P ocedia Enginee ing 48 ( 2012 ) 463 – 468
1877-7058 © 2012 Published by Else ie L d.Selec ion and/o pee - e iew unde esponsibili y o he B anch O i ce o Slo ak Me allu gical Socie y a
Facul y o Me allu gy and Facul y o Mechanical Enginee ing, Technical Uni e si y o Košice
doi: 10.1016/j.p oeng.2012.09.540
MMaMS 2012
Labo a o y mobile double ack obo
Na á il Pe
a
*
a
Tomas Ba a Uni e zi y in Zlín, Facul y o Applied In o ma ics, nám. T.G. Masa yka 5555, Zlín 760 01, Czech Republic
Abs ac
This a icle desc ibes he design and cons uc ion o he mobile double ack obo and he de elopmen o suppo ing algo i hms, enable
leading mobile obo ki o i s own ajec o y. The obo consis s o six sma ac ua o s wi h ime inc emen al con ol, wi eless webcam
Axis 206W and access poin ASUS WL – 560g. Fou se omo o s a e used o s ee ing mo ion con ol sys em o he wheels; wo a e used
o came a con ol in wo di ec ions. Con olling he obo is allowed h ough se ial in e ace RS232. The se ial in e ace is used o
ansmi con ol da a and se up ins uc ions o he ac ua o s. The sys em is ex ended o wi eless communica ion modules, consis ing o
he adio modems, connec able o he se ial po o he pe sonal compu e and he adio module HĘ & Wessel
.
© 2012 The Au ho s. Published by Else ie L d.
Selec ion and/o pee - e iew unde esponsibili y o he B anch O ice o Slo ak Me allu gical Socie y a Facul y o Me allu gy and
Facul y o Mechanical Enginee ing, Technical Uni e si y o Košice.
Keywo ds: mobile obo ; wi- i; se omo o ;
1. In oduc ion
The signi ican de elopmen o elec onics and compu e echnology in he las wo decades has signi ican ly in luenced
he de elopmen o obo ics, which is wholly dependen on he possibili y o p ocessing o da a om senso s in eal ime.
Robo can be unde s and as compu e -con olled in eg a ed sys em, which is capable o au onomous desi e-o ien ed
in e ac ion wi h eal en i onmen in acco dance wi h he ins uc ions he ope a o , enabling a obo o pe cei e and
ecognize he en i onmen , c ea e and egula ly upda e an in e nal model o he en i onmen , on he basis o his model in
acco dance wi h he speci ied ole o decide on hei ac i i ies a ec he en i onmen and manipula e objec s. Mobile obo s
c ea ing an a ea o obo ics deal wi h he obo s, which a e able in capable su oundings o mo e in he ime. Thei s udy,
esea ch, design and cons uc ion deals obo ics. F om he pe spec i e o he obo subsys ems – mechanical, elec onic,
con ol, p opulsion and o he s alk abou he obo as a mecha onic sys em [1-2]. Classi ica ion o mobile obo s can
pe o m unde a a ie y o c i e ia. The basic pa i ioning: au onomous and emo ely con olled obo s. The basic
assump ion o au onomous sys em is i s abili y o independen ly pe o m a gi en ask. I can be wa ching as he colo ed
lines on he loo and he abili y o espond o he p esence o obs acles, o be able o mo e in unknown su oundings, be
able o cha his, o ien i and achie e he desi ed goals. Cu en ends o he wo ld de elopmen in he a ea o mobile
se ice obo s show he e y wide ange o op ions o hei applica ion. Unlike indus ial obo s a e also used in non –
adi ional a eas. Recen ly ime he se ice mobile obo s a e applied especially in se ices and assis i e echnology [3-4].
The main ac o ha a ec s he design pa ame e s and beha io o se ice obo is an en i onmen whe e se ice mobile
obo ope a es. Two ypes o en i onmen s can be aken in o conside a ion: indoo and ou doo . Fo he ou doo
* Co esponding au ho . Tel.: +420-57-603-5200; ax: +420-57-603-2716.
