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System Block Diagram

Telerobotics 2001
Project Team: Sean Grady, Tim Booth & Geoff Mikosz
Project Advisors: Dr. Huggins & Dr. Malinowski

User 1

User 2

Control

Observers

Video &
Status

Control

Ethernet
Video &
Status
Video &
Status

Control

802.11b WLAN
Network

Wireless
Ethernet

Wireless
Ethernet
Data Transmission

Video &
Status

Control

PCMCIA
Video &
Status

Video

Camera

Control

PC/104 or Laptop
Embedded
Processor
(Webserver)
RS232 Serial
Link

Sensor
Status

Proximity Sensor

Embedded
Processor
Control
Command

Motors
Movement/Steering

Component
Users

Description
The users are the ones that control the robots remotely to play
the game. They control the robots via the JAVA based controls
on the webpage. Current video and robot status are sent to
them.

Observers
Ethernet

Observers are allowed to watch the progression of the game.


The ethernet is used to route signals to the users and observers.
It is mode independent, the server will always be listening for a
new user connection.
A wireless LAN using the IEEE 802.11b standard will be used to
send and receive information between the users and the remote
servers. (Mode independent) 802.11b is a high rate amendment
to the original 802.11 standard that adds the speeds of 5.5Mbps
and 11Mbps.
PCMCIA will be used to help interface the WLAN to the PC104.
(Mode independent) PCMCIA (Personal Computer Memory
Card International Association) is a format that allows
compatibility between the WLAN card and the PC104 platform.
Video feed from the webcam lets the users and observers see
where the robots are. A robot status indicator lets them know if
the status of the game, IR sensor, proximity sensor, and battery.
The video signal will always be transmitted regardless of current
mode.
The control signal coming from the users tell the robots what to
do. The users do this by using the JAVA based control panel on
the webpage. Control signals are mode independent, a new user
could logon at any time.
Runs the web server and handles all internet control functions.
When there are no users connected, this computer handles the
sleep mode in which the robot monitors its internal power and
recharges if necessary.
Handles all robot specific functions such as sensing and
movement. Mode independent, waits for commands from the
user I/O or other control functions on
Sends current picture of the robots surroundings to the user.
(Mode independent)
Detects if another robot or object is nearby. (Mode independent)

WLAN

PCMCIA

Video & Status

Control Signal

PC/104 or Laptop Embedded


Processor

Robot Embedded Processor

Camera
Proximity Sensor
Motors

Steer and move the robot around the environment. (Mode


independent)

Internet
W ireless Connection

W ait for user 1


power down/stand-by

User 1
Input/ Output
W ebmaster

NO

W ant to
P lay?

Move the
robot?

YES

NO

Program the
robot?

NO

YE S
YES

S tart Camera
Wake fromStandby mode

Start Camera
W ebmaster Program
W indow

EX IT
Dis play Camera View

Display Camera View

NO
Still playing?

Power up robot
for movement

YES

User #2
Flowchart

Monitor Sensors , IR's


Check Battery S tatus
One or Two player
User inputs

IR
Tagged?

YES
Game Over

NO
Battery
Low?
NO

YES

Find Battery
charging station
Standby until battery
reaches 50%

Power down
robot.

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