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Quanser QBot 2, Руководство пользователя

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1.1 Prerequisites

To successfully operate the QBot 2, the prerequisites are:

1. To be familiar with the components of the QBot 2.

2. To have

QUARC

r

version 2.5 or later installed and properly licensed.

3.

The MathWorks

r

Computer Vision System toolbox:

http://www.mathworks.com/products/computer-vision/

4. Microsoft Kinect SDK v1.8 installed:

http://www.microsoft.com/en-ca/download/details.aspx?id=40278

5. Microsoft Kinect for Windows Developer Toolkit v1.8 installed:

http://www.microsoft.com/en-ca/download/details.aspx?id=40276

6. To be familiar with using

QUARC

r

control and monitor the vehicle in real-time, and in designing a controller

through

Simulink

r

. See Reference [2] for more details.

1.2 References

[1] Gumstix:

http://gumstix.com/

[2] QUARC User Manual (type doc quarc in Matlab to access)

QBOT 2 - User Manual

4

Содержание QBot 2

Страница 1: ...CAPTIVATE MOTIVATE GRADUATE USER MANUAL QBot 2 for QUARC Set Up and Configuration...

Страница 2: ...ollections b to create and reproduce adaptations provided reasonable steps are taken to clearly identify the changes that were made to the original work c to distribute and publically perform the work...

Страница 3: ...ble through three different block sets the Quanserr Hardware In the Loop HIL block set to read from sensors and or write to outputs the Quanserr Stream API blockset to perform communications over wire...

Страница 4: ...crosoft Kinect SDK v1 8 installed http www microsoft com en ca download details aspx id 40278 5 Microsoft Kinect for Windows Developer Toolkit v1 8 installed http www microsoft com en ca download deta...

Страница 5: ...by two differential drive wheels with built in encoders The Kobuki comes with a bumper sensor as well as a built in gyroscope and cliff sensors The embedded computer target can access data from these...

Страница 6: ...Distance between the left and right wheels 0 235 m h Height of the QBot 2 with Kinect mounted 0 27 m max Maximum speed of the QBot 2 0 7 m s m Total mass of the QBot 2 3 79 kg Table 2 1 QBot 2 specif...

Страница 7: ...e Kobuki 12 V 5 A power source see Figure 2 4 Figure 2 3 The QBot 2 DAQ Figure 2 4 The QBot 2 DAQ connectors The QBot 2 DAQ also provides five headers for users to use when integrating additional I O...

Страница 8: ...utput needs to be in a known state on power up it is recommended that a 10k resistor is put from the I O to 5 V or GND as needed The DIO channels are accessed through the HIL API Figure 2 6 The QBot 2...

Страница 9: ...user encoder input channels Figure 2 8 Each encoder input channel has an A and B pulse as well as a Z index signal The encoders are sampled at 100 kHz The encoder inputs are accessed through the HIL...

Страница 10: ...r PWM outputs 2 3 5 SPI The QBot 2 provides one Serial Peripheral Interface SPI bus Figure 2 10 which is a synchronous serial data bus for interfacing other sensors or devices with the embedded comput...

Страница 11: ...in the QUARCr help Figure 2 11 The QBot 2 DAQ UART communication port 2 3 7 I2 C The QBot 2 provides one inter integrated circuit I2 C serial bus Figure 2 12 for interfacing with external sensors and...

Страница 12: ...ter and or other vehicles 2 5 The Kinect Sensor The Microsoft Kinect sensor is an integrated RGB camera and depth sensor used in a variety of experiments Figure 2 13a The Kinect camera provides RGB im...

Страница 13: ...HIL blockset it used to communicate with Quanserr data acquisition cards For detailed information on the HIL blockset see the QUARCr HIL user guide in the Matlabr help under QUARC Targets User s Guid...

Страница 14: ...the corresponding HIL Initialize through its name The HIL blocks will interface to the DAQ specified in the HIL Initialize Board type parameter qbot2 The HIL Read Write block is used to read sensor m...

Страница 15: ...LED1 green colour 11 LED2 red colour 12 LED2 green colour 13 Enable 3 3V power 14 Enable 5V power 15 Enable 12V 5A power 16 Enable 12V 1 5A power Other 2000 Right wheel speed m s 2001 Left wheel speed...

Страница 16: ...tral bumper 10 Left bumper 11 Right wheel drop 12 Left wheel drop 13 Right cliff detected 14 Central cliff detected 15 Left cliff detected 16 Button B0 17 Button B1 18 Button B2 19 Right overcurrent 2...

Страница 17: ...when a new frame is available so that it can be used to trigger image processing only once per frame The Kinect Get Depth block is used to output a depth mapped image at the specified resolution The...

Страница 18: ...r vehicles Gumstix 192 168 2 20 to 192 168 2 254 These Steps outlined below for setting up the host computer wireless connection only need to be performed once 1 Power up and turn on the wireless rout...

Страница 19: ...identi ed network connection and click Properties If you chose wireless connectivity between your PC and the router choose the Wireless Network Connection instead right click on it and click Propertie...

Страница 20: ...e router check network connectivity and your IP address before going to the next steps 10 If the QBot 2 is powered on the QBot 2 can be pinged by typing ping IP of the QBot 2 in the Run box in Windows...

Страница 21: ...ssary Figure 3 6 Figure 3 6 QUARCr Option Menu 4 In order to run the QUARCr model on the target vehicle the target s IP address must be specified To setup the default target address for all linux duov...

Страница 22: ...mpiled and downloaded to the target If the wireless connection to the vehicle has been established a QUARCr console can be opened to show additional messages and progress during model compilation by g...

Страница 23: ...umstix and antenna are properly connected Make sure the Gumstix and antenna are securely connected and retry the above steps to establish a wireless connection Recycle the power or turn on the robot a...

Страница 24: ...on Time block to determine their execution time during each sample instant This helps identify the bottlenecks in the model blocks subsystems with the highest execution time and can identify blocks su...

Страница 25: ...the QUARCr menu under QUARC Clean all will remove all generated code and compiled code for the current model but this will only free up the space used by the current model To view all models currently...

Страница 26: ...ch Support link Fill in the form with all the requested software and hardware information as well as a description of the problem encountered Also make sure your e mail address and telephone number ar...

Страница 27: ...mobile robotics from vibration analysis resonance and planar position control to sensors computer vision guided control to unmanned systems control All of the experiments platforms are compatible with...

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