ASBUS VJC Hello robot

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1 AS-MII AS-MII AS-MII AS-MII AS-MII VJC AS-MII AS-MII AS-MII AS-MII AS-MII AS-MII AS-MII AS-MII AS-MII

2 ASBUS VJC Hello robot JC JC : JC : : : AS-MII... 78

3 AS-MII AS-MII AS-MII AS-MII AS-MII AS-MII AS abilitystorm M II- AS-MII 1

4 1 1.2 AS-MII AS-MII AS-MII 1.3 AS-MII AS-MII 2 AS-MII AS-MII

5 1 AS-MII AS-MII 220V 1.4 AS-MII 1.6 AS-MII /ASOS VJC1.5 T AS-MII AS-MII 3

6 AS-MII AS-MII V 50Hz AS-MII V 7.2V 5V 1000 AS-MII 1. AS-MII AS-MII AS-MII AS-MII 9 9 4

7 VJC1.5 AS-MII 2 2 LCD ASOS2002 Grandar Ability Storms AS-MII LCD AS-MII Intelligent Robot Test 1. LCD 1Yes 1No Yes 1No 3. 1Yes 1No photo L172 R Yes 1No 10cm 80cm A4 LCD <<<< <<<< IR Test 5. 1Yes 1No AS-MII LCD > 6. 1Yes 1No LCD 7. 1Yes 1No LCD 5

8 1 Motor 30 L 100 Test 31 R Yes 1No 1 1 LCD 33 LCD 9 MDCA3 PA AS-MII VJC VJC1.5 C VJC AS-MII VJC1.5 Windows 95/98 /2000/XP Windows NT 4.0 VJC1.5 JC VJC JC JC JC 1-5 6

9 JC 7

10 1 VJC1.5 JC JC AS-MII T

11 1 1-8 VJC JC JC JC JC 1-5 T VJC1.5 JC 9

12 1 JC JC JC JC JC JC JC *.flw F12 VJC1.5 VJC1.5 VJC1.5 10

2 AS-MII 2 AS-MII AS-MII AS-MII AS-MII 2.1 AS-MII 2.1.1 AS-MII 2-1 AS-MII 1.

13 2 AS-MII 2 AS-MII AS-MII AS-MII AS-MII 2.1 AS-MII AS-MII 2-1 AS-MII AS-MII AS-MII AS-MII 2. AS-MII AS-MII AS-MII 2-2 AS-MII 5 11

14 第 2 章 AS-MII 身体的构成 1. 碰撞传感器 AS-MII 机器人的碰撞传感器能够检测到 360 范围内的碰撞使 AS-MII 机器人遭遇到碰撞之后能够转弯避开或作出其它反应话筒碰撞环碰撞传感器结构示意图光敏传感器红外接收模块红外发射管码盘光电编码传感器光电耦合器图 2-2 AS-MII,AS-UII 感官部分 2. 红外传感器红外传感器能够和人眼一样看见前方的障碍物然后通知大脑作出反应红外传感器共包含两种器件红外发射管和红外接收模块如图 2-2 所示红外接收模块位于 AS-MII 机器人的正前方两只红外发射管紧靠在红外接收模块的两侧它们共同组成了 AS-MII 机器人的眼睛红外发射管可以发出红外线红外线在遇到障碍后反射回来红外接收模块接收到被反射回来的红外线以后发出电信号给机器人主板这样机器人就看见东西了人的眼睛有时发现不了太小太近或太远的东西这是因为人眼有一定的可视范围 AS-MII 机器人的眼睛也一样 AS-MII 的眼睛能够看到前方 10cm 80cm 90 范围内的障碍物障碍物面积须在 210mmx150mm 以上如果障碍物太小太细或者在可视范围以外它可就没法看到了注意这点哟在 AS-MII 机器人的可视距离是可以调整的参见后面传感器部分 3 ２２ 12

