Sustav za upravljanje vizualnom signalizacijom i pristupom zaštićenom prostoru na autonomnom mobilnom robotu

master's thesis

• Title (english): Control System for Visual Signaling and Protected Space Access on an Autonomous Mobile Robot
• Author: Ivan Vuger
• Mentor: Hrvoje Džapo (mentor)
• Committee member: Hrvoje Džapo (predsjednik povjerenstva)
• Committee member: Mario Cifrek (član povjerenstva)
• Committee member: Željka Lučev Vasić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U okviru rada razvijena je sklopovska platforma pomoćnog kontrolnog sustava na autonomnom mobilnom robotu za prijenos tereta. Razvijeni modul predstavlja nadogradnju na postojeće rješenje autonomnog mobilnog robota za prijevoz namirnica. Nadogradnja uključuje zaštićeni prostor u kojem se nalaze namirnice prilikom prijevoza do kupca. Zaštićeni prostor omeđen je pokretnim pregradama, koje se podižu i spuštaju uz pomoć elektromotora, a sastavni dio rješenja je i LED vizualna signalizacija koja korisniku daje uvid u trenutno stanje i funkciju sustava. Sklopovski modul sastoji se od podsustava za upravljanje napajanjem, mikrokontrolera, CAN sučelja, sučelja za upravljanje elektromotorima i sučelja za upravljanje LED vizualizacijom. Za razvijeno sklopovlje razvijene su rutine za testiranje određenih funkcionalnosti razvijenog sustava.

Abstract (english)

In this thesis a hardware platform for auxiliary control system of the autonomous mobile robot for payload transfer was developed. The developed module is an upgrade to the existing solution of an autonomous mobile robot for food transport. The upgrade includes a protected area where the food is stored during transport to the customer. The protected area where food is stored is bounded by movable parts, which are raised and lowered by means of an electric motor. An integral part of the solution is also LED visual signaling that gives the user information about the current state and function of the system. The hardware module consists of power management subsystem, a microcontroller, a CAN interface, an electric motor control interface and an LED visualization control interface. Program routines for testing the most important functionalities of the system were developed.

• Keywords: ugradbeni računalni sustavi; Cortex-M ARM arhitektura; upravljanje elektromotorima; LED signalizacija; CAN protokol; autonomni mobilni roboti
• Keywords (english): embedded systems; Cortex-M ARM architecture; electric motor control; LED signalization; CAN protocol; autonomous mobile robots
• Language: croatian
• URN:NBN: urn:nbn:hr:168:784396
• 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: 2023-01-14 22:00:10