Wifibot SC Bedienungsanleitung
Quick Start Guide
Thank you for choosing WiFiBoT SC for your robotic application.
• Before using the robot, please read with care this manual
• Keep this manual in a safe place for any future reference
• For updated information about this product visit the official
site of wifibot http://www.wifibot.com
Index
Package contents
Connectors overview
Powering the robot
Power connectors
Battery installation
Camera installation
General structure
Communication interfaces
Embedded sensors
Networking
Configuring the robot
Connecting to the robot
Robot programming
The CDROM
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1
Package contents
Make sure to be in possession of all the articles mentioned below. If
any of them should be missing, contact your reseller as soon as
possible.
Robot
IP camera
Two battery packs
Battery charger
Wifibot CD-ROM
Camera CD-ROM and documentation
Embedded access point CD-ROM and documentation
4x charging cables
1x RJ45 cable for the IP camera
WARNING!
The DSUB-9 connector on the left
of the robot presenting on its pins
both the I²C and the RS232
interfaces, be careful when wiring a
connection cable to prevent to
connect those to unwanted tensions.
Connectors overview
The figure below shows the location of
the different connectors of the robot:
Battery
connector +
Battery
connector -
Battery
connector +
Battery
connector -
Ethernet
switch
External power and
charging connector
Power
ON/OFF
RS232/I²C
Serial
Number
2
Powering the robot
Powering the robot with batteries:
The robot gets its power normally from two battery
packs with four Ni-MH cells each, with a capacity of
9500 mAH and a total nominal voltage of 9,6V.
Located on the upper part of the platform, their
location and clamping have been especially
designed to facilitate their removal and replacement
in an easy and simple way. It is enough to insert the
packs in their connectors, their shape preventing any
error, the only thing left is to close the clamps and
the robot is ready to go. The robot comes with only
two packs, additional packs are available separately.
Powering the robot from an external source:
When developing custom applications it is often
more practical to use an external power source rather
than to have to constantly charge the batteries. Take
out the batteries, then plug the included cable into
the connector located next to the power switch of the
robot and connect the robot to a lab DC power
source at a voltage between 9 and 12 V. Make sure
the power source can deliver several amps,
especially if you plan to test the motors.
3
Power connectors
The 5V/9.6V power output:
The robot is equipped with two 5V 2A DC/DC
converters. One of the converters is reserved
exclusively to power the different internal
components of the robot. The second converter is
available to the user through the general power
connector dedicated to external modules such an IP
camera. A direct connection to the batteries is
made available on this connector as well. The 5V
output can’t give more than 2A and a maximum of
10A is recommended for the 9.6V output. An
incorrect use of this connector beyond those values
(short circuit or other) can provoke a malfunction
of the robot or of the DC/DC converter and even
damage those.
Note: The WiFiBoT company will not in any case be considered responsible for any damage
provoked by any incorrect use of this connector. Any reparation necessary for any damage caused
by the incorrect use of this connector will not be covered by the warranty.
The external power and charging connector:
This connector presents directly the + and – of the robot
and has a double use. On one side it allows to directly
power the robot with an external source without having
to use the batteries. The second use is to charge the
batteries on the robot itself when no additional packs are
available.
Note : When charging the robot make sure the power
switch is OFF so the charger does not find the robot in
march.
4
Battery installation
Insertion:
Locate the connectors and their direction on both the
robot and the two battery packs. Insert the batteries
till the end and secure them by closing the lateral
clamps.
Extraction:
Open the clamps and pull the battery packs up.
Charge:
A battery charger is included with the robot and can
be used for charging the batteries in two different
ways:
Externally: This charging mode allows a continuous
use of the robot by doing a rotation of several battery
packs. Insert first each plug in the corresponding
color on the charger side and then connect the three
cables included for this purpose to the batteries as
shown on the photo. (red color with the battery +, see
page 3)
On the robot: This mode is recommended when the
user has only one set of battery packs. First make sure
the robot is OFF, then connect the plugs of the
charging cable on the side of the charger and then on
the charging connector located next to the power
switch of the robot.
5
Camera installation
The robot is sold with an IP camera which model can vary depending of the robot version, it
is a complement and is not part of the robot itself. It is an independent peripheral which can
be replaced by any other camera model or network peripheral. For more information about
your particular camera please refer to its manual included in the CD-ROM. Nevertheless its
installation is similar in all models.
Place the camera on the central support:
Screw the camera on its support and if it
applies, adjust manually the desired position
angle.
Connect the Ethernet cable to the camera :
Connect the included Ethernet cable to the
RJ45 port located at the back of the camera
and to one of the ports of the embedded
switch.
Connect the power cable of the camera:
Connect the proper power output (5V/9.6V) of
the robot to the camera power input located at
the back of the camera.