15 2 AS-MII Hz 20000Hz AS-MII 2-3 AS-MII LCD 2-3 AS-MII 1. AS-MII AS-MII AS-MII 2. LCD 13

16 2 AS-MII AS-MII LCD LCD 3. AS-MII 4. AS-MII 2 5. AS-MII AS-MII AS-MII AS-MII 14

17 2 AS-MII 2.2 AS-MII (a) (b) (c) (a) 2-7(b) 2-7(c) AS-MII 2 8 k k = z 1 z Z1 Z2 2 15

18 2 AS-MII V V V k AS-MII 2-8 ( ) 2-8 AS-MII

19 2 AS-MII 2.3 AS-MII AS-MII AS-MII AS-MII AS-MII 2-9 T-N V J K Jn > Kn, JT < KT n T n T 2-10 PWM Pulse Width Modulation 17

20 2 AS-MII AS-MII AS-MII JC motor() drive() motor a b 1 motor a b 2 motor a b a b 3 motor a b a a=1 a=2 b b JC void main() motor( 1, 40 ); motor( 2, 80 ); wait( ); stop();

21 2 AS-MII drive a b a b 3. a b a b 2 void main() drive( 80,0); wait( ); stop(); 3 void main() drive( 60,20); wait( ); stop(); VJC1.5 VJC1.5 VJC

22 microcontroller Motorola 8 68HC11E1 68HC11E1 C VJC1.5 2* BUS LCD ASBUS 3 1 PC 20

23 ( 3.2) 3.2 ( 3.3) 3.3 VJC VJC VJC

24 VJC

25 3 LCD bmp_1=0 LCD bmp_1=4 LCD JC C JC bumper() JC JC while(1) while(1) printf("bump=%d n",bumper());wait(0.1); EnterJC LCD bump=0 LCD bump=1 JC

26 3 3.5 PE3 JC JC while(1) printf("pe3=%d n",analogport(3));wait(0.1); EnterJC LCD pe3=0 ( ) pe3 3 6 pe3 bumper() VJC1.5 robots AS-MII libs lib_as_mii.jc int bumper() 24

27 3 1K 1K 2K 3.9K 3.6 void main() int bumpvalue; while(1) bumpvalue=bumper(); printf("bump=%b n",bumpvalue); wait(0.5); /* bumpvalue /* /* bumper bumpvalue /* /*

28 nm cm XT2 38kHz 38KHz IRR IRL 26

29 3 3.8 JC ir_detector() JC JC while(1) printf("ir=%b n", ir_detector());wait(0.5); JC LCD ir=0 ir

30 C30 22p C p U6A 1 2 XT2 38Khz 74HC14 R23 1M R15 12K U6B HC14 U6E R K9 D2 PD2 74HC14 U6F 1N4148 R K9 D3 PD3 74HC14 1N4148 PE4 AR1 VM6CK332 R9 1K AR2 VM6CK332 R10 1K VCC INFRARED SENSOR R Q IRL CL5R R Q IRR CL5R R26 3K9 IRMOLD 603M C23 100uF/16V R I/O PD2 PD3 AR1 AR2 1 2 ir_detector() 1ms 1ms 28

31 ms PE4 3 ir_detector() void main() int ir; while(1) ir=ir_detector(); if(ir!=0) drive(-60,-30); wait(0.1); drive(40,0); /* ir /* ir_detector() /* /* 0.1 /* ( ) 29

32 Ω Ω JC photo(1) photo(2) 30

33 3 JC JC while(1) printf("photoleft=%d n",photo(1));wait(0.5); EnterJC LCD photoleft= K R13 R14 PE0 PE1 5V 0V

34 3 VCC PE1 C5 104 R13 10K ORR N5AC04067 ORL N5AC04067 R14 10K PE0 C6 104 LIGHT SENSOR 3.15 void main() int right; while(1) right=photo(2); if(right>200) beep(); beep(); 32

35 (microphone) JC microphone( ) JC while(1) printf("mic=%d n", microphone());wait(0.5); JC LCD mic = LM386 U1 200 C25 PE2 2 5V microphone() MIC MIC46 VCC MICROPHONE CIRCUT R2 2K C25 C U1 10uF/16V 8 GAIN GAIN 7 IN- BYPS 6 IN+ VCC 5 GND VOUT LM386N-1 R3 MG47 C26 100uF/16V R5 1K PE2 C LM V PE2 2.5 V R5 C2 33

