Wall Drawing Robot TW044 Team leader Pang-Tzu, Liu Team partners - PowerPoint PPT Presentation

Wall Drawing Robot TW044 Team leader Pang-Tzu, Liu Team partners Sheng-Ying, Wu Chia-Ching, Lin Advising professor Ph. D. Yu-Ping, Liao Ph. D. Kao-Hui, Lin Department of Electronic Engineering & Mechanical Engineering of Chien-Hsin University of Science and Technology 1

Outline • Motivation • Features • System Architecture • Hardware software co-design • Summary 2 /29

Motivation • Robot has been applied in various field , the robot has become an assistant in human’s life . For example: cleaning robots !! Pool Cleaning Robot Pool Cleaning Robot 3 /29

City Art • Some place is too high for people to draw for city art. Some wall is vary large, it is very dangerous to draw on it. Dangerous 4 /29

Can a robot be an artist? • A robot artist will be very cool! 5 /29

6 /29 IoT Applications OF THINGS INTERNET

iBongo robot • We want to develop a painting robot- iBongo robot that can draw what it sees. • The user can monitor and control the robot with the website . (IoT) Hello kitty is our model iBongo robot 7 /29

Many people like selfie • The user can take a picture first and use iBongo robot to draw selfie picture . The robot paints Selfie 8 /29

System Architecture • The system includes an embedded system (video capture and processing part) and an iBongo robot . iBongo robot for painting Video capture and processing 9 /29

System Architecture ZnYnXn … … Take a picture Z5Y5X5 Z4Y4X4 Z3Y3X3 Z2Y2X2 iBongo Robot Z1Y1X1 Y X AA Z Contour Coordinates DE1-SoC 10 /29

11 /29 iBongo Robot Video

Block Diagram of the Embedded System DE1-SoC CCD Camera HPS/ARM QSYS Linux VIP QT LCD GUI AXI Screen Coordinates extract and transmit FPGA User logic Bluetooth device SDRAM 12 /29

How to extract the contour coordinates? Edge Detected and Hello kitty is our model shown on LCD screen Image Processing with VIP function 13 /29

14 /29 Vsync LCD Signal Active video Hsync

How to extract the contour coordinates? VGA_HS Contour Extract FIFO VGA_VS {VGA_gray,X_coord,Y_coord} Counter data VGA_R Write_EN adder 10<X< 265 ? wrreq VGA_G 100<Y< 299? VGA_B VGA_CLK shift VGA_GRAY >=120? VGA_CLK Compare 15 /29

Hardware Software Co-design GUI Start Video data Data in the FIFO Open picture Take a picture Check picture Robot go 16 /29

Take a picture • Read coordinates from FIFO to HPS • Resequence the coordinates. Start Open picture FPGA SoC Take a picture FPGA/Qsys HPS Check picture FIFO LWAXI IORD( ) rdreq Capture FIFO Robot go Q Controller 8192 words 17 /29

18 /29 Path is shorter Resequence Resequence the coordinates Original

Check picture Write the x and y Sets the color for Set white color for coordinates to the pixel that is all pixel FIFOX, FIFOY, specified by the x Start FIFOZ and y coordinates Open picture FPGA SoC FIFOX Take a picture FPGA/Qsys HPS Check picture FIFOY wrreq LWAXI IOWR() Capture FIFO Robot go Controller Data FIFOZ 19 /29

Robot go Start Open picture Take a picture Check picture Robot go 20 /29

Robot go • HPS write to PIO : High level • transmit FD Y X FC FD FD FD FC FA FC FA AA Z FPGA SoC FPGA/Qsys HPS Transmit UART_ Controller Controller IOWR( ); LWAXI PIO Controller 1 115200 bps Start 21 /29

Website – Internet of Things • The user can monitor the captured picture and control the coordinates transmission with the website. Lighttpd Webserver Robot Go 22 /29

iBongo Robot Limit Switch DE0-Nano-SoC DC Motor Bluetooth Module Motor Driver Color Pen iBongo robot 23 /29

iBongo Motion Control >0 < 0 dx < 0 >0 24 /29

Block Diagram on iBongo DE0-Nano-SoC HPS/ARM FPGA Initial UART Bluetooth FIFO Detector Controller device QSYS {Z, Y, X} DC Motor LWAXI PIO Encorder Controller Linux LWAXI Custom Motor Limit Component Controller Switch API DC Motor Drivers User logic 25 /29

Website – Internet of Thing • The user can monitor and control iBongo with the website. Lighttpd Webserver 26 /29

27 /29 IoT Demo

Summary • We’ve implemented a painting robot based on DE1- SoC and DE0-Nano-SoC , called iBongo. • iBongo can draw the portrait of what it sees. • It’s co-design between hardware and software . • The user can monitor and control the robot with the website . (IoT) • We have developed an algorithm to shorten the robot painting path . 28 /29

Thanks for Your Attention! 29 /29