Subject:
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Re: Household Positioning System Re: DGPS
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Fri, 12 May 2000 03:18:48 GMT
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Viewed:
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3584 times
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I see. Humm. May be I can really use this. OK, if I put a few IR LED with
ID at different locations in the room, and put them at the same height as
the robot sensor so I don't need to worry about tilt angle. If I put the
sensor fixed on the robot, then I should be able to give the robot some
sense of direction. Now, all I need to do is to program the LED with an ID
code... Do you have a good scheme so that I can create quite a few number
of ID codes?
--
Ray
>
> No design, just an idea. The way I see it, you put a "Head" on the • top
> of your robot. It has three sensors mounted for tilt and pan. The • easiest
> way I can see it is to use gear head stepper motors with a "Home" switch • to
> point the thing. The Handy board issues step and direction pulses out a
> parallel port to a stepper controller chip. The tilt motor mounts to the
> shaft of the pan motor. Ribbon cable runs from the fixet frame to the • moving
> stepper and the sensor set. Mounted to the shaft of the tilt motor is a • box.
> inside the box at one end is a group of four "remote control sensors."
> These are available from lots of places (Radio shack, BGMicro). You give
> them 5 volts and ground and they respond with a digital output "I see it."
> These four outputs goto digital inputs on the handy board. When the robot
> powers up, it homes the sensor switches to the home switches. When the • robot
> enters a room, it stops points the sensors at the angles it expects to see • to
> beacons (it has a guess of where it is in the room and a table of where • the
> beacons are supposed to be). If it finds the beacon there, it verifies • the
> beacons transmitted code. If it does not find the beacon, it does a • square
> spiral search from the starting location outward until it finds the • beacon.
> With the new beacon angles, it revises its pose estimate and proceeds to • move
> to its desired location. The speed of acquiring the beacon will be • limited
> by the longest "off" time in the beacons ID code. (That is you don't want • to
> skip a sampled location just because your sensor was looking at that spot
> when the beacon was sending 0.) While the robot is moving, the image of • the
> beacon will drift off of one of the sensors, and the controller will need • to
> issue steps to the pan/tilt system to bring the beacon back onto that • sensor.
> This will help the robot "track" the sensor position. I suppose you • could
> get away with one sensor and constantly scan around the beacon location, • but
> this would slow your robot down, and four sensors will tell you if you • have
> drifted off the spot, or if the beacon is sending a 0.
> Sorry for the length, but this is about all I can say on the topic • right
> now.
>
> Pherd
> Currently in Pensacola FL soon Hartford CT
>
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Message is in Reply To:
 | | Re: Household Positioning System Re: DGPS
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| (...) No design, just an idea. The way I see it, you put a "Head" on the top of your robot. It has three sensors mounted for tilt and pan. The easiest way I can see it is to use gear head stepper motors with a "Home" switch to point the thing. The (...) (26 years ago, 11-May-00, to lugnet.robotics.handyboard)
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