36 3 void main() int b=1; int mic; while(1) mic= microphone(); printf("mic=%d n",mic); wait(0.5); if(mic>40) b=b*(-1); if(b==-1) drive( 20, 0 ); if(b==1) stop(); /* /* /* /* 0.5 /* /* /*

37 ( ) 66, encoder 1encoder 2 JC while(1)printf("encoder_1=%d n",encoder(1));wait(1.0); EnterJC LCD rotation(1) rotation(2) 35

38 Vcc Gnd Vout Vcc Gnd Vout 3.22 motor/encoder 36

39 3 void main() rotation(1); /* drive(70,0); /* wait(2.0); /* 2 printf("left=%f n",(float)rotation(1)/33.0); /* 33 stop(); /* int rotation(int index) 70 37

40 ASBUS cm-6m 1% SHARP GP2D02/ GP2D12 10cm-80cm ASBUS JC 38

41 Motorola 68HC11E PWM I/O 68HC11E1 JC JC 1 DIP PLCC 3.24 DIP 3.25 PLCC HC11E1 CPU A/D I/O

3 CPU 68HC11E1 CPU 8 16 8 16 M6800/M6801 300 16 3.

42 3 CPU 68HC11E1 CPU M6800/M HC11E1 68HC11E1 ROM 512 EEPROM 256 RAM 16 8M 2MHZ 0.5 s3 5 PWM 68HC11E1 SCI PC SPI 3.27Motorola 2Mbps 40

43 SPI A/D 8 A/D 4 A/D 68HC11E1 16 CPU I/O 38 I/O K 2 8 I/O I/O RESET 68HC11E1 68HC11E1 15mA WAIT STOP 68HC11E

3 3.28 68HC11E1 VDD VSS---- + VSS MODB/VSTBY MODA/LIR---- EXTAL EXTAL---- 8M E---- 2MHZ RESET---- XIRQ IRQ --- XIRQ IRQ VREFL VREFH ---- A/D VREFL=0 VREFH=5V PE PEO-PE7 ----A/D

44 HC11E1 VDD VSS VSS MODB/VSTBY MODA/LIR---- EXTAL EXTAL---- 8M E---- 2MHZ RESET---- XIRQ IRQ --- XIRQ IRQ VREFL VREFH ---- A/D VREFL=0 VREFH=5V PE PEO-PE7 ----A/D PA PAO-PA PA0-PA2 PA3-PA6 PA7 I/0 PD0-PD5---- I/0 PDO RXD PD1 TXD PD2-P5 MISO MOSI SCK SS SP2 STRA STRB PB PCD---- I/O AS R/W 32K RAM 8 I/O 8 8 PC 8 68HC11E K RAM 42

45 3 70ns EEPROM FlashRom AS KRAM AO-A K A15 E RESET 32K RAM 32K RAM OX8000-OXFFFF A15 / Y0 Y1 Y2 Y3 Y4 Y5 A B C E1 E2 E3 Y6 GND Y7 VCC 74HC R / -W E VCC 74HC14 A(12:15) OX4000 OX4FFF OS0 IS0 OX5000 OX5FFF OS1 IS1 OX6000 OX6FFF OS2 IS2 OX7000 OX7FFF OS3 IS3 OX4000 OS0 OS0 OSO OX4000 IS0 IS0 8 CPU 32K ASBUS 4 4 PC 4-5 PCI

