Page 1
Mechatronic Design and Development of an Autonomous Mobile
Robotics System for Road Mark Painting
MOHAMMED A. H. ALI
1,a, MUSA MAILAH
2, WAN AZHAR B. YUSSOF
1, ZAMZURI
BIN HAMEDON1, ZULKILI B. M. YUSSOF
1
[email protected]
Abstract— this paper presents a mechatronic design and development of a new WMR experimental rig
prototype for autonomous road marks painting. The platform includes three main units: differential drive unit,
measurement and vision unit and processing unit. The sensors, actuators and the interface free controller cards
are connected together in such a way that ensures high performance for exchange the data from the on-board
computer to the sensors and actuators. The embedded controller of the proposed platform has been developed
to integrate the mechanical components with electronics and software algorithms. The painting system is
attached on the WMR platform to perform autonomous on-the-road mark painting. The design, components,
control of the paint task and the connection to the main WMR controller are also presented.
Key-words:— Autonomous, Navigation, Wheeled Robotics System , Road Marks, Painting System.
1 Introduction Several Mobile Robotics platforms have been
developed in last few years to launch with certain
tasks that represent as hazard, dangerous and heavy
to be performed with people interaction. Thus
researchers try to substitute most of the systems that
need human to operate such above-mentioned
systems either those which are working manually or
adjusted automatically by autonomous systems that
are intelligent enough to do the tasks without any
human interactions.
SCARF vehicle for detection the road regions is
proposed by [1] using extracting of colour
information method. In which, the system can
recognize even the roads with faded surfaces, edges
without lane markings and Y intersections without
pre-predictions from the navigation system. This
work is considered as the first system for online
intersection detection. SCARF navigation includes
two functions: detection of road surface and
interpretation generation. The detection of road-
surface estimates from the input image the location
of the road and it provides so called road-surface
likelihood image using Bayesian networks and
pattern recognition where every pixel in this image
contains the probability belongs to the road surface.
The interpretation generation function matches a set
of road and intersections to the road-surface
likelihood image using match-filter technique.
Driver assistance system (ROMA) for detecting
the lane of roads and road intersections is proposed
by [2]. This system uses the sequence of images for
the signs of roads to detect the lane of roads and
road intersection. It depends on the two approaches
to localize vehicle in road: Contour-based methods,
which are used for road border detection and
depends on calculation of a gradient direction of
image in real time. The second approach is a
segmentation of road to find dashed and solid
marking lines for intersection detection.
Laser based navigation system has been used for
navigating vehicles over the roads in difficult
situation (either at night or day) [3]. The system can
track and extract the borders of the road in non-
cooperative situation like no printed signs on road,
driving in the night, etc..This system uses two
algorithms: the first one is so called detection
algorithm which is aimed to extract the road edges
from the range data using statistical approaches and
2Faculty of Mechanical Engineering,
Universiti Teknologi Malaysia
81310 Skudai, Johor B
MALAYSIA
1Faculty of Manufacturing Engineering,
Universiti Malaysia Pahang
26600 Pekan, Pahang
MALAYSIA
Page 2
distinguish those data into two parts road surface or
edge/side
estimation model which is used for continuous
trac
filter to estimate the state vectors and updating
measurements.
obstacle avoiding and localization in
proposed by [4
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
used for
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
the road curbs during trajectory tracking.
developed in
the road marks painting which is accomplished in
almost existed systems over the world with manual
devices.
2.
drive wheels (actuated by motors) and a castor
wheel
from the equilibrium of active and reactive forces as
follows:
F
total weight of the robot.
wheels.
F
distinguish those data into two parts road surface or
edge/side-zone of roads. The second one is the
estimation model which is used for continuous
tracking of the road borders. It uses discrete Kalman
filter to estimate the state vectors and updating
measurements.
A navigation system for trajectory tracking,
obstacle avoiding and localization in
proposed by [4
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
used for avoiding the obstacles when they occurred
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
the road curbs during trajectory tracking.
A new autonomous mobile robot platform will be
developed in
the road marks painting which is accomplished in
almost existed systems over the world with manual
devices.
2. Platform Design
The platform is driven by two differential
drive wheels (actuated by motors) and a castor
wheel as in Fig.1
The forces that act on the wheels can be calculated
from the equilibrium of active and reactive forces as
follows:
Fw is reactive force acting on the wheels,
total weight of the robot.
wheels.
w FF =∑
ww FF == 1
distinguish those data into two parts road surface or
zone of roads. The second one is the
estimation model which is used for continuous
king of the road borders. It uses discrete Kalman
filter to estimate the state vectors and updating
measurements.
A navigation system for trajectory tracking,
obstacle avoiding and localization in
proposed by [4]. In this system, the te
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
avoiding the obstacles when they occurred
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
the road curbs during trajectory tracking.
autonomous mobile robot platform will be
developed in this paper to perform autonomously
the road marks painting which is accomplished in
almost existed systems over the world with manual
Platform Design
The platform is driven by two differential
drive wheels (actuated by motors) and a castor
as in Fig.1.
