Cool! LPC2106 Robot,Go Go Go!!!

只看该作者 · 2007-9-9 10:55

Features

Teleoperate mode to drive robot around via console software or remotely via web browser
Wander mode for fully autonomous roaming
Host software has built-in web server and video archiving
Robot can run programs written in interpreted C or BASIC and stored in onboard Flash
Multiple SRV-1 robots can be controlled via the same base station radio
Robot software is Open Source (GPL) and fully programmable
Wireless remote control or viewing up to 100m indoors and 1000m outdoors (line of sight)
Robot can be controlled from a terminal/console for easy testing

Hardware

Processor: 60mips 32bit ARM7TDMI (Philips/NXP LPC2106)
Robot Radio: Zigbee 802.15.4 (Maxstream XBeePro) - 70mW transmit power
WLAN Option: WiFi 802.11b/g expansion board based on Lantronix WiPort-G module
Base Station Radio: Zigbee 802.15.4 (Maxstream XBeePro) with USB interface - 70mW transmit power
Range: 100m indoors, 1000m line-of-site
Camera: Digital video camera with 80x64 to 640x480 resolution
Sensors: 4 infrared emitters and detectors for proximity, beacon detection and inter-robot communication
Drive: Tank-style treads with differential drive via two precision DC gearmotors (100:1 gear reduction)
Speed: 20cm - 40cm per second (approx 1 foot/sec or .5 mile/hour)
Chassis: Machined Aluminum
Dimensions: 120mm long x 100mm wide x 70mm tall (5" x 4" x 3")
Weight: 360gm (13oz)
Power: 7.2V 2AH Li-ion battery pack - 4 to 6+ hours per charge
Charger: 100-240VAC 50/60Hz (US plug)

Software

Robot Firmware: easily updated, written in C language under GPL Open Source, compiled with GNUARM C
Onboard User Programming: interpreters for C and BASIC languages with special robot-specific commands are provided for running user programs from onboard Flash memory
Development Tools: GNUARM C toolchain provided
Console Software: Java based application, runs on Windows, MAC, Linux. WebcamSat web server module built into console software, allows multiple simultaneous remote viewers via Internet
Robot Control Protocol: Published here. Easily used from other applications
Third-party Software Support:
- Myro - http://wiki.roboteducation.org/Myro_Hardware - Myro is a new framework for programming robots. Myro is written in the language Python and designed for use in Introductory Computing courses, and has been developed by the Institute for Personal Robots in Education. The goal of the project is to provide a programming environment for easily exploring advanced topics in artificial intelligence and robotics without having to worry about the low-level details of the underlying hardware.
- Webots - http://www.cyberbotics.com - SRV-1 support is now included in Webots mobile robotics simulation software. Webots provides a rapid prototyping environment for modelling, programming and simulating mobile robots under Windows, Mac OS/X and Linux. The 3D modeling and physics are outstanding.
- RoboRealm - http://www.roborealm.com/help/Surveyor_SRV1.php - The SRV-1 can now be directly controlled from RoboRealm, a very popular Windows-based machine vision software package for robots. The RoboRealm extensions for SRV-1 allow creation of scripts that combine image processing on live video feeds from the robot, e.g. color filtering, blob detection/tracking, edge detection/outlining and feature extraction, with decision processing and robot motion control, making it easy to create behaviors such as object location and tracking, obstacle avoidance, motion detection, notification, etc, with a web interface, and control can be scripted from C/C++, Python, Java, C#, Lisp, Visual Basic, WScript and COM through the RoboRealm API.
- Microsoft Robotics Studio - http://www.surveyor.com/MSRS.html - Drivers for the SRV-1 in Microsoft Robotics Studio are now available. MSRS is a Windows-based environment for academic, hobbyist and commercial developers to create robotics applications across a wide variety of hardware. Key features and benefits include: end-to-end robotics development platform, lightweight services-oriented runtime, and a scalable / extensible platform.
- Transterpreter - http://www.transterpreter.org - The Transterpreter is a small (2000 lines of code), portable (strict ANSI C), open-source runtime for a growing family of massively concurrent programming languages. Capable of supporting thousands of threads on small devices, it is well suited for embedded and ubiquitous systems development. The Transterpreter can execute programs written in the occam-pi programming language, a language closely modeled on the CSP calculus. An example of Transterpreter programming for the SRV-1 was recently demonstrated at the 2007 AAAI Spring Symposium, as discussed in this article