20.500.12556/RUL-81572 Navigacijski model robotske kosilnice Navigational model of a robotic lawn mower Tema diplomske naloge obsega predstavitev ideje o novem načinu navigacije robotske kosilnice in izdelavo prototipnega vozila, ki omogoča realizacijo ideje v praksi. Navigacija v smislu izbire optimalne poti košnje in zaznavanja morebitnih ovir na poti, tako da je vozilo kar se da avtonomno, pri tem pa čim bolj energijsko efektivno. Načrtovanje in izgradnja takšnega vozila vključuje različne senzorje. Mejo zelenice, ki jo določa zakopana zanka, priklopljena na frekvenčni generator (41 kHz), je zaznavana z magnetnim senzorjem. Za nepokošeno travo je uporabljen infrardeči senzor, za nepredvidene večje ovire pa še ultrazvočni merilec razdalje. Vse skupaj napaja Li-ionski akumulator. Potrebe po različnih nivojih napajalne napetosti (9 V 5 V in 3,3 V) zagotavljajo trije preklopni regulatorji. Nadzor delovanja senzorjev in diferencialni pogon je izvedeno z mikrokrmilnikom serije ARM7 (LPC2138). Opisani so algoritmi za krmiljenje motorjev na osnovi senzorskih signalov. Vezje, ki povezuje naštete dele in omogoča njihovo delovanje je podrobneje predstavljeno in analizirano. Prototipno vozilo je izdelano brez nožev in uspešno preizkušeno v praksi… The theme of the thesis includes the presentation of the idea, of a new way to navigate a robotic lawn mower and also a way to build a prototype vehicle that will allow the realization of this idea in practice. Navigation within the meaning of finding the optimal mowing path and detect possible obstacles on the way, to be as autonomous as possible, while remaining energy efficient. To design and build such a vehicle requires the integration of different sensors. Border wire around the lawn, that defines the area to be mowed is connected to a frequency generator (41 kHz) and detected by magnetic field sensor. For uncut grass the photo interrupter sensor is used, and for possible obstacles the ultrasonic range finder. All of the above is powered by Li-ion battery. The need for different regulated voltage levels (9 V, 5 V in 3.3V) is satisfied by three switching voltage regulators. All the sensors and the two-wheeled differential drive are controlled by microcontroller of ARM7 series (LPC2138). Algorithms for steering, based on data collected by sensors are described. Electrical circuit connecting all these parts together, enabling them to function, is presented and analyzed. Prototype vehicle is built without blades and successfully tested in practice… Robotska kosilnica avtonomno vozilo diferencialni pogon navigacija infrardeč senzor ultrazvočni senzor indukcija žično vodilo kvadraturni oscilator mikrokrmilniški sistem preklopni regulator H-mostični gonilnik. Robot lawn mower autonomous vehicle differential drive navigation infrared sensor ultrasonic sensor induction wire guidance quadrature oscillator microcontroller based circuit switcher H-bridge motor driver. true false false Slovenski jezik Angleški jezik Diplomsko delo 2016-04-13 07:18:53 2016-04-13 07:18:55 2022-08-01 22:15:57 0000-00-00 00:00:00 2015 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 29642 Pisek_Andrej_-_Navigacijski_model_robotske_kosilnice.pdf Pisek_Andrej_-_Navigacijski_model_robotske_kosilnice.pdf 1 1B4564EE3EA8AA6FC1DFB96D314F9AF3 fbfc0d28c5a01df305e93fda639e56e35ce41923de1a1bfa13516c62dfae0393 6eefcd2f-a1ad-11eb-a523-00155dcfd717 20.500.12556/rul/9f136659-3f02-4345-b7b8-995836b5a9b8 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=81789 Fakulteta za elektrotehniko 0 0 0