The forces that act on the wheels can be calculated
from the equilibrium of active and reactive forces as
is reactive force acting on the wheels,
total weight of the robot.
gwg FF 3+
ww FF = 32
distinguish those data into two parts road surface or
zone of roads. The second one is the
estimation model which is used for continuous
king of the road borders. It uses discrete Kalman
filter to estimate the state vectors and updating
A navigation system for trajectory tracking,
obstacle avoiding and localization in
]. In this system, the te
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
avoiding the obstacles when they occurred
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
the road curbs during trajectory tracking.
autonomous mobile robot platform will be
this paper to perform autonomously
the road marks painting which is accomplished in
almost existed systems over the world with manual
Platform Design
The platform is driven by two differential
drive wheels (actuated by motors) and a castor
The forces that act on the wheels can be calculated
from the equilibrium of active and reactive forces as
is reactive force acting on the wheels,
total weight of the robot. Fgw is the weight of the
gw
gF
F+=
33
distinguish those data into two parts road surface or
zone of roads. The second one is the
estimation model which is used for continuous
king of the road borders. It uses discrete Kalman
filter to estimate the state vectors and updating
A navigation system for trajectory tracking,
curbed roads is
]. In this system, the tele-operation
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
avoiding the obstacles when they occurred
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
the road curbs during trajectory tracking.
autonomous mobile robot platform will be
this paper to perform autonomously
the road marks painting which is accomplished in
almost existed systems over the world with manual
The platform is driven by two differential
drive wheels (actuated by motors) and a castor
The forces that act on the wheels can be calculated
from the equilibrium of active and reactive forces as
(1)
is reactive force acting on the wheels, Fg is the
is the weight of the
(4.2) gwF
distinguish those data into two parts road surface or
zone of roads. The second one is the
estimation model which is used for continuous
king of the road borders. It uses discrete Kalman
filter to estimate the state vectors and updating
A navigation system for trajectory tracking,
curbed roads is
operation
and autonomous navigation are performed in the
curbed road environment through a combination
between DGPS and odometry with extended
Kalman filter, which is used to localize the mobile
robot within road environment; however the LRF is
avoiding the obstacles when they occurred
by finding the suitable path to pass within the roads
curbs. Also LRF is used to estimate the position of
autonomous mobile robot platform will be
this paper to perform autonomously
the road marks painting which is accomplished in
almost existed systems over the world with manual
The platform is driven by two differential
drive wheels (actuated by motors) and a castor
The forces that act on the wheels can be calculated
from the equilibrium of active and reactive forces as
is the
is the weight of the
Fig.
If the distances between the robot center
wheels are similar, the force on each wheel can be
calculated as follows:
When choosing the wheels motors, many
parameters should be taken into consideration to
determine the
parameters were selected as follows:
- Total mass of robot (
- Wheel mass (m
- Radius of wheel (
- Maximum acceleration (
- Maximum incline angle (
- Working surface: can be chosen from Table 4.1
The required traction force to move the robot can be
computed as follows:
Ftot
for maximum acceleration
needed to overcome the rolling resistance.
force required to overcome the slope resistence.
is the force required to accelerate the robot.
Fig.
Frr
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
follows:
The total mass of robot and wheel (for one wheel):
m
The surface coefficient of friction is chosen from
Table 4.1, C
Fig.1 A free body diagram of the robot
If the distances between the robot center
wheels are similar, the force on each wheel can be
calculated as follows:
When choosing the wheels motors, many
parameters should be taken into consideration to
determine the
parameters were selected as follows:
Total mass of robot (
Wheel mass (m
Radius of wheel (
Maximum acceleration (
Maximum incline angle (
Working surface: can be chosen from Table 4.1
The required traction force to move the robot can be
computed as follows:
tot is the total traction force needed to move robot
for maximum acceleration
needed to overcome the rolling resistance.
force required to overcome the slope resistence.
is the force required to accelerate the robot.
Fig. 2 Free body diagram of the robot’s wheel
rr can be calculated as a function of the normal
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
follows:
The total mass of robot and wheel (for one wheel):
wmm =
The surface coefficient of friction is chosen from
Table 4.1, Crr = 0.012 (good asphalt), and F
FF = wn
FFrr =
totF
A free body diagram of the robot
If the distances between the robot center
wheels are similar, the force on each wheel can be
calculated as follows:
When choosing the wheels motors, many
parameters should be taken into consideration to
determine the maximum torque required. These
parameters were selected as follows:
Total mass of robot (mr) without wheel: 200 kg
Wheel mass (mw): 3 kg
Radius of wheel (r): 10.5 cm
Maximum acceleration (a
Maximum incline angle (inc
Working surface: can be chosen from Table 4.1
The required traction force to move the robot can be
computed as follows:
is the total traction force needed to move robot
for maximum acceleration
needed to overcome the rolling resistance.
force required to overcome the slope resistence.
is the force required to accelerate the robot.
Free body diagram of the robot’s wheel
can be calculated as a function of the normal
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
The total mass of robot and wheel (for one wheel):
3
rm+
The surface coefficient of friction is chosen from
= 0.012 (good asphalt), and F
mg=w
mgcF rrn =
rr FF +=
A free body diagram of the robot
If the distances between the robot center
wheels are similar, the force on each wheel can be
When choosing the wheels motors, many
parameters should be taken into consideration to
maximum torque required. These
parameters were selected as follows:
) without wheel: 200 kg
): 10.5 cm
amax): 0.5 m/s
inc): 3 degree
Working surface: can be chosen from Table 4.1
The required traction force to move the robot can be
is the total traction force needed to move robot
for maximum acceleration (amax). Frrneeded to overcome the rolling resistance.
force required to overcome the slope resistence.
is the force required to accelerate the robot.
