Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu

master's thesis

• Title (english): Safety laser range finder system on a omnidirectional mobile robot
• Author: Antonio Balaban
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom diplomskom radu naglasak se stavlja na sigurnosni sustav mobilne platforme sa četiri švedska kotača koja joj omogućuju gibanje u svim smjerovima. Na mobilnoj platformi dijagnonalno su postavljena dva laserska senzora Sick 300 poznata kao "Safety sick" skeneri. Za zaustavljanje platforme koristi se postavljeni sigurnosni logički kontroler koji neovisno o upravljnju moblinim robotom zaustavlja njegovo gibanje kada se detektira prepreka u definiranim zaustavnim zonama. Dodatno je implementiran sigurnosni sustav izveden Arduino razvojnom pločicom i pripadajućim modulima koji može raditi u jednom od dva odabrana režima rada. Sigurnosni sustav izveden Arduinom nešto je fleksibilniji u odnosu na sigurnosni sustav reliziran sigurnosnim kontrolerom, te dopušta gibanje platforme i nakon detekcije prepreke u sigurnosnoj zoni uz dodatnu zaštitu u obliku python skripte koja obrađuje laserska očitanja senzora i zaustavlja platformu kada se zadovolje potrebni uvijeti. Naposlijetku se radi analiza sigurnosnih sustava u vidu izračuna minimalne sigurnosne udaljenosti Ds koja se treba postaviti na laserski senzor kako bi se robot pravovremeno zaustavio. Također, rad sigurnosnog sustava analizira se u stvarnom vremenu primijenjenom za lokalizaciju mobilne platforme.

Abstract (english)

In this master's thesis, emphasis is put on the safety system of the mobile platform with four swedish wheels which enable it to move in all directions. On the platform, there are two Sick 300 laser sensors (also known as Safety sick scanners) which are set diagonally from each other. Safety logic controller is used to stop the platform, which stops its moving when obstacles are detected in the defined stop zones, regardless of whether someone is controlling the mobile robot. Safety system, made by using Arduino open-source hardware and belonging modules can work in one of two selected regimens is additionally implemented. Safety system made by Arduino is somewhat more flexible in regards to safety system made with safety controller so it allows moving the platform even after the obstacle is detected in the safety zone with the additional protection in the form of python scrypt which processes laser readings of the sensors and the stops the platform when certain condiotions are satisfied. Finally, analysis of the safety systems is made in the form of calculations of minimal safety distance Ds which needs to be set on the laser sensor so the robot would be able to stop in time. Also, safety system is analysed in real time applied for localization of the mobile platform.

• Keywords: Mobilna platforma; sigurnosni sustav; laserski senzori; sigurnosni kontroler; sigurnosne zone; Arduino; upravljanje; sigurnosna udaljenost; lokalizacija
• Keywords (english): Mobile platform; safety sistem; laser sensors; safety controller; safety zones; Arduino; motion control; safety distance; localization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:677978
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 11:43:56