UG01]) |
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* Infrared sensors (left and right) |
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* Battery level sensors |
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* Odometer |
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For the demonstration, we have plugged several sensors on the available USB ports (''remark: USB hubs are not correctly managed by the current OS distribution'') |
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* Gas sensors (Arduino board) |
* Gas sensors (Arduino board) |
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* [[133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module]] (Arduino board) |
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Extra sensors are |
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* [[XBox Kinect]] for depth image and webcam |
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* [[139741 Arduino Infrared Obstacle Avoidance Detection Photoelectric Sensor]] for stair/hall detection |
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* [[135038 Arduino Flame Detection Sensor Module]] |
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Extra actuator |
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* [[135038 Arduino Flame Detection Sensor Module]] (Arduino board) |
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* [http://www.seeedstudio.com/depot/scream-out-loud-110dba-fixed-tone-siren-p-301.html?cPath=156_159 scream out loud - 110dBA fixed tone Siren] (controlled by a relay on the Arduino board) |
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The SCA components containers are : NaSCAR for Java/OSGi and [http://ipopo.coderxpress.net iPOPO/Pelix] for Python |
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Revision as of 14:58, 9 August 2012
DEMO FOR ICSOC 2012 http://www.icsoc.org
VIDEO : COMING SOON
Hardware
RobAIR is based on the Wifibot robot. The Wifibot had a chassis with 4 wheels geared by 4 DC motors with hall encoders. The Wifibot is controlled by an Atom D510 main board running Linux (Ubuntu) or Windows CE.
Wifibot' nuiltin sensors are
- PTZ webcamLogitech QuickCam® Orbit AF ou Logitech Quickcam Sphere AF
- Hokuyo Lidar (URG-04LX-UG01)
- Infrared sensors (left and right)
- Battery level sensors
- Odometer
For the demonstration, we have plugged several sensors on the available USB ports (remark: USB hubs are not correctly managed by the current OS distribution)
- Geiger counter Sensor
- Gas sensors (Arduino board)
- 133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module (Arduino board)
Extra sensors are
- XBox Kinect for depth image and webcam
- 139741 Arduino Infrared Obstacle Avoidance Detection Photoelectric Sensor for stair/hall detection
- 135038 Arduino Flame Detection Sensor Module
Extra actuator
- 135038 Arduino Flame Detection Sensor Module (Arduino board)
- scream out loud - 110dBA fixed tone Siren (controlled by a relay on the Arduino board)
Software
The robot's embedded software and the pilot's console are developed using SCA components in Python and in Java/OSGi. The SCA components containers are : NaSCAR for Java/OSGi and iPOPO/Pelix for Python