Free body diagram of the robot’s wheel
can be calculated as a function of the normal
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
The total mass of robot and wheel (for one wheel):
The surface coefficient of friction is chosen from
= 0.012 (good asphalt), and F
rcmg r
acsr FF +
If the distances between the robot center gravity and
wheels are similar, the force on each wheel can be
When choosing the wheels motors, many
parameters should be taken into consideration to
maximum torque required. These
) without wheel: 200 kg
): 0.5 m/s2
): 3 degree
Working surface: can be chosen from Table 4.1
The required traction force to move the robot can be
is the total traction force needed to move robot
rr is the force
needed to overcome the rolling resistance. Fsr is the
force required to overcome the slope resistence. F
is the force required to accelerate the robot.
Free body diagram of the robot’s wheel
can be calculated as a function of the normal
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
The total mass of robot and wheel (for one wheel):
The surface coefficient of friction is chosen from
= 0.012 (good asphalt), and Frr=23.8 N
(3)
(4.2)
(4)
gravity and
wheels are similar, the force on each wheel can be
When choosing the wheels motors, many
parameters should be taken into consideration to
maximum torque required. These
The required traction force to move the robot can be
is the total traction force needed to move robot
is the force
is the
Fac
can be calculated as a function of the normal
force acting on the wheel as shown in Figure 4.2.
The reactive normal force can be computed as
The total mass of robot and wheel (for one wheel):
The surface coefficient of friction is chosen from
N
(4.2)
Page 3
Table
The slope resist
can be calculated as follows:
τlosses between the wheels and their axles and the
drag on the motor bearings. It is located with the
range (1.1
and the required torque is thus
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
gearbox ratio as follows:
µ is the gearbox ratio, n
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
the motor is
equalling
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
cm. The lengt
enable robot for loading objects with large
Table 1:
The slope resist
can be calculated as follows:
Fsr
The acceleration force can be computed as follows:
The total traction force is
The total torque needed to accomplish the robot
movement can be calculated as follows:
reqτ
τf is the torque factor that represents the frictional losses between the wheels and their axles and the
drag on the motor bearings. It is located with the
range (1.1 - 1.5) Nm. In the worst case,
and the required torque is thus
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
gearbox ratio as follows:
τ
τ
mot
req
µ is the gearbox ratio, n
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
the motor is τ
Two DKM brush motors with torque
equalling 6.3 Nm are chosen to drive the robot.
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
cm. The lengt
enable robot for loading objects with large
Surface coefficient of
The slope resistance force is shown in Fig.
can be calculated as follows:
sr = mg sin(inc) = 104.1 N
The acceleration force can be computed as follows:
Fsr = mamax
The total traction force is
The total torque needed to accomplish the robot
movement can be calculated as follows:
ftot τrF=
is the torque factor that represents the frictional
losses between the wheels and their axles and the
drag on the motor bearings. It is located with the
1.5) Nm. In the worst case,
and the required torque is thus
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
gearbox ratio as follows:
=req
mot
mot
req
n
n
µ is the gearbox ratio, n
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
τmot = 1.2 Nm.
Two DKM brush motors with torque
6.3 Nm are chosen to drive the robot.
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
cm. The length of robot is chosen to be 100 cm to
enable robot for loading objects with large
ace coefficient of
ance force is shown in Fig.
can be calculated as follows:
= mg sin(inc) = 104.1 N
The acceleration force can be computed as follows:
; Fsr
The total traction force is F
The total torque needed to accomplish the robot
movement can be calculated as follows:
is the torque factor that represents the frictional
losses between the wheels and their axles and the
drag on the motor bearings. It is located with the
1.5) Nm. In the worst case,
and the required torque is thus τreq = 36.13 Nm.
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
µ=
µ is the gearbox ratio, nmot and nreq are the rotation
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
= 1.2 Nm.
Two DKM brush motors with torque
6.3 Nm are chosen to drive the robot.
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
h of robot is chosen to be 100 cm to
enable robot for loading objects with large
ace coefficient of friction [5
ance force is shown in Fig. 2 and
= mg sin(inc) = 104.1 N
The acceleration force can be computed as follows:
= 101.5 N
tot = 229.4 N
The total torque needed to accomplish the robot
movement can be calculated as follows:
is the torque factor that represents the frictional
losses between the wheels and their axles and the
drag on the motor bearings. It is located with the
1.5) Nm. In the worst case, τf = 1.5 Nm= 36.13 Nm. The
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
are the rotation
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
Two DKM brush motors with torque
6.3 Nm are chosen to drive the robot.
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
h of robot is chosen to be 100 cm to
enable robot for loading objects with large
friction [5]
2 and
(5)
The acceleration force can be computed as follows:
(4.5)
= 229.4 N
The total torque needed to accomplish the robot
(4.6)
is the torque factor that represents the frictional
losses between the wheels and their axles and the
drag on the motor bearings. It is located with the
= 1.5 Nm
The
torque of the motor can be calculated from the
required torque acted on the wheel with knowing the
are the rotation
speeds of the motor and wheel, respectively. If the
rotation speed of DC motors is 3000 rpm and the
output rotation speed is 100 rpm, then the torque of
Two DKM brush motors with torque
6.3 Nm are chosen to drive the robot.
This motor is equipped with a gearbox that has a
gear ratio of 1:30. The length of each motor and its
gearbox is 24cm which makes the length of the
robot shaft 50 cm and the total width of the robot 80
h of robot is chosen to be 100 cm to
enable robot for loading objects with large
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
enable for good viewing of the envi
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
electronic cards and airless pain
in Fig.3, 4 and
3.