E-mail add ess: p1na a il@ ai.u b.cz.
A ailable online a www.sciencedi ec .com
© 2012 Published by Else ie L d.Selec ion and/o pee - e iew unde esponsibili y o he B anch O i ce o Slo ak Me allu gical Socie y a
Facul y o Me allu gy and Facul y o Mechanical Enginee ing, Technical Uni e si y o Košice
464 Na á il Pe / P ocedia Enginee ing 48 ( 2012 ) 463 – 468
en i onmen is cha ac e ized ha he obo mo es ou doo s in ugged e ain such as ields, o es s, ocks and c a e s, o i
can be also an u ban e ain, e c. In mos cases his is he e ain in which he pe son mo es e y di icul . This a ea can be
expanded by he mo emen o he obo in a con amina ed en i onmen , unde wa e esea ch, explo a ion o plane s, e c.
Fo indoo en i onmen is cha ac e ized ha obo mo es only in buildings, la ge anks, ai conduc s, pipes and simila
a eas.
Mobile obo s a e gene ally designed o pe o m asks in pa ially known o o ally unknown en i onmen s wi h
changing scenes. In many cases, applica ions a e al eady equi ed o conduc such an au onomous obo . Au onomous obo
ac i i y is condi ioned by using sophis ica ed o adap i e con ol. Au onomous obo s a e able o plan, in e p e and
implemen he speci ied ole om he ope a ion con ol sys em and in o ma ion ob ained om ex e nal senso s [5].
Ac i i y o mobile obo is mainly de e mined by posi ioning and o ien a ion sys em, e ec o and he chassis pa .
O ien a ion sys em and he e ec o a e adap ed o he desi ed ac ion – o en i is a wo k wi h agile i ems (glass, delica e
equipmen , handling wi h pa ien s ) – cons uc design o e ec o s a e he e o e usually i ed wi h a la ge numbe o
senso s han he case o indus ial obo s – i is mainly he ac ile senso s ha de ec g ipping powe [6].
The chassis pa g ea ly a ec s he ac i i y o se ice mobile obo . I i is a need o wo k wi h g ea maneu e abili y,
chassis wi h mul iple deg ees o eedom o uck wi h omni wheels is elec ed, i he s eady ope a ion o he obo is
equi ed (when anspo ing pa ien s, specimens, dange ous objec s) he chassis wi h mo e wheels o bel can be selec ed [7-
8].
2. Desc ip ion o he obo
Due o he expec ed use o a mobile obo in labo a o y condi ions and ease o p og amming he in elligen se omo o s
om Mega obo ics company L d. we e selec ed as a d i e uni s. The sys em is composed om six ac ua o s AI MOTOR-
1001, wi eless webcam Axis206W and access poin ASUS WL-560g. Fou ac ua o s a e used o mo ion con ol sys em o
he wheels; wo a e used o con ol o he came a in wo axes. Wi h ega d o i s cons uc ion and connec ing pa s hese
se omo o s a e enabled o planning con igu a ion s a es o end-e ec o o mo e deg ee eedom. The body o he obo is
c ea ed om wo aluminum pla es. (Fig. 1). The mo he boa d ( o eside) and se omo o s (lowe side) a e moun ed on he
body. A he back side is a place o moun he ba e ies and modules o wi eless communica ion. Robo con ol is allowed
h ough a se ial in e ace RS232. Se ial in e ace is used o ansmi da a, con ol and adjus men ins uc ions o ac ua o s.
The sys em is u he enhanced wi h wi eless communica ion modules, consis ing o he adio modem, connec able o he
se ial po o he PC and he adio module om he company HĘ & Wessel. The adio modems and communica ion
module ope a ing in he unlicensed band 1880-1900MHz. The obo ic ki can be powe ed om bo h he g id and also by
using he six echa geable ba e ies 1.5V.
Fig. 1. Mobile obo .
