User Manual - ISY - Linköping University
Contents
1. User Manual Robotdog Group 4 December 14 2012 Project Identity Group 4 2012 HT The Robot Dog Link ping University ISY Martin Danelljan 072 372 6364 marda09 7 Gstudent liu se TOT 7180 maresDL4Gstudent io Daniel Hultqvist 070 289 2859 danhu635 student liu se Victor Johansson 072 500 8006 vicjo046 student liu se Johannes Markstr m 070 353 9655 johma564Gstudent liu se Niklas Pettersson 076 634 2903 nikpe872 student liu se Customer Michael Felsberg michael felsberg liu se CVL LiU Course examiner Vasileios Zografos vasileios zografos liu se CVL LiU Supervisor Liam Ellis liam ellis liu se CVL LiU Contents 1 User Manual 1 1 Connecting the hardware 1 2 Software 1 3 Additional adjustment 14 Troubleshooting 1 41 Camera init failed l l les 1 4 2 Stuttering images from main camera 1 43 The car wont move The car does not respond to the RC controller 2 Additional information Document history 2012 12 00 Mende 1 User Manual This manual will describes how to get robot working 1 1 Connecting the hardware First one needs to plug in all the batteries The first battery to plug in is the car battery see figure 1 Connect it to the motor see figure 1 Figure 1 Connect the RC car battery One now needs to plug in the battery for the laptop See figure 2 It is not necessary if the2. Make sure that the shortest possible cable is used still allowing the camera to turn The cable should not be near other cables especially the power cables 1 4 3 The car wont move The car does not respond to the RC controller Sadly the servo USB controller is damaged The computer has problems of detecting both the receiver and the transmitter part of the usb hub When plugging in the servo usb cable two clicks should be heard If not plug it out and retry There are times when it works anyway so it is mostly trial and error There is also another way to make sure that the controller has connection In the Windows Control Panel the menu USB Game pad is available One Figure 8 Move the camera to correct position should be able to find the RC CONTROLLER as an available controller 2 Additional information For additional information and in depth detail please view the technical report
3. nager in Visual Studio Build and run the solution by pressing F5 command line terminal will launch displaying the available subprograms to run The current implemented programs are 1 Manual without camera Drive the car around using the RC controller 2 Manual with camera Drive the car around with camera vision on the laptop screen 3 Only camera Only view camera vision on screen no driving 4 Follow operator The RC car will automatically try to follow the Operator 5 ObstacleDetection Manually drive with obstacle detection activated 6 Automatic driving ObstacleDetection Automatic steering manual throttle obstacle detection activated 7 Pedestrian detection only visual Detect persons no driving 8 Pedestrian detection with auto steering manual throttle 9 Operator learning Run the operator learning cycle no driving 10 Harvest false Positives Record the detections found by camera or from recorded data No persons allowed in view 11 Complete program Full autonomous program with everything activated 12 Do nothing One also have options for each program One can decide if to run from live data or from recorded One can also decide if the robot should record any images and if so from which camera s See figure 6 and 7 D SkolaXTSBBllSgruppdsRobotdogXRobotdogXRelease amp Robotdog exe Select control mode Manual without camera Manual with camera Only camera Follow o
4. perator ObstacleDetection Automatic driving ObstacleDetection Pedestrian detection only visual Pedestrian detection with auto steering manual throttle Operator learning Harvest false Positives Gomplete program Do nothing Camera Recorded data Figure 6 Select input data 1 3 Additional adjustment Ihe main camera used for person detection has the tendency to move somewhat One might need to adjust the camera angle by loosing up one valve moving the camera to correct position and then close the valve See figure 8 1 4 Troubleshooting There are some common issues with the robot Here are some of the most frequent ones listed D Skola TSBB11 grupp4 Robotdog Robotdog Release Robotdog exe Y Pedestrian detection only visual 8 Pedestrian detection with auto steering manual throttle perator learning Harvest false Positives Complete program Do nothing Gamera Recorded data 1 Select record mode Record only regular camera Record only webcam Record both regular and wehcam 4 Off Figure 7 Select if the robot should record data 1 4 1 Camera init failed When starting the program one might get the error CAMERA INITIALIZATION FAILED This means that the main camera is not properly connected Disconnect the USB cable plug it in and restart the program 1 4 2 Stuttering images from main camera There are most likely interference on the camera cable
5. user wants to run with an external adapter always connected but it is recommended Please note that the laptop battery is in practice almost dead Figure 2 Connect the extra laptop battery To make sure that the external laptop battery does not drain out one must also connect the battery checker see figure 3 Make sure that the checker comes alive The totalt voltage should never be under 17 5 V Remember black cable to black cable Figure 3 Connect the battery checker Now that all the power is connected one needs to connect all the external hardware such as the cameras Also connect the external laptop battery charger if the robot should not run on the external laptop battery See figure 4 Remember to connect the power to the laptop The USB cable connecting the servo controller should click twice if the laptop is already turned one as it is a USB hub for both receiving and transmitting servo signals Figure 4 Connect external components Lastly one needs to turn on the RC car engine and the laptop To turn on the RC car flip the switch on the left side of the RC car see figure 5 The car fan and the lights should be turned on Figure 5 Turn on the RC car engine Light and fan should turn on 1 2 Software The solution provided with the RC car should be able to compile at once The solution is made for a 32 bit system it is possible to run on a 64 bit system by changing the setting under Configuration Ma
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