The pl
differential drive unit, measurement and vision unit
and processing unit.
3.1 Measurement and Vision Unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
the robot and localize it within environments.
LRF (
most
the sensor is infra
with laser class 1 safety. The scan area is 240º semi
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
accuracy ±30mm. It is used to find th
robot during navigation (for curbed roads).
A wifi camera (
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
Image sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
The lens is fixed focus with
and with a range from 50 cm to infinity.
Odometry
rotary encoders (
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
encode the position by
pulse.
3.2
The processing unit contains the following parts:
A motor driver
current to the motor and protect the motors from
starting current load until 80 A, overheating, e
SmartDrive40
similar unit and operates in pair which make the
driving of a robot with differential drive easy.
(4.5)
(4.6)
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
enable for good viewing of the envi
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
electronic cards and airless pain
in Fig.3, 4 and
Platform Components
The platform includes three main units, namely, the
differential drive unit, measurement and vision unit
and processing unit.
1 Measurement and Vision Unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
the robot and localize it within environments.
LRF (HOKUYO
most suitable for area scanning. The light source of
the sensor is infra
with laser class 1 safety. The scan area is 240º semi
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
accuracy ±30mm. It is used to find th
robot during navigation (for curbed roads).
A wifi camera (
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
mage sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
The lens is fixed focus with
and with a range from 50 cm to infinity.
Odometry measurement is accomplished using two
rotary encoders (
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
encode the position by
pulse.
3.2 Processing Unit
The processing unit contains the following parts:
A motor driver
current to the motor and protect the motors from
starting current load until 80 A, overheating, e
SmartDrive40
similar unit and operates in pair which make the
driving of a robot with differential drive easy.
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
enable for good viewing of the envi
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
electronic cards and airless pain
in Fig.3, 4 and 6.
Platform Components
atform includes three main units, namely, the
differential drive unit, measurement and vision unit
and processing unit.
1 Measurement and Vision Unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
the robot and localize it within environments.
HOKUYO URG-04LX
for area scanning. The light source of
the sensor is infrared laser of wavelength 785nm
with laser class 1 safety. The scan area is 240º semi
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
accuracy ±30mm. It is used to find th
robot during navigation (for curbed roads).
A wifi camera (JVC GC
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
mage sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
The lens is fixed focus with
and with a range from 50 cm to infinity.
measurement is accomplished using two
rotary encoders (B106) to estimate the angular
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
encode the position by counting the accumulative
Processing Unit
The processing unit contains the following parts:
A motor driver (SmartDrive 40
current to the motor and protect the motors from
starting current load until 80 A, overheating, e
can also be hooked up with another
similar unit and operates in pair which make the
driving of a robot with differential drive easy.
(4.7)
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
enable for good viewing of the environments. The
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
electronic cards and airless painting pump as shown
Platform Components
atform includes three main units, namely, the
differential drive unit, measurement and vision unit
1 Measurement and Vision Unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
the robot and localize it within environments.
04LX-UG0)1 is one of the
for area scanning. The light source of
red laser of wavelength 785nm
with laser class 1 safety. The scan area is 240º semi
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
accuracy ±30mm. It is used to find th
robot during navigation (for curbed roads).
JVC GC-XA1B) produces a live
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
mage sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
The lens is fixed focus with focal length
and with a range from 50 cm to infinity.
measurement is accomplished using two
) to estimate the angular
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
counting the accumulative
The processing unit contains the following parts:
SmartDrive 40) that will supply the
current to the motor and protect the motors from
starting current load until 80 A, overheating, e
can also be hooked up with another
similar unit and operates in pair which make the
driving of a robot with differential drive easy.
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
ronments. The
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
ting pump as shown
atform includes three main units, namely, the
differential drive unit, measurement and vision unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
the robot and localize it within environments.
)1 is one of the
for area scanning. The light source of
red laser of wavelength 785nm
with laser class 1 safety. The scan area is 240º semi
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
accuracy ±30mm. It is used to find the path of the
robot during navigation (for curbed roads).
) produces a live
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
mage sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
focal length equal to 2.8
and with a range from 50 cm to infinity.
measurement is accomplished using two
) to estimate the angular
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
counting the accumulative
The processing unit contains the following parts:
that will supply the
current to the motor and protect the motors from
starting current load until 80 A, overheating, etc.
can also be hooked up with another
similar unit and operates in pair which make the
driving of a robot with differential drive easy.
dimensions such as airless painting pump. The
height of LRF and camera supporting holders are
chosen to be 80cm and 65cm, respectively, to
ronments. The
others holder’s dimensions on the robot platform are
chosen adequately to hold the other robot
components such as batteries, encoders, IFC
ting pump as shown
atform includes three main units, namely, the
differential drive unit, measurement and vision unit
The measurement and vision unit includes the
sensors that are used to measure the movement of
)1 is one of the
for area scanning. The light source of
red laser of wavelength 785nm
with laser class 1 safety. The scan area is 240º semi-
circle with maximum radius, 5600 mm and
resolution 0.36º. The scan time is 100 ms/scan and
LRF measures 683 points per each scan with
e path of the
) produces a live
streaming video for the surrounding environments
and is used to extract the features of the road that
will be used later for path decision and finding.
mage sensor is 5 mega pixel (MP) CMOS sensor
with four operation modes: video record, photo
record, live streaming via WiFi, wireless webcam.
