Winter 2020
Updated Block Diagram
The updated block diagram focused more on the software side of the project. Visualization was added to provide more information on the arm and detected objects to the operator.
A more detailed block diagram of the software system is shown below.
Sensor Placements
Because our sensors have a narrow field-of-view, we carefully chose sensor locations to reduce blind spots in the most important directions.
Arm Visualization
Object Simulation
Simulates how sensors would detect objects and draws a red circle at each detected object.
Arm Arm Collision
Detects if each arm segment is moving towards each other so the arm can stop before a collision.
Sensor Enabling
Enables sensors that are moving forward and disables sensors that are moving backwards
Final PCB Design
This is the PCB designed for the SafeVision hardware system. It is a four-layer board consisting of the STM32 microcontroller, serial communication converter, and headers to connected all the VL53L0X sensors. This design keeps the sensor wiring cleaner while also reducing cost of the original six-layer board design.
Sensor Mounts
Sensor mounts designed for the VL53L0X sensor to attach sensors to different parts of the Universal Robotics arm.
Winter Quarter Summary
The main accomplishment of winter quarter is getting the software system ready and finishing the PCB design.
On the software side, a object simulation was done for us to test other parts of the system without the needs of a physical robotic arm. It allows objects to be place in space and sensor data will be simulated. The control system are tested with the simulation before tested with the real arm. Other important parts of the software for the control system are the arm-arm collision and sensor enabling, Arm-arm collision detects if different segments of the arm are moving towards each other and signal to stop the arm to prevent collision. Sensor enabling highlights the sensors important in the motion of the arm which allow the arm only to be stop by objected detected in the path of movement.
Hardware made progress in setting up shielded wires for sensors, sensor mounts, and the PCB. The shield wires were tested at different length and was found to be stable in normal condition without extended use. The sensor mounts was able to stick to the arm with the sensors, however, it is not too stick too well due to the weights of the wires. The final design of the PCB was approved and consisted of the STM32 microcontroller, serial communication converter, and headers to connected all the VL53L0X sensors.
At the end of the quarter, a final demo was done with the real arm and can be found in the Demo page.