The design and development of mobile PCB controllers are a primary research focus of micro-probing robots. Practical experience in developing modern robot control systems indicates that, given current theories and PCB technology, the technical conditions for researching fully autonomous robots with high intelligence are far from mature. For field robots, the reliability and time delays in communication cannot be guaranteed, limiting information access due to the diversity and complexity of environments. Pure manual teleoperation reduces control reliability and increases complexity. Therefore, it is more realistic and feasible to research and design surveillance mobile robots tailored to specific tasks in unique environments.
System Components
The purpose of the field exploration robot necessitates a simple, reliable structure that adheres to replaceable and easily upgradeable standards, ensuring robustness and adaptability.
PCB hardware composition
The robot utilizes a track-leg compound moving mechanism designed to enhance its mobility in non-structural environments. Named the “Goat” robot,
The core controller employs the PC104 from Swiss Digital Logic Corporation. PC104 is a robust bus architecture known for its modularity, facilitating easy function and port expansions. It offers substantial computing power, enabling the robot to operate swiftly and efficiently. Its resilience to heat, cold, moisture, and seismic conditions makes it suitable for outdoor use.
The console system integrates a German WOGO industrial MODBUS adapter, akin to PLCs, as the central control unit. Communication between the upper and lower computers follows the MODBUS protocol via a wireless data transmission station. The adapter’s modular software design ensures stability and reliability, ideal for tasks like data acquisition and display on the robot console.
The robot’s motion control system is pivotal, managing motor control across multiple axes for teleoperation. It employs the PMAC2 motion control card with a PC104 interface from DeltaTau Company, capable of simultaneous control over four motors for coordinated four-axis motion. Its capabilities include executing motion programs, servo loop and motor commutation updates, as well as software and hardware resource management, ensuring efficient task prioritization and host communication.
For wireless data communication, the robot utilizes the American MDS wireless data transmission station, employing PCB wireless spread spectrum technology on the 220M frequency band. This setup supports remote point-to-point or multi-point wireless data communication with transmission speeds up to 15.2Kbps. Using a 2db antenna, indoor communication spans up to 300 meters.
The robot’s observation system incorporates the SURF series wireless image transmitting/receiving system, comprising two cameras strategically placed on the front and upper ends of the robot. These cameras facilitate remote monitoring in unstructured environments by transmitting live images.
**Realization**
Currently, the robot demonstrates capabilities such as ascending and descending standard pedestrian stairs, traversing ditches (up to 30cm wide), automatic resetting from overturning, ascending and descending elevated platforms (less than 30cm in height), and navigating through sandy terrain. Human-robot coordination and control are notably enhanced, as depicted in Figure 2.
**Conclusion**
The supervised PCB controller proves highly adaptable for field control of mobile robots. Operators can monitor task execution and receive status feedback via the PCB monitor, significantly reducing workload and skill requirements. The robot exhibits a degree of autonomy, which can be further developed under supervision. It serves as a robust platform for autonomous control research, offering solutions for safety concerns arising from PCB signal delays, uncertainties in unstructured environments, and mechanical or electronic failures. Future enhancements will integrate additional sensors to enhance robot autonomy, incorporate online learning capabilities, expand the knowledge base, and refine the operator interface for greater user-friendliness. This evolution positions the robot not only as a versatile research and development platform but also as a reliable, practical product for various applications.
System Components
The purpose of the field exploration robot necessitates a simple, reliable structure that adheres to replaceable and easily upgradeable standards, ensuring robustness and adaptability.
PCB hardware composition
The robot utilizes a track-leg compound moving mechanism designed to enhance its mobility in non-structural environments. Named the “Goat” robot,
The core controller employs the PC104 from Swiss Digital Logic Corporation. PC104 is a robust bus architecture known for its modularity, facilitating easy function and port expansions. It offers substantial computing power, enabling the robot to operate swiftly and efficiently. Its resilience to heat, cold, moisture, and seismic conditions makes it suitable for outdoor use.
The console system integrates a German WOGO industrial MODBUS adapter, akin to PLCs, as the central control unit. Communication between the upper and lower computers follows the MODBUS protocol via a wireless data transmission station. The adapter’s modular software design ensures stability and reliability, ideal for tasks like data acquisition and display on the robot console.
The robot’s motion control system is pivotal, managing motor control across multiple axes for teleoperation. It employs the PMAC2 motion control card with a PC104 interface from DeltaTau Company, capable of simultaneous control over four motors for coordinated four-axis motion. Its capabilities include executing motion programs, servo loop and motor commutation updates, as well as software and hardware resource management, ensuring efficient task prioritization and host communication.
For wireless data communication, the robot utilizes the American MDS wireless data transmission station, employing PCB wireless spread spectrum technology on the 220M frequency band. This setup supports remote point-to-point or multi-point wireless data communication with transmission speeds up to 15.2Kbps. Using a 2db antenna, indoor communication spans up to 300 meters.
The robot’s observation system incorporates the SURF series wireless image transmitting/receiving system, comprising two cameras strategically placed on the front and upper ends of the robot. These cameras facilitate remote monitoring in unstructured environments by transmitting live images.
**Realization**
Currently, the robot demonstrates capabilities such as ascending and descending standard pedestrian stairs, traversing ditches (up to 30cm wide), automatic resetting from overturning, ascending and descending elevated platforms (less than 30cm in height), and navigating through sandy terrain. Human-robot coordination and control are notably enhanced, as depicted in Figure 2.
**Conclusion**
The supervised PCB controller proves highly adaptable for field control of mobile robots. Operators can monitor task execution and receive status feedback via the PCB monitor, significantly reducing workload and skill requirements. The robot exhibits a degree of autonomy, which can be further developed under supervision. It serves as a robust platform for autonomous control research, offering solutions for safety concerns arising from PCB signal delays, uncertainties in unstructured environments, and mechanical or electronic failures. Future enhancements will integrate additional sensors to enhance robot autonomy, incorporate online learning capabilities, expand the knowledge base, and refine the operator interface for greater user-friendliness. This evolution positions the robot not only as a versatile research and development platform but also as a reliable, practical product for various applications.