2.8
measurement is accomplished using two
) to estimate the angular
positions of the robot wheels. Rotary encoder is
used to calculate the angular rotation of the shaft.
Depending on the pulse per rotation, user may
counting the accumulative
that will supply the
current to the motor and protect the motors from
tc.
can also be hooked up with another
similar unit and operates in pair which make the
Page 4
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
wide range of tasks:
The power card (
power supply to the o
motors and sensors.
cards through two ways via side stack connector and
external connector.
The computer interface card (
card for IFC cards system
receive data from the other slave cards and the host
computer.
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
low level control of motors, solenoid, relay,
The brushless card (
connected to the computer interface card IFC
and the motor driver card
the PWM supplied to the DC
is able to control two brushless
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
feedback from the motor driver.
The brush motor card (
is used to supply the power to the encoders; also to
receive data f
painting system and navigation
connected through the main controller (
to the on
The o
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
SS108T02
SRD
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
of the valve and the motor of the pump.
3.3
wheels (comprising two 8 in pneumatic wheels)
driven by two DC
and one castor wheel. Other parts on this platform
include a battery (
chassis which is fabricated in the laboratory using
the aluminum
The Interface Free Controller Cards (
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
wide range of tasks:
The power card (
power supply to the o
motors and sensors.
cards through two ways via side stack connector and
external connector.
The computer interface card (
card for IFC cards system
receive data from the other slave cards and the host
computer. The computer is able to interface with
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
low level control of motors, solenoid, relay,
The brushless card (
connected to the computer interface card IFC
and the motor driver card
the PWM supplied to the DC
is able to control two brushless
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
feedback from the motor driver.
The brush motor card (
is used to supply the power to the encoders; also to
receive data f
Output card
painting system and navigation
connected through the main controller (
to the on-board computer as shown in Figure 4.9.
The output card
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
SS108T02 relay that operate the pump motor and
SRD-12DC-SL.C
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
of the valve and the motor of the pump.
3.3 The Differential Drive Uni
The drive unit comprises two differential drive
wheels (comprising two 8 in pneumatic wheels)
driven by two DC
and one castor wheel. Other parts on this platform
include a battery (
chassis which is fabricated in the laboratory using
the aluminum
The Interface Free Controller Cards (
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
wide range of tasks:
The power card (IFC-PC00
power supply to the other cards that will
motors and sensors. Power is distributed to the other
cards through two ways via side stack connector and
external connector.
The computer interface card (
card for IFC cards system
receive data from the other slave cards and the host
The computer is able to interface with
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
low level control of motors, solenoid, relay,
The brushless card (IFC-
connected to the computer interface card IFC
and the motor driver card
the PWM supplied to the DC
is able to control two brushless
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
feedback from the motor driver.
The brush motor card (IFCBH02
is used to supply the power to the encoders; also to
receive data from encoder.
utput card IFC-0C04
painting system and navigation
connected through the main controller (
board computer as shown in Figure 4.9.
utput card IFC-0C04
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
relay that operate the pump motor and
SL.C relay that operates the electrical
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
of the valve and the motor of the pump.
The Differential Drive Uni
The drive unit comprises two differential drive
wheels (comprising two 8 in pneumatic wheels)
driven by two DC-brush motors (
and one castor wheel. Other parts on this platform
include a battery (NP7
chassis which is fabricated in the laboratory using
the aluminum sheets as depicted in Figure 3 and
The Interface Free Controller Cards (
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
PC00) is used to regulate the
ther cards that will
Power is distributed to the other
cards through two ways via side stack connector and
The computer interface card (IFC-IC00
card for IFC cards system, which is used to sen
receive data from the other slave cards and the host
The computer is able to interface with
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
low level control of motors, solenoid, relay,
-BL02) is a slave card that is
connected to the computer interface card IFC
and the motor driver card SmartDrive 40
the PWM supplied to the DC-brush motor. This card
is able to control two brushless-motor parame
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
feedback from the motor driver.
IFCBH02) is a slave card and
is used to supply the power to the encoders; also to
rom encoder.
is used for
painting system and navigation
connected through the main controller (
board computer as shown in Figure 4.9.
0C04 offers four outputs that
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
relay that operate the pump motor and
relay that operates the electrical
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
of the valve and the motor of the pump.
The Differential Drive Unit
The drive unit comprises two differential drive
wheels (comprising two 8 in pneumatic wheels)
brush motors (120W DKM
and one castor wheel. Other parts on this platform
NP7-12 Lead Acid) and the
chassis which is fabricated in the laboratory using
sheets as depicted in Figure 3 and
The Interface Free Controller Cards (IFC) is used
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
) is used to regulate the
ther cards that will supply the
Power is distributed to the other
cards through two ways via side stack connector and
IC00) is the main
, which is used to send and
receive data from the other slave cards and the host
The computer is able to interface with
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
low level control of motors, solenoid, relay, etc.
) is a slave card that is
connected to the computer interface card IFC-IC00
SmartDrive 40 to control
brush motor. This card
motor parameters
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
) is a slave card and
is used to supply the power to the encoders; also to
is used for interfacing
painting system and navigation system. It
connected through the main controller (IFC-IC00
board computer as shown in Figure 4.9.
offers four outputs that
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
relay that operate the pump motor and
relay that operates the electrical
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
of the valve and the motor of the pump.