46 ASOS 10K K JC 20K JC Maxim MA 5V DS1233D V RST

47 BAT C2.54X2P 1 2 EXT C2.54X2P K T-MEC-C R804 7R5/2W D802 21DQ04 F801 R185 C uF/16V C uF/16V C SBAT BEXT VMOT J801 DCJACK VCC Q R801 1K CHARGE RED3 R803 2K D801 21DQ04 VDD PWR GRN3 R802 1K VCC IN 1 GND 2 GND 3 OFF 4 SET 5 GND 6 GND 7 OUT 8 U801 MAX603 GND 1 RESET 2 VCC 3 U5 DS1233D-10 VCC RESET RST RED3 VCC R8 1K 1 2 U4A 74HC14N 3 4 U4B 74HC14N 3.31 MDCA3 SBAT BEXT V MAX202 PC U4E U4F SCI PC SCI 3.32 C1+ 1 V+ 2 C1-3 C2+ 4 C2-5 V- 6 T2OUT 7 R2IN 8 R2OUT 9 T2IN 10 T1IN 11 R1OUT 12 R1IN 13 T1OUT 14 GND 15 VCC 16 U11 MAX202 C C C C VCC VCC SCI VCCYEL3 R11 1K RXD TXD SERIAL PORT RXD TXD SERIAL USBB R19 47 R20 47 ZD1 15V ZD2 15V ZD3 15V ZD4 15V U4F 74HC14N U4E 74HC14N 3.32

48 LCD LCD U7 SN PD4 PA5 PA6 PD5 U6D 9 8 U6C HC14 74HC14 VCC MOTOR DRIVER U7 VCC IN1 EN12 IN2 IN3 EN34 IN4 SN VMOTOR RMOT+ RMOT- LMOT- LMOT+ MGND MGND MGND MGND C8 104 VMOT C PA0 PA7 VCC MOTOR IDC

3 3.35 PWM Pulse Width ModulationPA5 PA6 SN754410

49 PWM Pulse Width ModulationPA5 PA6 SN SN A PWM PA3 PA

50 3 PA3 PA3 PA PA ASBUS ASBUS 3.38 ISA PCI ASBUS D0 D1 D2 D3 D4 D5 D6 D7 Vmotor PC0 PC1 PC2 PC3 PC4 PC5 PC6 PC7 /RESET /IRQ Vcc GND Vmotor GND PE7 1 PE6 2 PE5 3 PA1 4 PA2 5 PA3 6 OS0 7 OS1 8 OS2 9 OS3 10 IS0 11 IS1 12 IS2 13 IS3 14 ASBUSA ASBUSB 3.38 ASBUS ASBUSA ASBUSB 14 PCO-PC7 RESET IRQ VCC +5V 300MA Vmotor GND IS0-IS3 0-3 OS0-0S3 0-3 PA1-PA2 PA3 DC3 servo PE5-PE7 48

51 ASBUS 3 PE5-PE7 PE5 PE ASDIY 2 PCB analogport 5analogport ASBUSB V ASBUSA Vcc Gnd ASBUSB PA2, digitalport 2 PE5, analogport

52 3 3 Vcc 1 VOUT ºì Íâ ½Ó ÊÕ ÏÞ ù Å ó Æ øí ÂË² Æ åöµ ¼ì² Æ ÕûÐÎ µçâ Êä³ö Å ó 2 GND 3.41 PA1 PA LED 2 ASBUS 74HC373 OS0 74HC373 outputo=1 LED0 Outputo0-Outputo7 LED GND 1K output 0 ASBUSA OC C Q7 Q6 Q5 Q4 Q3 Q2 Q1 Q0 74HC373 D7 D6 D5 D4 D3 D2 D1 D0 Vcc output 8 PC0 PC1 PC2 PC3 PC4 PC5 PC6 PC7 RESET IRQ Vcc GND Vmotor GND GND 74HC04 ASBUSB PE7 PE6 PE5 PA1 PA2 PA3 OS0 OS1 OS2 OS3 IS1 IS2 IS3 IS ASBUS ASBUS 50

53 VJC Hello robot VJC1.5 VJC1.5 C JC VJC1.5 1 LCD Hello,robot! Hello,robot a) b) c) 4-1 HI Hello,robot! d) e) f) g) VJC Hello,robot! VJC JC JC 1.6 JC JC 51

54 4 JC JC void main( ) printf("hello robot! n"); main JC main main void printf LCD printf Hello,robot! C Hello,robot! 4.2 VJC1.5 VJC a) b) c) 52

4 d) -60 5 e) 80 1 f) 4-3 VJC JC JC JC 7 5.

