Brezžična krmilna enota za upravljanje mobilnega robota

ORAŽEM, JONAS ALEKSANDER (author), Podobnik, Janez (mentor), Kmecl, Peter (comentor)

V pričujočem delu smo opisali postopek razvoja brezžične krmilne enote za vodenje mobilne platforme. Namen krmilne enote je poenostavitev ročnega vodenja mobilne platforme. Mobilno platformo je bilo do sedaj mogoče premikati preko krmilne palice, ki je na platformo povezana preko žične povezave. Brezžična krmilna enota odpravi potrebo po žični povezavi, prav tako pa je dodala tudi grafični vmesnik. V prvem poglavju se seznanimo s pojmi brezžična krmilna enota, mobilna robotska platforma ter robotski operacijski sistem. V drugem poglavju opišemo razvoj elektronike. Narišemo dodatna vezja, potrebna za baterijsko napajanje ter utemeljimo izbiro posameznih komponent. Opišemo izdelavo vezij za branje analogno-digitalnega pretvornika ter tipk z električno preprečitvijo odboja. V poglavju opišemo tudi proces izdelave vezij in njihovega testiranja. V tretjem poglavju se osredotočimo na izdelavo ohišja. Ohišje oblikujemo kot 3D model, nato pa ga natisnemo s 3D tiskalnikom. V četrtem poglavju naloga opiše programski del diplomske naloge. Opišemo povezavo komponent preko Robotskega operacijskega sistema, ter izdelavo lastnega grafičnega vmesnika za enostavnejše vodenje mobilne platforme. V petem poglavju izvedemo testiranje na dejanski robotski platformi, kjer dobimo povratne informacije o ustreznosti krmilne enote.

• Language: Slovenian
• Keywords: Brezžična krmilna enota, Robotski operacijski sistem, Raspberry Pi 4B, 3D Tisk, Grafični uporabniški vmesnik, baterijsko napajanje, tiskano vezje, Robotska mobilna platforma
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2022
• PID: 20.500.12556/RUL-139045
• COBISS.SI-ID: 119646979
• Publication date in RUL: 29.08.2022

Secondary language

• Language: English

Abstract

During this thesis, we described the process of developing a wireless control unit for controlling mobile platforms. The wireless control unit was made to replace an existing wired joystick, which manipulates the mobile platform. The wireless control unit has eliminated the need for a physical connection, as well as added a graphical interface. In the first chapter we familiarised with terms wireless control unit, mobile robotic platform and Robot operating system. We started with the development of electronics, in the first chapters we described circuits needed for battery powered operation and justified the individual components. We also described the additional circuits for reading the analog-to-digital converter, and the keys with built-in debounce circuits. The last section describes the process of making the circuits and testing them. In the next section, we focused on the unit's housing. The housing was first designed as a 3D model and then printed with a 3D printer. In the continuation of the thesis we focused on the software part of this thesis. We connected our wireless control unit to the mobile robotic platform via the Robot operating system, and also added our own graphical interface for easier control of the mobile platform. In the following chapter we tested the wireless control unit on the actual mobile robotic platform. From these tests we got feedback and decided whether the control unit was appropriate. At the end of the thesis, we summarize and evaluate the product, and predicted possible further development of the wireless control unit.

• Keywords: Wireless control unit, Robotic operating system, Raspberry Pi 4 B, 3D Printing, Graphical user interface, battery powered, printed circuit board, Mobile robotic platform.