The drive unit comprises two differential drive
wheels (comprising two 8 in pneumatic wheels)
120W DKM-DC
and one castor wheel. Other parts on this platform
Lead Acid) and the
chassis which is fabricated in the laboratory using
sheets as depicted in Figure 3 and 4.
) is used
to exchange the sensing and actuating data between
the main controller and the sensors or actuators.
There are several kinds of IFC cards that produce a
) is used to regulate the
supply the
Power is distributed to the other
cards through two ways via side stack connector and
) is the main
d and
receive data from the other slave cards and the host
The computer is able to interface with
powerful sensors such as LRF and video camera and
by integrating with others IFC cards, it will offer
) is a slave card that is
IC00
to control
brush motor. This card
ters
like control of speed, direction, start, stop and
braking. It even has a counter for internal speed
) is a slave card and
is used to supply the power to the encoders; also to
the
is
IC00)
board computer as shown in Figure 4.9.
offers four outputs that
can be used to drive the relays or solenoids. In the
proposed design, the output card is connected to
relay that operate the pump motor and
relay that operates the electrical
valve. The spray gun stays always open and the
spray of the paint is controlled by the signals
coming from the main controller to trigger the relays
The drive unit comprises two differential drive
wheels (comprising two 8 in pneumatic wheels)
DC)
and one castor wheel. Other parts on this platform
Lead Acid) and the
chassis which is fabricated in the laboratory using
4.
3.4
It is planned to use the on
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
motors and encoders are connected via
MDS40A
computer interface card
card (
whole embedded controller system. Figure 4.5
illustrates the design procedure.
Fig.
robot embedded system
The interface computer card (
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
slave IFC cards (
configured to the main controller u
Fig. 3 A 3D model of the WMR platform
3.4 Embedded Controller Design and Setting
It is planned to use the on
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
motors and encoders are connected via
MDS40A and
computer interface card
card (IFC-PC00
whole embedded controller system. Figure 4.5
illustrates the design procedure.
Fig. 5 Flow of data (black) and power (red)
robot embedded system
The interface computer card (
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
slave IFC cards (
configured to the main controller u
A 3D model of the WMR platform
Embedded Controller Design and Setting
It is planned to use the on
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
motors and encoders are connected via
d IFC-BH02
computer interface card IFC
PC00) regulates the power supply to the
whole embedded controller system. Figure 4.5
illustrates the design procedure.
Flow of data (black) and power (red)
robot embedded system
The interface computer card (
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
slave IFC cards (IFC-BLO2
configured to the main controller u
A 3D model of the WMR platform
Embedded Controller Design and Setting
It is planned to use the on-board computer as a host
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
motors and encoders are connected via
BH02, respectively, to the
IFC-CI00. The main power
) regulates the power supply to the
whole embedded controller system. Figure 4.5
illustrates the design procedure.
Flow of data (black) and power (red)
The interface computer card (IFC-IC00
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
-BLO2, IFC
configured to the main controller using a unique
A 3D model of the WMR platform
Embedded Controller Design and Setting
board computer as a host
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
motors and encoders are connected via IFC-BL02
, respectively, to the
. The main power
) regulates the power supply to the
whole embedded controller system. Figure 4.5
Flow of data (black) and power (red) in the
IC00) is the main
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
IFC-BH02) are
sing a unique
board computer as a host
controller since A high computational power in this
project is required. The LRF and WiFi camera are
connected directly to the PC. However, the DC
BL02-
, respectively, to the
. The main power
) regulates the power supply to the
whole embedded controller system. Figure 4.5
in the
) is the main
controller that exchanges the data from host
computer to the slave IFC card via stacker pins. The
) are
sing a unique
Page 5
communication addresses.
the PMW signal, adequate adjustment was applied
to the DIP switches of the
SmartDrive40
read from the DIP switches and retained as long as
the driver i
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
motor in the clock
The DIP input data is coming from
IFC
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
with 500 pulses per cy
distance measurement and direction estimation.
3.5
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
Figure 4.7. The functio
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
has been adjusted with t
was used for the image and signal processing
coming from the camera and LRF since it is a high
performance language for technical computing and
has suitable image and signal toolboxes. The linking
between C# and MATLAB was done using
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
vice versa.
4.3 Road Mark Painting System
the painting task.
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
TITAN
press the liquid until 214 bar with a flow rate 1.8
l/min. As the motor of pu
source
is used to convert the
230 V AC
with multiple diameter nozzles and is always left
open in the design.
t
life and durability
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
communication addresses.
Since the DC motors are controlled using
the PMW signal, adequate adjustment was applied
to the DIP switches of the
SmartDrive40
read from the DIP switches and retained as long as
the driver i
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
motor in the clock
The DIP input data is coming from
IFC-BH02 provides the power supply to the encoder
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
with 500 pulses per cy
distance measurement and direction estimation.
3.5 Software Development
The
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
Figure 4.7. The functio
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
has been adjusted with t
was used for the image and signal processing
coming from the camera and LRF since it is a high
performance language for technical computing and
has suitable image and signal toolboxes. The linking
between C# and MATLAB was done using
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
vice versa.
4.3 Road Mark Painting System
We will use airless spray pump to perform
the painting task.
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
TITAN-450e
press the liquid until 214 bar with a flow rate 1.8
l/min. As the motor of pu
source 240V/6.0A
is used to convert the
230 V AC. The manual spray gun (
with multiple diameter nozzles and is always left
open in the design.
tungsten carbide ball valve and seat to ensure long
life and durability
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
communication addresses.
