SID

History:
Robot SID was the result of creative and experimental research of the KAR team with Ing. Jozef Dúbravsky as a supervisor in 1999.

Utilization:
The purpose of project usage was the regulation of mobile robot movement in the enviroment with barriers on the basis of information from external visual system. Robot SID was supposed to follow trajectory and the information about present position was offered by visual system.

Construction and control:
Robot consists of two primary parts. Basic three- wheeled trolley SID (Super Intelligent Device), that is remote controlled by modules and visual system with program that evaluates the visual information and offers optimal trajectory. It also controls the trolley movement, so it can avoid the collisions with the barriers.

Three-wheeled trolley:
It consist of three-wheeled trolley. The operation itself is realised by micro computer ATMEL 89 C2051. Communication between PC and robot is performed by radio modules that work on the frequency 433MHz. Robot works in two basic modes. It can be controlled using joystick or mouse or in automatic mode with the camera feedback.

Operating system software:
With CCD camera, that is placed 2m above the layout , it monitors the environment with the barriers and personal computer evaluates the data and the position of the trolley. Camera records tv signal PAL and with the help of digitising card in pc with get the display with the parameters /format/640 x 480, 256 colour, black and white. The condition is, that the layout is black, barriers white and this is to make the object recognition easier. The trolley movement is regulated on the generated curve.Program for the trolley operation was created in the program Visual C++ 5.0 on the platform win32 under operating system WINDOWS NT, 95/98. Program enables manual, automatic control, display elaboration in real time.

Technical parameters:

Developers:
Ing. Jozef Dúbravský, Ing. Branislav Mičušík, Ing. Dušan Ďurina

Gallery: