|
|
http://www.surveyor.com/SRV.html
PLEASE NOTE - A new version of the SRV-1 is in development that replaces the 60MHz ARM7 processor and current camera with a 500MHz Analog Devices Blackfin BF537 processor with 1.3 megapixel camera. The new processor will run Linux 2.6 and support a choice of Zigbee or WiFi 802.11 radios. We will no longer take orders for the current ARM7 version of the SRV-1 after September 4, 2007, and expect to begin shipping the new version of the SRV-1 in early October. Pricing has not been finalized, but will not be significantly higher than current pricing. The robot chassis, motor drive, treads, and battery will remain unchanged, and the new processor will continue to support the SRV_protocol and maintain compatibility with the Java-based SRV1Console, Microsoft Robotics Studio, Python-based Myro and pySRV1Console, RoboRealm, Webots, and Player. Check the Surveyor Robotics Journal for information updates.
Surveyor SRV-1
Wireless Mobile Robot with Video for Telepresence, Autonomous and Swarm Operation
Designed for research, education, and exploration, Surveyor's SRV-1 internet-controlled robot integrates a 60MIPS ARM7TDMI 32-bit processor, a digital video camera with resolution from 80x64 to 640x480 pixels, infrared sensors, and Zigbee 802.15.4 wireless communications (or a WLAN 802.11b/g option) on a dual-motor tracked mobile robotic base. Operating as a remotely-controlled webcam or a self-navigating autonomous robot, the SRV-1 can run onboard C or BASIC programs or be remotely managed from a Windows, Mac OS/X or Linux base station with Python or Java-based console software. The Java-based console software includes a built-in web server to monitor and control the SRV-1 via a web browser from anywhere in the world, as well as archive video feeds on demand or on a scheduled basis. Additional software support for the SRV-1 is also available by way of IPRE's Python-based Myro, Microsoft Robotics Studio, Cyberbotic's Webots, and RoboRealm machine vision software.
Features
Teleoperate mode to drive robot around via console software or remotely via web browser
Wander mode for fully autonomous roaming
Host software has built-in web server and video archiving
Robot can run programs written in interpreted C or BASIC and stored in onboard Flash
Multiple SRV-1 robots can be controlled via the same base station radio
Robot software is Open Source (GPL) and fully programmable
Wireless remote control or viewing up to 100m indoors and 1000m outdoors (line of sight)
Robot can be controlled from a terminal/console for easy testing
Hardware
Processor: 60mips 32bit ARM7TDMI (Philips/NXP LPC2106)
Robot Radio: Zigbee 802.15.4 (Maxstream XBeePro) - 70mW transmit power
WLAN Option: WiFi 802.11b/g expansion board based on Lantronix WiPort-G module
Base Station Radio: Zigbee 802.15.4 (Maxstream XBeePro) with USB interface - 70mW transmit power
Range: 100m indoors, 1000m line-of-site
Camera: Digital video camera with 80x64 to 640x480 resolution
Sensors: 4 infrared emitters and detectors for proximity, beacon detection and inter-robot communication
Drive: Tank-style treads with differential drive via two precision DC gearmotors (100:1 gear reduction)
Speed: 20cm - 40cm per second (approx 1 foot/sec or .5 mile/hour)
Chassis: Machined Aluminum
Dimensions: 120mm long x 100mm wide x 70mm tall (5" x 4" x 3")
Weight: 360gm (13oz)
Power: 7.2V 2AH Li-ion battery pack - 4 to 6+ hours per charge
Charger: 100-240VAC 50/60Hz (US plug)
Software
Robot Firmware: easily updated, written in C language under GPL Open Source, compiled with GNUARM C
Onboard User Programming: interpreters for C and BASIC languages with special robot-specific commands are provided for running user programs from onboard Flash memory
Development Tools: GNUARM C toolchain provided
Console Software: Java based application, runs on Windows, MAC, Linux. WebcamSat web server module built into console software, allows multiple simultaneous remote viewers via Internet
Robot Control Protocol: Published here. Easily used from other applications
Third-party Software Support:
Myro - http://wiki.roboteducation.org/Myro_Hardware - Myro is a new framework for programming robots. Myro is written in the language Python and designed for use in Introductory Computing courses, and has been developed by the Institute for Personal Robots in Education. The goal of the project is to provide a programming environment for easily exploring advanced topics in artificial intelligence and robotics without having to worry about the low-level details of the underlying hardware.
Webots - http://www.cyberbotics.com - SRV-1 support is now included in Webots mobile robotics simulation software. Webots provides a rapid prototyping environment for modelling, programming and simulating mobile robots under Windows, Mac OS/X and Linux. The 3D modeling and physics are outstanding.
RoboRealm - http://www.roborealm.com/help/Surveyor_SRV1.php - The SRV-1 can now be directly controlled from RoboRealm, a very popular Windows-based machine vision software package for robots. The RoboRealm extensions for SRV-1 allow creation of scripts that combine image processing on live video feeds from the robot, e.g. color filtering, blob detection/tracking, edge detection/outlining and feature extraction, with decision processing and robot motion control, making it easy to create behaviors such as object location and tracking, obstacle avoidance, motion detection, notification, etc, with a web interface, and control can be scripted from C/C++, Python, Java, C#, Lisp, Visual Basic, WScript and COM through the RoboRealm API.
Microsoft Robotics Studio - http://www.surveyor.com/MSRS.html - Drivers for the SRV-1 in Microsoft Robotics Studio are now available. MSRS is a Windows-based environment for academic, hobbyist and commercial developers to create robotics applications across a wide variety of hardware. Key features and benefits include: end-to-end robotics development platform, lightweight services-oriented runtime, and a scalable / extensible platform.
Transterpreter - http://www.transterpreter.org - The Transterpreter is a small (2000 lines of code), portable (strict ANSI C), open-source runtime for a growing family of massively concurrent programming languages. Capable of supporting thousands of threads on small devices, it is well suited for embedded and ubiquitous systems development. The Transterpreter can execute programs written in the occam-pi programming language, a language closely modeled on the CSP calculus. An example of Transterpreter programming for the SRV-1 was recently demonstrated at the 2007 AAAI Spring Symposium, as discussed in this article
Additional Resources
Surveyor Robotics Journal - SRV-1 Development News
Surveyor Robotics Forum - User Discussion and Online Help
Frequently Asked Questions (FAQ)
SRV-1 Command Protocol Definition
SRV-1 Firmware/Driver Download Page
SRV-1 Installation/Configuration Instructions
SRV-1 WiFi Configuration
The SRV-1 controller includes a digital video camera which transmits its images to a Java-based version of our Satcam camera software running on the host computer via the same RF data channel that is used for motion control. The base station radio has a USB connection, and host software can be run on any Java-compatible platform (e.g. Windows, Mac OS/X, Linux, etc). The SRV-1 has an array of infrared emitters and detectors for proximity detection and local communication with other robots. The Zigbee radio range is up to 100m indoors and 1000m line-of-sight.
Remote control can be accomplished either through the Java application (Windows, Mac OS/X, Linux, etc) on the base station or Surveyor's WebcamSat server software, and multiple SRV-1 robots can be managed from a single base station. A full Web interface is provided, including viewer access control, remote teleoperation, and video archiving. Software for autonomous operation, including motion detection, object tracking, obstacle avoidance, and basic navigation is under development. Robot firmware source code, written in GNUARM-compatible C, is available under open source (GPL) release.
Here's a 2.3Mb Quicktime clip of 4 SRV-1's operating in close proximity in "wander mode". The robots are controlled by a single base station on a common radio channel using new "swarm mode" commands defined in the SRV-1 communication protocol. Click on the image to launch a viewer ...
Here's a 1.2Mb Quicktime clip of the SRV-1 in action, climbing a 40-degree slope with approximately 50% motor power. Click on the image to launch a viewer ...
And here is a short (268kb) video clip of the SRV-1 in action, captured directly from the robot's camera using the WebcamSat archive function that is included with the base station software. The archiver captures to AVI format - click here to view the AVI file. The files are easily converted to other formats, including Quicktime. Here's a Quicktime version of the same clip -
click here to view
Here's a 3d rendering of the SRV-1. This is a SolidWorks model of the robot which can be viewed with the free eDrawings viewer - http://www.solidworks.com/pages/products/edrawings/eDrawings.html ...
click on image to download 3d model
or right-click here and save the file -
http://www.surveyor.com/images/SRV1-050706.easm
We've had requests for information from users about interfacing the SRV-1 controller to other sensors, motors, etc. Here is the schematic and layout of the SRV-1 controller circuit board. Click on the images below to get higher resolution versions ...
A complete SRV-1 system is comprised of an SRV-1 base station, one or more SRV-1 robots, one or more USB radios, and battery chargers. We have organized a starter kit, which is a complete system of one SRV-1 robot, one USB base station radio and one battery charger (100-240VAC 50/60Hz).
Note that an 802.11b/g WiFi option using the Lantronix WiPort module is now available for the SRV-1. Setup instructions are found here - Lantronix WiPort Setup for Surveyor SRV-1, and purchasing info is found here -
SRV-1 WiFi 802.11b/g expansion module for existing SRV-1 robot |
|
发表于 2007-9-5 10:13:35
