室內(nèi)分區(qū)與定位技術(shù)之吸塵器機(jī)器人

室內(nèi)分區(qū)與定位技術(shù)之吸塵器機(jī)器人

DesignofIndoorLocalizationandMapDecompositionforVacuumingRobots

元智大學(xué)資工系黃士殷200805121OutlineMotivationRelatedworkSystemarchitectureUltrasoundlocalizationWiimotelocalizationMapdecompositionRobot’smotion2MotivationRobotapplicationsbecomepopularindailylifeDrawbacksoforiginalRoombaNo

pathplanning:cleantheroominefficientlyIndoorLocalization3RelatedWork–VacuumingRobotsVacuumingrobotsiRobot(US):RoombaYujinRobotics(Korea):iCleboElectrolux(Sweden):TrilobiteHITACHI(Japan):HomecleanerrobotLG(Korea):VR4000臺(tái)灣松騰:TRV-100趴趴走吸塵器機(jī)器人Krcher(Germany):RC3000Samsung(Korea):VC-RE70V4VacuumingRobot-1iRobot-Roomba

Price:US$280~330Virtualwall:limitthecleaningareaVirtuallighthouseAssignrobottocleanthespecificroomAutorechargeCharge3hrfor120minutesuseRemotecontrolBumpersensorfordodgingFloordetection5VacuumingRobot-2YujinRobotics-iCleboPrice:US$400FloordetectionAutorechargeBumperdetectsensorPre-setthecleaningscheduleEmbedded7infraredsensors todetectfurniture6VacuumingRobot-3Electrolux-TrilobitePrice:US$1,600Ultrasoundsensortodetect obstacleAutorechargePre-settingthecleaningtimeMagnetstripTolimitcleaningrange7VacuumingRobot-4HITACHI-HomecleanerrobotAutorechargeCharge2hrfor50minutesuseUniquecleaningpathRemotecontrolInstallcamerainsideEquipwithultrasound8VacuumingRobot-5LG-VR4000Price:US$2,500PowerfulsuctionsystemRFwirelessremotecontrolEquipwithvarietysensorsVoiceinformerFourmovingpathGyromatrixSpiralVariablematrixRandom9VacuumingRobot-6臺(tái)灣松騰實(shí)業(yè)-TRV-100趴趴走吸塵器機(jī)器人Price:US$275AutorechargeIRremotecontrolPre-setthescheduletimeFloordetectionEmbeddedfuzzyprogramHelptoexploreintheroom10VacuumingRobot-7Krcher-RC3000Price:US$1,500WalkacrossthewiredlineAirbumpertoavoidobstaclesAutorecharge11VacuumingRobot-8Samsung-VC-RE70VPrice:US$2,800EmbeddedcamerainsideGeneratethemapautomaticallyPlaythemusicRemotecontrolAutorechargeHave15sensorstoavoidobstacles12RelatedWork-LocalizationIndoorlocalizationWirelessZigbeeIRRFIDUltrasound13IndoorLocalization-1WiFiAOA (AngleofArrival)TOA (TimeofArrival)TDOA (TimeDifferenceofArrival)RSS (ReceivedSignalStrength)DetectstrengthofsignaltoidentifyrealpositionAtleast3basestationsDistanceerrorisabout1m14IndoorLocalization-2Zigbee(IEEE802.15.4)Lowpower,lowcost,andlowdatarateTransferrangeisabout10~75mHighreliabilityOnebasecansupport64,000nodesDistanceerrorisabout1~2mMostuseinmedicalcareHospital15IndoorLocalization-3Infrared(IR)IRtransmitterasabeaconMovingobjectequipwithanIRreceiverIRwasblockedbyobstacleseasily16IndoorLocalization-4RFID(RadioFrequencyIdentification)CreatetheradioindexmapRFIDreceiversdetecttheobject’stagComparethesignalstrengthwithindexdatabaseSameasRSSlocalization17IndoorLocalization-5UltrasoundReflectionandrefractionfeaturesTDOAbetweentransmitterandreceiverTriangularlocalizationDistanceerrorisabout10cmNotsuitableforlongrangeUltrasoundmaybeaffectedinthemistair18RelatedWork–MapSystemMapdecompositionCoveragepathplanningBoustrophedonmotionSpiralmotionExactcellulardecomposingRectilineardecomposing19SystemArchitecture20SystemArchitectureHardwarerequirementsRoombaDiscoveryVIPERembeddedboardDigitalcompassGyroscopeReplacementfordigitalcompassUltrasoundmoduleWiimotecontrollerBluetoothmoduleIRmodule21Gyroscope–IDG300FeaturesIntegratedX-andY-axisgyroonasinglechipFactorytrimmedfullscalerangeof±500°/secIntegratedlow-passfiltersSuperiorvibrationrejectionoverawide

frequencyrange3Vsinglesupplyoperation5000gshocktolerance6x6x1.5mmQFNpackage22RoombaRobot23SoftwarerequirementsSoftwarerequirementsViperarm-linux-gccVersion3.4.xParallaxBASICStampEditorv2.1BurntoBASICStamp2BluetoothHidpBluezAPIRoombaAPILibwiimote-0.4(armarchitecturesupport)24TheReasonforUsingUltrasoundUsingindoortrianglelocalizationAdvantageMoreaccurateThepositionerrorisabout10cmDrawbacksNotforlongrangeMaybeaffectedinthefoggyormistenvironment25CalculatetheDistancebyUltrasoundUsingtimedifferenceofarrival(TDOA)CalculatethedistanceT1:UltrasoundmodulegeneratesRF△:RFtransmittingtimeApproximatevelocityoflightT2:ThetransmittingtimebetweenultrasoundandrobotT2=T–T1–△(△canbeignored.)C≒331.5+0.61*θ（m/s）