55 4 d) e) 80 1 f) 4-3 VJC JC JC JC T

56 void round() drive(60,30); wait(10.000); stop(); 2 void rectangle() int i; for(i = 0; i < 4; i++) drive(100,0); wait(1.0); drive(0,60); wait(0.2); stop(); wait(0.2) VJC1.5 / / LCD 54

57 a) b) c) d) e) f) 4-4 VJC JC JC JC flw T 55

4 4.3.4 LCD 4.4 JC JC while(1) /* ir=ir_detector(); /* if(ir>0) /* A; /* else B; wait(0.1); /* 4.4.1 void main () int bill_trans=0; /* int bill_rot=0; /* int bmpr=0; while(1) /* bmpr=bumper(); /* if(bmpr!

58 LCD 4.4 JC JC while(1) /* ir=ir_detector(); /* if(ir>0) /* A; /* else B; wait(0.1); /* void main () int bill_trans=0; /* int bill_rot=0; /* int bmpr=0; while(1) /* bmpr=bumper(); /* if(bmpr!=0) if(bmpr==0b0011) /* bill_trans=-80; /* bill_rot=0; 56

59 4 else if(bmpr==0b1100) bill_trans=80; bill_rot=0; else if(bmpr & 0b0101) /* /* /* & bmpr & 0b0101 bill_trans=0; bill_rot=80; drive(bill_trans,bill_rot); /* wait(0.5); bill_trans=80; /* bill_rot=0; else if(bmpr & 0b1010) /* bill_trans=0; bill_rot=-80; drive(bill_trans,bill_rot); /* wait(0.5); bill_trans=80; /* bill_rot=0; drive(bill_trans,bill_rot); /* if() --- if() while(1) 57

60 void main() int ir = 0; /* int bmp = 0; /* int old_bmp = 0; /* int fol_trans_def =60; /* int fol_rot_def =30; /* printf("follow n"); /* LCD Follow while(1) ir = ir_detector(); /* bmp = bumper() & 0b0011; /* & if (old_bmp && bmp) /* && stop(); wait(0.5); /* else if (bmp) /* bmp stop(); /* else if (ir == 0) /* stop(); /* else if (ir == 4) /* drive(fol_trans_def,0); /* else if (ir == 1) /* drive(fol_trans_def, (- fol_rot_def)); /* else if (ir == 2) /* drive(fol_trans_def, fol_rot_def); /* wait(0.1); /* old_bmp = bmp; if() --- if()

61 4 4.5 JC JC JC start_process JC int bill_trans=0; /* int bill_rot=0; void main() /* start_process(billiards_drive()); start_process(billiards()); /* /* /* void billiards_drive() while(1) /* drive(bill_trans,bill_rot); /* void billiards () int bmpr=0; while(1) bmpr=bumper(); if(bmpr!=0) if(bmpr==0b0011) bill_trans=-80; bill_rot=0; /* /* /* /* /* 59

62 4 else if(bmpr==0b1100) /* bill_trans=80; /* bill_rot=0; else if(bmpr & 0b0101) /* bill_trans=0; bill_rot=80; wait(0.2); /* bill_trans=80; /* bill_rot=0; else if(bmpr & 0b1010) /* bill_trans=0; bill_rot=-80; wait(0.2); /* bill_trans=80; /* bill_rot=0; billiards_drive() billiards() bill_trans bill_rot int bill_trans=0; /* int bill_rot=0; /* int bmpr=0; /* int forward=0; /* int running=0; /* 60

63 4 void main() start_process(billiards_drive()); start_process(billiards_ir()); start_process(billiards()); /* /* /* void billiards_drive() while(1) /* running = bill_trans; /*running drive(bill_trans,bill_rot); /* void billiards_ir() int ir; while(1) if(running) /* /* ir=ir_detector(); /* if(bmpr==0 && forward) if(ir==2) bill_trans=20; bill_rot=-80; /* /* /* else if(ir==1) bill_trans=20; bill_rot=80; /* /* else if(ir==0) bill_trans=80; bill_rot=0; /* wait(0.1); 61