2.1. AI-Ac ua o 1001
AI ACTUATOR-1001 is an ac ion membe o obo con olling. The model is shown in Fig. 2(a). Ac ua o consis s
om a complex ac ua o , ha d pa s and con ol ci cui s, so ha hei concen a ion in a single uni could be simple and
465
Na á il Pe / P ocedia Enginee ing 48 ( 2012 ) 463 – 468
p ac ical. I o e s a sliding and o a y mo emen , a a ie y c oss combina ions and also he esul mo ions and in e es ing
echnical de ails. I consis s o a d i ing uni , a small gea , he con ol uni and measu ing uni . Powe uni consis s o a DC
mo o [9].
The con ol uni consis s om a single-chip p ocesso , which p o ides also he con ol o DC ac ua o and
communica ion wi h he su oundings by asynch onous se ial in e ace RS-232 wi h TTL le el communica ion signal. The
con ol uni al eady con ains a communica ion p o ocol, which allows o con igu ing a module o he speci ic equi emen s
o speci ic applica ions. Block s uc u e o ac ua o is shown in Fig. 2(b).
The ac ua o s can be combined in o a single se ies in he ne wo k. In his case, o m one b anch o he ou ac ua o s
connec ed in se ies wheels and he second b anch consis s om he wo ac ua o s o came a con ol mo emen in wo axes.
The mo he boa d p o ides a place o ou b anches. The ac ua o s ha e hei own ins uc ion se . In e nal pa ame e s o
ac ua o s, such as ID, baud a e se ial communica ion, posi ion con ol, he h eshold ol age can be changed
p og amma ically using ins uc ions sen ia se ial po . AI Ac ua o 1001 con ains 2 connec o s. A e connec ing o he
mo he boa d is ac ua o ully unc ioned. The second connec o is used o connec ion in addi ional ac ua o in se ies.
Following se ies o blocks can be connec ed o 30. AI-Ac ua o ecei es ins uc ions ia RS-232 line, so all he ac ua o s
hey can no ecei e ins uc ion in he same ime. This delay is negligible, depending on he ansmission speed o only a
ew en hs o a millisecond.
(a) (b)
Fig. 2. AI-Ac ua o 1001 (a) model and (b) in e nal s uc u e.
Communica ion be ween he con olle and AI-ac ua o is shown in Fig. 3 and p oceeds as ollows: package con olle
sends commands (command packe ) o AI-ac ua o , i sends back an acknowledgmen ( esponse packe ) on eceip o
o de s.
Fig. 3. Communica ion be ween AI-ac ua o and con olle .
2.2. Mo he boa d MSC-BPT232
Mo he boa d MSC-BPT232 (see Fig. 4) is in ended o managemen and con ol o he AI-ac ua o 1001. I con ains
se ial po connec o CD3pin (M) (1), in eg a ed ci cui MAX232 (2), ba e y connec o (3), connec o s o connec ing AI
ac ua o (4). Supply ol age anges om 6 o 11V. On he mo he boa d a e implemen ed 4 connec o s o AI-ac ua o 1001.
F om Fig. 4 shows ha he mo he boa d is used he mos common RS232 connec ion; he cable has only h ee wi es.
In eg a ed ci cui is a MAX232 TTL o RS232 con e e [10].
466 Na á il Pe / P ocedia Enginee ing 48 ( 2012 ) 463 – 468
Fig. 4. Mo he boa d MGR-BPT232
2.3. Radio module HW86010 a adio modem HW8612
Fo wi eless communica ion be ween he mo he boa d o he obo ic sys em MSC-BPT232 and pe sonal compu e we e
selec ed adio modules HW86010 and adio modems HW8612. Wi eless communica ion a chi ec u e is shown in Fig. 5.
Fig. 5. Wi eless communica ion a chi ec u e –HW8612 and HW86010.