Since the DC motors are controlled using
the PMW signal, adequate adjustment was applied
to the DIP switches of the
SmartDrive40 is powered up, the input mode will be
read from the DIP switches and retained as long as
the driver is powered.
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
motor in the clockwise or anti
The DIP input data is coming from
provides the power supply to the encoder
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
with 500 pulses per cycle from the encoder for the
distance measurement and direction estimation.
Software Development
The IFC-IC00
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
Figure 4.7. The functio
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
has been adjusted with the mini jumper. MATLAB
was used for the image and signal processing
coming from the camera and LRF since it is a high
performance language for technical computing and
has suitable image and signal toolboxes. The linking
between C# and MATLAB was done using
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
4.3 Road Mark Painting System
We will use airless spray pump to perform
the painting task. In the spray cold painting as in our
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
is used for this purpose, which can
press the liquid until 214 bar with a flow rate 1.8
l/min. As the motor of pu
240V/6.0A, a DC/AC
is used to convert the 12 V
. The manual spray gun (
with multiple diameter nozzles and is always left
open in the design. It is a metal con
ungsten carbide ball valve and seat to ensure long
life and durability. It is equipped with
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
communication addresses.
Since the DC motors are controlled using
the PMW signal, adequate adjustment was applied
to the DIP switches of the SmartDrive 40
is powered up, the input mode will be
read from the DIP switches and retained as long as
s powered. The setting of the DIP
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
wise or anti-clockwise direction.
The DIP input data is coming from IFC
provides the power supply to the encoder
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
cle from the encoder for the
distance measurement and direction estimation.
Software Development
card is compatible with
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
Figure 4.7. The function library for each card is
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
he mini jumper. MATLAB
was used for the image and signal processing
coming from the camera and LRF since it is a high
performance language for technical computing and
has suitable image and signal toolboxes. The linking
between C# and MATLAB was done using
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
4.3 Road Mark Painting System
We will use airless spray pump to perform
In the spray cold painting as in our
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
is used for this purpose, which can
press the liquid until 214 bar with a flow rate 1.8
l/min. As the motor of pump is supplied by an
DC/AC inverter
12 V DC battery voltage to
. The manual spray gun (TITAN
with multiple diameter nozzles and is always left
It is a metal construction
ungsten carbide ball valve and seat to ensure long
It is equipped with
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
Since the DC motors are controlled using
the PMW signal, adequate adjustment was applied
SmartDrive 40. When the
is powered up, the input mode will be
read from the DIP switches and retained as long as
The setting of the DIP
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
clockwise direction.
IFC-BL02. The
provides the power supply to the encoder
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
cle from the encoder for the
distance measurement and direction estimation.
card is compatible with
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
n library for each card is
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
he mini jumper. MATLAB
was used for the image and signal processing
coming from the camera and LRF since it is a high
performance language for technical computing and
has suitable image and signal toolboxes. The linking
between C# and MATLAB was done using
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
We will use airless spray pump to perform
In the spray cold painting as in our
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
is used for this purpose, which can
press the liquid until 214 bar with a flow rate 1.8
mp is supplied by an AC
inverter (LSM 2000W
DC battery voltage to
TITAN-LX-80II
with multiple diameter nozzles and is always left
struction and has
ungsten carbide ball valve and seat to ensure long
It is equipped with in-handle
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
Since the DC motors are controlled using
the PMW signal, adequate adjustment was applied
. When the
is powered up, the input mode will be
read from the DIP switches and retained as long as
The setting of the DIP
switches is adjusted to deferential drive mode so
that it can control the speed and direction of each
clockwise direction.
. The
provides the power supply to the encoder
which can be adjusted through the mini jumper to 5
V, 12 V or 24 V. It can also receive three signals
cle from the encoder for the
card is compatible with
Microsoft Visual C# language which is used to
create the graphical user interface as shown in
n library for each card is
used to form the reference files (in *.dll format).
These reference files are uploaded to the workspace
to start control/communicate with the IFC cards.
Each card will be called by its unique address that
he mini jumper. MATLAB
was used for the image and signal processing
coming from the camera and LRF since it is a high-
performance language for technical computing and
has suitable image and signal toolboxes. The linking
the
COM automation server; data can be created in the
client C# program and passes it to MATLAB and
We will use airless spray pump to perform
In the spray cold painting as in our
system, a high pressure is needed to spray
effectively the paint on the road. An airless pump
is used for this purpose, which can
press the liquid until 214 bar with a flow rate 1.8
AC
LSM 2000W)
DC battery voltage to
80II)
with multiple diameter nozzles and is always left
and has
ungsten carbide ball valve and seat to ensure long
handle
filter to reduce clogging and increase the tip life,
swivel for reducing the hose kinks and effortless
control and
pressure of the valve can reach
gun is supported on the platform through a holder
that can easily adjust and change the position of
gun. A small tank for keeping the paint is attac
with the platform. Fig.
components of this system.
Two interval times
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non
painting area on the road as expressed in Equati
(4.1).
when the spray gun and electrical valve are open,
and ends when they close. However,
the time period for the non
spray gun and the valve remain close.
onT
Lp paint, respectively for the road lane obtained from
the standard catalogue.
calculated by the encoders.
accomplished using two methods in the proposed
design:
- Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
breakout
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
current or voltage. One needs only to supply a
DC
switch off the solid
control and 517 SC
pressure of the valve can reach
gun is supported on the platform through a holder
that can easily adjust and change the position of
gun. A small tank for keeping the paint is attac
with the platform. Fig.
components of this system.