6
General structure of the robot
System architecture:
The system architecture is very simple, it is build
around a double bus Ethernet-I²C and a central
processor that acts as a bridge between the two. The
Ethernet bus is then accessible from the outside
through a Wi-Fi access point. In general the
embedded LAN is used for peripherals of a certain
importance such the IP camera while the I²C bus is
useful for connecting more simple modules based on
micro-controllers. To finish, the robot features two
RS232 ports which can be bridged to upper levels as
well. This makes possible to add to the robot
commercial modules as well as “home made” ones
based on simple micro-controllers.
The heart of the system:
The heart of the robot is the embedded controller
SC12 from BECK, some of its interesting features
are:
-186-20MHZ 16 bit CPU
-512 Kbytes RAM, 512 Kbytes Flash
-RTOS with Flash file system
-Ethernet,RS232 and I²C interfaces
-File transfer through serial and Ethernet links
-TCP/IP, PPP, HTTP, FTP, Telnet, POP3, SMTP et
DHCP
The controller is totally programmable and all the
documentation is available on the companion CD
and on the website of BECK www.beck-ipc.com for
updated material. Some programming examples are
included in the CD as well.
7
Communication interfaces
The Ethernet switch:
A 10/100 Ethernet 5 port switch interconnects
the different high level peripherals of the robot
forming an embedded LAN. Two ports are
necessarily taken by the access point and the
SC12 controller. One port is generally used by
the IP camera but can be made available
depending of the application. Finally, the two
last ports are free to add other peripherals if
needed, those working in a completely
transparent way and independently from the
robot.
The I²C bus:
The I²C bus interconnects the micro-controllers
in charge of the low level modules to the central
processor that acts as a bridge with the upper
levels of the robot architecture. The SC12
controller works always as the master and all
communications necessarily pass by it. Up to
127 devices can be connected and the maximum
clock frequency of the bus is of 30kHz. The I²C
is accessible on pin 5 (GND), 6(SCL) and
9(SDA) of the DSUB-9 connector located on the
LEFT of the robot. The address of the chip in
charge of the left wheels is 0xA2, the one of the
right wheels is 0xA4.
WARNING!
The DSUB-9 connector on the left of the
robot presenting on its pins both the I²C
and the RS232 interfaces, be careful when
wiring a connection cable to prevent to
connect those to unwanted tensions.
The RS232 ports:
Two RS232 ports (RX,TX and GND) are available. Port COM1 on the DSUB-9 connector of
the left, port COM2 on the DSUB-9 connector of the right. Both ports present a standard PC
signal, for peripherals using TTL an interface such as the MAX232 is needed.
8
Embedded sensors
Speed control:
The four motors can be controlled in open or close
loop depending of the needs of the user. Every
wheel has an external laser cut code wheel of 300
sectors which signal is recuperated by an optical
sensor. The signal is then filtered and sent to four
independent PID speed controllers. When remotely
controlling the robot, the close loop is done by the
operator and therefore is not very useful at the wheel
level but it is generally needed in autonomous
applications. In both open and close loop control, the
speed of each wheel can be retrieved as the number
of sector per 1/25 of second but we note here that
the “tank like” design of the robot does not allow
consistent odometry calculations from the wheel
speed.
IR ranging sensors:
The robot is equipped with two IR sensors with a
maximal range around 1,30m. They work by
triangulation and give an analog output inversely
proportional to the distance to the obstacle. The
output voltage is then digitalized over 8bits by a
micro-controller and sent to the central processor.
Those sensors can have different uses like for
example to trigger emergency stops or during
docking procedures. The output of the sensors is not
linear and follows a certain curb. For more
information refer to the sensor datasheet.
Battery level:
The robot autonomy is around 1h30 but can vary depending of how it is used. For this and in order
to monitor the battery level, an 8 bit A/D converter has been directly connected to the I/O ports of
the SC12 providing us this information.
9
Networking
Network addressing:
In the WiFiBoT SC, the embedded access point (AP) acts as a bridge between the robot’s embedded
network components and external clients. All the connected elements from different robots and other
computers merge in one single network. This means several robots can be seen in fact as a single
distributed entity where robots can access transparently the systems of others like if it was their own.
The default network address is 192.168.0.0 that is, make sure all the clients of the same network
having to communicate with the robot have an IP address of the type 192.168.0.x. The default
addresses of the different elements in the robot are (where xx are the last two figures of the serial
number):
CPU: 192.168.0.1xx port 15000
IP Camera: 192.168.0.xx port 80
Access Point: 192.168.0.2xx
The addresses and other settings of those elements can be configured respectively through an http
interface for the camera and the access point and through the INI file of the embedded calculator. For
more information please refer to their respective manuals.
10
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