64 4 void billiards () while(1) bmpr=bumper(); if(bmpr!=0) if(bmpr==0b0011) forward=0; bill_trans=-80; bill_rot=0; /* /* /* /* /* else if(bmpr==0b1100) forward=1; bill_trans=80; bill_rot=0; /* /* else if(bmpr & 0b0101) bill_trans=0; bill_rot=80; wait(0.2); forward=1; bill_trans=80; bill_rot=0; /* /* /* else if(bmpr & 0b1010) bill_trans=0; bill_rot=-80; wait(0.2); forward=1; bill_trans=80; bill_rot=0; /* /* /* bill_trans,bill_rot 62

65 4 bmpr bmpr running forward running forward forward=0 63

66 VJC VJC

67 : 110cm 65cm 40cm

68 5 5 3 : a) VJC1.5 b) c) 110cm d) e), 90 f) g) a) b) c) VJC T -- d) 66

69 I 4 I 3 IR I 2 I Ι Ι 1 Ι 4 JC 1 int escape_output1, escape_output2;/* int escape_output_flag; /* void escape /* 67

70 5 int avoid_output1, avoid_output2;/* int avoid_output_flag; /* void avoid /* int seeklight_output1, seeklight_output2 /* int seeklight_output_flag /* void seeklight /* int seekfood_output1, seekfood_output2 /* int seekfood_output_flag; /* void seekfood /* void arbitrate /* While 1 if(escape_flag==1) a=escape_output1; b=escape_output2; else if(avoid_flag==1) a=avoid_output1; b=avoid_output2; else if seeklight_output_flag==1 a=seeklight_output1; b=seeklight_output2; else if seekfood_output_flag==1 a=seekfood_output1 b=seekfood_output2; wait(5.000); /* 5 68

71 5 void main( ) start_process(motor_driver()); start_process(escape()); start_process(avoid()); start_process(seeklight()); start_process(seekfood()); start_process(arbitrate()); int a,b; void motor_driver( ) drive(a,b); JC 6 CPU [ ] [ ] 69

72 a) 5 1 b) drive(a,b) c) while(1) while 1 while 1 if else else if d) ir_detector() 0=>, 1=>, 2=>, 4=> bumper() a) b) 1) 2) 3) 70

73 JC

74 6 6 1: JC void stop() void stop_motor(int m) void motor(int m, int speed) void drive(int move, int turn) m 0 1, 2, 3 speed( ) m(1, 2, 3 ) move turn 2. int photo() int microphone() int ir_detector() photo(1), photo(2) =>, 1=>, 2=>, 4=> int bumper() int rotation(int index) rotation(1) rotation(2) int digitalport(int channel) channel int analogport(int channel) channel int encoder(int index) 0 /1 3. void wait(float sec) void resettime() float seconds() sec sec void beep() void tone(float frequency, float length) length frequency 5. int battery()

75 6 6. void asosreset() int runbutton() int abs(int val) int max(int x, int y) int min(int a, int b) float rand() int random(int scale) ASOS 0 1 val scale 2: mm 220 H150 ( ) Kg 1.1 R=0 Vmax 60cm/s 7.2V h 9600bps ASBUS 3: 1 73

76 6 a) 040 b) 30% 90% c) 86 KPa 106 KPa V,50Hz 3 Windows 95/98/ME/NT4/2000/XP PC 1 220V 4: 74

77 6 75 PC LCD LCD

79 6 AS611 AS611 AS611 AS611 AS

80 6 5 AS-MII 78

1.1 ML_ONOFF = 1 Q 3 Q 8 C 0.3V M 2 L 1 ML_ONOFF = 0 Q 3 Q 8 C 1. + R31 VCC R21 10K ML_ONOFF R15 0:off 1:on 1K Green Light VCC=5V L1 Q VDD=12V C

1.1 ML_ONOFF = 1 Q 3 Q 8 C 0.3V M 2 L 1 ML_ONOFF = 0 Q 3 Q 8 C 1. + R31 VCC R21 10K ML_ONOFF R15 0:off 1:on 1K Green Light VCC=5V L1 Q VDD=12V C AUTOMATIC TROLLEY H K Hwang K K Chen J-S Lin S-C Wang M-L Li C-C Lin W-B Lin Dept. Of Electrical Engineering Far East College ABSTRACT This paper proposes an automatic trolley which can move automatically