Fig. 8
Two interval times
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non
painting area on the road as expressed in Equati
(4.1). Ton indicates the interval time during starting
when the spray gun and electrical valve are open,
and ends when they close. However,
the time period for the non
spray gun and the valve remain close.
m
pon
V
L=
and Lr are the dimensions of the paint and non
paint, respectively for the road lane obtained from
the standard catalogue.
calculated by the encoders.
The control of the amount
accomplished using two methods in the proposed
design:
Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
breakout solid state relay
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
current or voltage. One needs only to supply a
DC signal to activate the solid state relay and
switch off the solid
517 SC-6 reversible
pressure of the valve can reach
gun is supported on the platform through a holder
that can easily adjust and change the position of
gun. A small tank for keeping the paint is attac
with the platform. Fig.
components of this system.
8 Components of the painting system
on the mobile robot platform
Two interval times Ton and
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non
painting area on the road as expressed in Equati
indicates the interval time during starting
when the spray gun and electrical valve are open,
and ends when they close. However,
the time period for the non
spray gun and the valve remain close.
m
roff
V
LT =
are the dimensions of the paint and non
paint, respectively for the road lane obtained from
the standard catalogue. V
calculated by the encoders.
The control of the amount
accomplished using two methods in the proposed
Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
solid state relay
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
current or voltage. One needs only to supply a
signal to activate the solid state relay and
switch off the solid state relay.
reversible tip. The rated
pressure of the valve can reach 210 bar. The spray
gun is supported on the platform through a holder
that can easily adjust and change the position of
gun. A small tank for keeping the paint is attac
with the platform. Fig. 8 shows the
components of this system.
Components of the painting system
on the mobile robot platform
and Toff need to be defined
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non
painting area on the road as expressed in Equati
indicates the interval time during starting
when the spray gun and electrical valve are open,
and ends when they close. However,
the time period for the non-painting task, when the
spray gun and the valve remain close.
are the dimensions of the paint and non
paint, respectively for the road lane obtained from
Vm is the robot velocity
calculated by the encoders.
The control of the amount of the paint was
accomplished using two methods in the proposed
Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
solid state relay S108T02. A solid
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
current or voltage. One needs only to supply a
signal to activate the solid state relay and
state relay.
tip. The rated
bar. The spray
gun is supported on the platform through a holder
that can easily adjust and change the position of
gun. A small tank for keeping the paint is attached
8 shows the main
Components of the painting system
on the mobile robot platform
need to be defined
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non
painting area on the road as expressed in Equation
indicates the interval time during starting
when the spray gun and electrical valve are open,
and ends when they close. However, Toff specifies
painting task, when the
(4.1)
are the dimensions of the paint and non
paint, respectively for the road lane obtained from
is the robot velocity
of the paint was
accomplished using two methods in the proposed
Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
. A solid-state
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
current or voltage. One needs only to supply a 5 V
signal to activate the solid state relay and 0 V to
tip. The rated
bar. The spray
gun is supported on the platform through a holder
that can easily adjust and change the position of
hed
main
Components of the painting system
need to be defined
prior to starting of the painting task. The time
periods are calculated as a function of the robot
velocity and the road lane marking, which
determines the length of the spray and the non-
on
indicates the interval time during starting
when the spray gun and electrical valve are open,
specifies
painting task, when the
are the dimensions of the paint and non-
paint, respectively for the road lane obtained from
is the robot velocity
of the paint was
accomplished using two methods in the proposed
Switching on/off the pump motor with the time of
the spray that calculated using Equation (4.1) in the
host controller. This operation is performed using
state
relay (SSR) is an electronic switching device, in
which a small control signal controls a larger load
5 V
to
Page 6
- High pressure electrical valve: it has been installed
between the pump and the spray gun. When the
motor of pump is switched off, the paint material is
still get out from the spay gun. To solve this
problem, a valve near to the spray gun is used which
can cut the feeding of paint rapidly. The valve is
AUTOMA-ATM0020 which is equipped with special
induction motor that can switch the valve on/off,
produces high starting torque and thermally protects
from overheating. The valve can be powered by free
voltage sources (110/220 V AC, 50/60 HZ) and
controlled by (5 A, 250 V AC) signals. The valve is
controlled by SONGLE-SRD12VDC-SL-C that
works with a 12 V DC source and allow to control
load with 250V AC and 10 A
4. Autonomous Navigation results
After implementation of a signal processing and
image processing algorithms for data as in [ 6,7], the
platform can detect the road curbs in road following
in indoor application as follows:
5. Conclusion
The complete mechatronic development of
the experimental rig prototype is described. The
design and components of a new mobile robot
navigation system platform are particularly
highlighted. A fully embedded system is realized
that integrates the mechanical parts with the
electronics and software program, taking into
account the path planning, motion control and road
mark painting of the WMR system.
References
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18 (2000) 377–387.
[2] M. Okutomi, K. Nakano, J. Matsuyama, and T.
Hara. Robust Estimation of Planar Regions for
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[3].Heiko Cramer, Gerd Wanielik, Chemnitz Road
border detection and tracking in non cooperative
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[4] Seung-Hun Kim , Chi-Won Roh , Sung-Chul
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