K-Team Khepera IV Stargazer, Руководство пользователя

Страница: 10 / 30

6
3.2 KSG Hardware
The KSG module is composed of a Stargazer position module from
Hagisonic co. Ltd and the K4LFSG battery module. There are also landmarks
to put on the ceiling.
The Stargazer module has IR LEDs for lighting landmarks and a camera
for capturing the image, which is processed by onboard electronics. It
computes position and bearing related to landmarks stuck on the ceiling.
The K4LFSG battery module is composed of a battery and electronics for
managing its charge and connections to the robot. The module is ON at
startup, and OFF when the Khepera IV is OFF.
3.3 KSG Software
The position and bearing are computed internally in the Stargazer and they
are communicated through the serial port (/dev/ttyS2) to the robot using
several commands.
For the ease of use, functions were developed and included in the
Libkhepera library. A test program named kgazer_test is also provided. It
initializes the module and displays the position in an ASCII x-y graph. The
robot can be controlled with the keyboard arrows.
The parameters of the KSG are saved into the KSG and remain even after
power OFF/ON. The exception is the calibration parameter.