θ:temperatureDistance=C*T2*0.000001(m)26UltrasoundLocalization27UltrasoundLocalizationX:SpacelengthY:SpacewidthTrianglelocalizationformula28UsingWiimoteinLocalizationToimprovetheultrasoundlocalizationUltrasoundhaserrorabout10cmHardtomaintainthecomplexmoduleHavedeadspacesaroundthecornerFeaturesintheWiimoteBluetoothcommunicationHavingcamerainsideWiimotecantraceupto4IRsourcesbyitscamera29UsingWiimoteinLocalizationImplementtheWiimotelocalizationFindingthecamera’scoveringrangeAproperWiimoteplacementisthekeytobettertrackingTheWiimotecamerahasa45degreefieldofviewDesigningapowerfulIRtransmitterPixelmappingproblemHowtoconvertthewarpedpixelfromitsoriginalwatching30PixelMapping(192,632)(953,732)(150,33)(933,13)(1024,768)(0,0)convertWarpedpixelNormal31WiimoteIndoorlocalizationTherobotisequippedwithpowerfulIRtransmitter.TheslopingplacementforWiimotecamera180cm1.6m2m32TestingRange160cm130cm205cm160cm45(20,16)(183,145)(0,0)(205,160)33WiimoteLocalizationAdvantagesConvenienttouseLowcostTracingtheIRsourcesaccuratelyErrorislessthan2cmDrawbacksTheIRsourcesmaybeblockedeasilybyobstaclesWiimoteonlysupportsupto4IRsourcesMustfindagoodplacementforWiimotecameracatching34RectilinearMapThemapiscomposedbymanycells.35RectilinearMapRepresentation36MapDecompositionMapisdecomposedbyobstacle’scriticaledge37MapDecomposition(Cont.)Mapwillbemergedwitheachother.38BoustrophedonAlgorithmBoustrophedonwasfirstusedintheEnglishlanguagein1699.Itmeansthat“Thewayoftheox.”RobotactinbackandforthmotionAdvantagesCleaningthecellefficientlyNopathoverlapping39BoustrophedonAlgorithm(Cont.)TheRobot’sactionissimilartocow’sseed-sowingmotion.40PathPlanningTherobotisoutsidethecell.Therobotisinsidethecell.41PathPlanning(Cont.)Therobotcomesacrosstheobstacle42UltrasoundAdvantagesMoreaccuratethansomeotherindoorlocalizationThepositionerrorisabout10cmDrawbacksUnstableNotsuitableforlongrangelimitedwithin150*150cmMaybeaffectedinthefoggyormistenvironmentTheultrasoundmoduleishardtomaintain43DigitalCompassDigitalCompassAdvantageCancorrectthemovingdirectionDrawbackCanbeaffectedeasilyinmagneticenvironmentCorrectingdirectioncontinuouslywilldecreasewholeefficiency44WiimoteGestureRecognition45相關(guān)研究陀螺儀慣性動(dòng)作感測(cè)MxAir(羅技空中滑鼠)加速度感測(cè)晶片加速度方向感測(cè)WiimoteWiimote相關(guān)控制方面應(yīng)用方面Fuzzytheory46研究目的Wiimote控制轉(zhuǎn)換介面Wiimote手勢(shì)辨識(shí)(三軸方向加速度訊號(hào)分析)提高辨識(shí)率機(jī)械手臂控制模擬人手臂即時(shí)控制載具Roomba47Wiimote控制轉(zhuǎn)換介面48整體架構(gòu)BluetoothRS232機(jī)械手臂(模擬人手臂)載具(搭載嵌入板及機(jī)械手臂)單晶片(控制機(jī)械手臂)RS232降壓電路49Wiimote簡(jiǎn)介移動(dòng)感測(cè)加速度感測(cè)晶片紅外線camera無(wú)線傳輸藍(lán)芽傳輸有效距離：10公尺12個(gè)按鈕四個(gè)方向鍵、Ａ、Ｂ、＋、－、home、1、2和power50機(jī)械手臂控制控制方式Wiimote

模擬交通指揮棒偵測(cè)使用者手勢(shì)透過(guò)嵌入式開發(fā)板接收分析Wiimote封包後對(duì)單晶片下指令單晶片(pololussc04a,可控制8個(gè)馬達(dá))-控制手臂關(guān)節(jié)機(jī)械手臂由5個(gè)伺服馬達(dá)構(gòu)成,每個(gè)馬達(dá)可轉(zhuǎn)180度辨識(shí)指揮手勢(shì)(加速度資料處理

)ApproximationmatchFuzzytheory51Roomba控制控制方式即時(shí)控制Wiimote模擬汽車方向盤降壓電路–轉(zhuǎn)換嵌入式開發(fā)板對(duì)Roomba資料電壓功能But