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

▶
wall drawing robot
SMART_READER_LITE
LIVE PREVIEW

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

Oct 25, 2023 33 likes •329 views

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

slide-1
SLIDE 1

Wall Drawing Robot

TW044

Department of Electronic Engineering & Mechanical Engineering

  • f

Chien-Hsin University of Science and Technology

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

1

slide-2
SLIDE 2

Outline

  • Motivation
  • Features
  • System Architecture
  • Hardware software co-design
  • Summary

2 /29

slide-3
SLIDE 3

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

slide-4
SLIDE 4

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

slide-5
SLIDE 5

Can a robot be an artist?

  • A robot artist will be very cool!

5 /29

slide-6
SLIDE 6

IoT Applications

INTERNET OF THINGS

6 /29

slide-7
SLIDE 7

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

slide-8
SLIDE 8

Many people like selfie

  • The user can take a picture first and use

iBongo robot to draw selfie picture.

Selfie The robot paints

8 /29

slide-9
SLIDE 9

System Architecture

  • The system includes an embedded system

(video capture and processing part) and an iBongo robot.

Video capture and processing iBongo robot for painting

9 /29

slide-10
SLIDE 10

System Architecture

Take a picture

Z Y X AA

iBongo Robot

… … Z1Y1X1 Z2Y2X2 Z3Y3X3 Z4Y4X4 Z5Y5X5 ZnYnXn

DE1-SoC Contour Coordinates

10 /29

slide-11
SLIDE 11

iBongo Robot Video

11 /29

slide-12
SLIDE 12

Block Diagram of the Embedded System

DE1-SoC

LCD Screen

HPS/ARM QSYS

FPGA User logic CCD Camera SDRAM

Linux AXI VIP

Bluetooth device

Coordinates extract and transmit QT GUI

12 /29

slide-13
SLIDE 13

How to extract the contour coordinates?

Image Processing with VIP function

Hello kitty is our model Edge Detected and shown on LCD screen

13 /29

slide-14
SLIDE 14

LCD Signal

Hsync Vsync

Active video

14 /29

slide-15
SLIDE 15

10<X< 265 ? 100<Y< 299? VGA_GRAY >=120?

How to extract the contour coordinates?

{VGA_gray,X_coord,Y_coord}

VGA_R VGA_G VGA_B

FIFO

VGA_HS VGA_VS

Contour Extract

VGA_CLK Write_EN

wrreq data

VGA_CLK

Counter adder shift Compare

15 /29

slide-16
SLIDE 16

Hardware Software Co-design

Start Open picture Take a picture Check picture Robot go

Video data Data in the FIFO GUI

16 /29

slide-17
SLIDE 17

Take a picture

  • Read coordinates from FIFO to HPS
  • Resequence the coordinates.

FPGA SoC

HPS

FPGA/Qsys

Capture FIFO Controller LWAXI FIFO rdreq Q

IORD( )

8192 words

Start Open picture Take a picture Check picture Robot go

17 /29

slide-18
SLIDE 18

Resequence the coordinates

Original

Resequence

Path is shorter

18 /29

slide-19
SLIDE 19

Check picture

Start Open picture Take a picture Check picture Robot go

Sets the color for the pixel that is specified by the x and y coordinates Set white color for all pixel Write the x and y coordinates to FIFOX, FIFOY, FIFOZ

FPGA SoC

HPS FPGA/Qsys Capture FIFO Controller LWAXI FIFOY wrreq Data

IOWR()

FIFOX FIFOZ

19 /29

slide-20
SLIDE 20

Robot go

Start Open picture Take a picture Check picture Robot go

20 /29

slide-21
SLIDE 21

Robot go

  • HPS write to PIO : High level
  • transmit

FPGA SoC HPS FPGA/Qsys PIO Controller LWAXI IOWR( ); Transmit Controller Start UART_ Controller 115200 bps FD FD FD FD FC FA FC FA FC Z Y X AA 1

21 /29

slide-22
SLIDE 22

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

slide-23
SLIDE 23

iBongo Robot

DC Motor Color Pen Bluetooth Module Motor Driver DE0-Nano-SoC Limit Switch

iBongo robot

23 /29

slide-24
SLIDE 24

iBongo Motion Control

dx

< 0

>0 >0

< 0

24 /29

slide-25
SLIDE 25

Block Diagram on iBongo

DE0-Nano-SoC

DC Motor Encorder

HPS/ARM QSYS

User logic DC Motor Drivers

Linux API

LWAXI Bluetooth device Limit Switch UART Controller FIFO Custom Component Motor Controller Initial Detector

FPGA

LWAXI

PIO Controller

{Z, Y, X}

25 /29

slide-26
SLIDE 26

Website – Internet of Thing

  • The user can monitor and control iBongo with

the website.

Lighttpd Webserver

26 /29

slide-27
SLIDE 27

IoT Demo

27 /29

slide-28
SLIDE 28

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

slide-29
SLIDE 29

Thanks for Your Attention!

29 /29