HW86010 adio module om he company Hö & Wessel wo king in he DECT band 1880.064 - 1898.208MHz
(unlicensed band). The module includes RS232 in e ace o bi-di ec ional da a ansmission (baud a e up o 115200 bi /s),
PCM in e ace o connec s anda d ISDN and PBX sys ems, auxilia y unc ions o I2C and analog inpu s and ou pu s o
oice ansmission. Radio equency powe is 250mW, he possibili y o using wo in e nal and one ex e nal an enna. The
ange is abou 300 me e s in ee space, 60 me e s in he build-up a ea.
HW8612 is a adio modem wi h RS232 (V.24) in e ace, i s co e is a module HW86010. Thus all p ope ies a e common.
Modem includes inpu s o powe , inpu o connec ion o he PC and ou pu o connec ing ex e nal de ices. Modem can be
connec ed di ec ly wi h he mo he boa d MSC-BPT232.
2.4. Web came a AXIS 206W and Access Poin ASUS WL-530 g Wi-Fi
Axis 206W has a buil -in wi eless 802.11b, i can he e o e be placed almos anywhe e, e en whe e no ne wo k
connec ion. In ac , he only limi a ion is powe dis ibu ion. Due o i s size and weigh and also because o i s mobili y, he
came a showed an ideal solu ion o mobile obo came a sys em. Image p ocessing is secu ed by a CMOS senso . The
came a p o ides Mo ion JPEG images cap u ed a 30 ames pe second a esolu ions up o 640x480 pixels. I has a buil -in
web se e which makes possible o ack and manage use a s anda d Web b owse . The came a communica ion ange is up
o 150 me e s. The came a is in ended o indoo use.
PC MAX232 MGR-BPT232
Connec ion wi h
RS232
Radio modem
HW8612
Radio module
HW86010
Wi eless communica ion
Connec ion wi h
RS232
467
Na á il Pe / P ocedia Enginee ing 48 ( 2012 ) 463 – 468
Wi eless Came a Axis had o be combined wi h a pe sonal compu e o connec o he In e ne . ASUS WL-530g is a
composi e de ice wi h In e ne ga eway unc ions, Access Poin and ou -po swi ches. Wo ks wi h IEEE 802.11g and
IEEE 802.11b s anda ds. IEEE 802.11g is backwa d compa ible wi h wo king wi h s anda d b, bu only on he speed o
11Mb/s o less. Communica ion secu i y is ea ed wi h 128-bi and 64-bi WPA enc yp ion. All se ings and acili ies
managemen is add essed h ough he web in e ace.
3. Implemen a ion so wa e - ealiza ion
Based on use 's manuals we e c ea ed applica ion so wa e o mobile obo con ol in he p og amming en i onmen
Bo land C + + Builde (see. Fig. 6). Base ins uc ion se is designed as a class in C + +, which con ains me hods o
opening, closing and se ing communica ion ia se ial po and he means o in elligen ac ua o con ol.
The gene a ed applica ion is used mainly o inpu ajec o ies, whe e he obo will mo e. En e ing ask is o na iga e
he obo o a p esc ibed ajec o y. The basic unc ion o he p og am is he e o e i ing cu e ajec o ies o se e al poin s.
The use hen en e s he coo dina es o s a and end poin s, de e mine he numbe o in e lace poin s and also en e hei
coo dina es. The p og am i s hese poin s a cu e o use 's choice, by which he obo will mo e. Ano he op ion is o en e
he coo dina es o he ajec o y b eak poin s, acco ding o which he obo will mo e di ec ly (by s aigh lines). Ad an age
o he sys em, whe e each wheel has i s own con ol is ha i enables he obo 180-deg ee u ns in place. Ano he op ion is
a las oppo uni y o le he obo o pe o m he mo emen in he closed cu e such as a ci cle. The applica ion also includes
he op ion o manual con ol o mo emen o wa d, backwa d and u ning le and igh .
Fig. 6. C ea ed applica ion so wa e.
