Design of a mobile robot with a moving head and stereo vision

Zaključno delo predstavlja postopek in smernice za izdelavo daljinsko vodenega mobilnega robota s podrobnimi opisi strojnih komponent in programske opreme. Z vključitvijo dveh kamer, ki ju je možno premikati v dveh oseh, je področje uporabe izdelanega mobilnega robota razširjeno na raziskave aplikacij strojnega vida. Izdelali smo univerzalno podvozje, na katerega smo montirali mikroračunalnik Raspberry Pi, servosistem za usmerjanje dveh strojnih kamer, elektromotorje in krmilnik. Kompatibilnost med konstrukcijskimi deli smo zagotovili s po meri izdelanimi podpornimi komponentami. Usmerjanje kamer in vožnjo mobilnega robota upravljamo v spletnem uporabniškem vmesniku preko osebnega računalnika. Uporabniški vmesnik je sestavljen iz modificirane kode PiBorg.The contents of this work are presented as a plan for constructing a teleoperated mobile robot that has two cameras, with detailed descriptions of both hardware and software components. For this purpose we have designed and developed an universal aluminium chassis that serves as the backbone on which we have mounted a pan-and-tilt system, DC electromotors for the drive, Raspberry Pi microcomputer and a motor controller. To ensure compatibility between individual parts sourced from different manufacturers, we have designed a custom camera mount, a pan-and-tilt mount, additional floor plates and DC motor\u27s fixtures. Camera and robot movements are accessible through a WUI which runs on a modified PiBorg code