C ea ed applica ion so wa e is open and a bi a y modi ica ions can be made. I is possible o example a simple way o
es own algo i hms o mo ion con ol and ex end he capabili ies o c ea ed obo . The obo can be connec ed o a wi eless
IP came a. Came a mo emen is con olled in wo axes using wo in elligen engines. The came a communica es wi h he
PC ia a wi eless ou e . Cap u e ideo om he came a is easy. On he basis o pic u e aken om came a i is possible do
he analysis and subsequen ly con ol he mo emen o he obo .
Simila so wa e can be c ea ed o example in p og am MATLAB, which also suppo s he wo k o he se ial line and
includes ools o image p ocessing. This combina ion o e s a use - iendly solu ion o obo con ol based on he analysis
o isual in o ma ion.

468 Na á il Pe / P ocedia Enginee ing 48 ( 2012 ) 463 – 468
4. Conclusion
A icle desc ibes he design, assembly and so wa e de elopmen o mobile obo ic sys em wi h an inc emen al ime
con ol o each wheel sepa a ely and con ols he mo emen o IP came as in wo axes. The basic modules o he obo ic
sys em a e he mo he boa d MSC-BPT232 and AI – ac ua o 1001.
Fo he ans e ing con ol ins uc ion om he PC o he mo he boa d se ial in e ace was used. In o de o enable he
sys em o be mobile and o use in places ha a e no equipped wi h powe supply, wi eless communica ion has been
implemen ed wi h he mo he boa d. Radio modem HW8612 was used o es ablish wi eless communica ion wi h obo
mo he boa d. Radio modem and adio module communica e in he unlicensed band 1880-1900MHz. I is e iden ha ei he
a se ial cable connec ion o a la ge adio modem es ic s he mobili y o he obo ic sys em, and he e o e was implemen ed
HW86010 adio module whose small size allows moun ing assembly o a small mobile obo . T ans e o con ol signals o
he desi ed le el o TTL / CMOS p o ides in eg a ed ci cui MAX232. The so wa e consis s o a se o ins uc ions o
communica ion be ween he PC and he obo and i s own algo i hm o con olling he obo is c ea ed in he p og amming
en i onmen Bo land C + + Builde . The whole sys em was designed so ha i can be used as an app op ia e eaching ool in
labo a o ies dealing wi h eaching obo ics.
Re e ences
[1] Sm þek, J., Ká ník, L., 2008. Robo ika, Se isné obo y, Na ho anie, konš ukcia, iešenia. Košice. p. 534. ISBN 80-7165-713-2.
[2] Ká ník, L., 2004. Se isní obo y. VŠB-TU Os a a, Os a a. p. 144. ISBN 80-248-0626-6.
[3] Ká ník, L., Kno líþek, R., Ma cinþin, J. N., 2000. Mobilní obo y. MÁRFY SLEZSKO, Opa a. p. 210. ISBN 80-902746-2-5.
[4] No ák, P., 2005. Mobilní obo y : pohony, senzo y, Ĝízení. BEN - echnická li e a u a, P aha. p. 243. ISBN 80-7300-141-1.
[5] C i chlow, A. J., 1985. In oduc ion o Robo ics. Macmillan, New Yo k. ISBN 0023255900.
[6] McKe ow, P. J., 1991. In oduc ion o Robo ics. Addison-Wessley, Sydney. ISBN 0201182408.
[7] Schilling R. J., 1990. Fundamen als o Robo ics. Analysis and Con ol. P en ice Hall, Englewood Cli s, New Je sey. p. 464. ISBN 978-0-13-344433-9
[8] C aig, J., 2005. In oduc ion o obo ics : mechanics and con ol. Uppe Saddle Ri e , Pea son/P en ice Hall, N.J..2005. p. 400. ISBN 0201-54361-3.
[9] PC in e ace boa d o MGR-BPT232 MANUAL [online]. <h p://mega obo .ne /manual_download/MGR-BPT232_manual.pd >
[10] AI MOTOR 1001 - MANUAL e . 1.02 [online]. <h p://www.mega obo .ne /cj/manualy/mega obo ics/AIMo o 1001_manual.pd >.