TECO Green Technology Contest 2013 - The Intelligent Navigation And Tracking System

Transcript

2. The ZigBee Network System
3. Intelligent Navigation and Tracking System (Based On ZigBee) Beijing Jiaotong University Pro. Yong Lu Lingkang Zhang Yeman Zhang Pengxu Chen
4. ⅠThe ZigBee Network System Ⅱ The Intelligent Navigation and Tracking System
5. ⅠThe ZigBee Network System 1. General Introduction 2. Location Technology 3. Zstack OSAL (The reason of its low energy-consumption)
6. 1. General Introduction • ZigBee is a low-cost, low-power, wireless mesh network standard. • IEEE standard 802.15.4 • ZigBee nodes can sleep most of the time
8. 2. Location Technology • RSSI(Received Signal Strength Indicator) value • Reference node: CC2430/31 • Blind node: CC2431
10. 3. Zstack OSAL • operation sytem • osal_start_system() heart beat • Timer event, Timeout • osal_pwrmgr_powerconserve()
12. • Performance Improvement • Application
13. Main Functions Navigation Tracking Controlling Button Control LCD Display Android APP Avoid Obstacle Double Engine Location Display Ⅱ The Intelligent Navigation and Tracking System
14. Restaurant Supermarket Factory
16. 1.General Introduction 3.Navigation 4.Tracking 5.Control 6.Avoid Obstacles Algorithm Hardware 2.Platform
17. CPU1 ZigBee Bluetooth Module CPU2 Infrared Sensors Engines ultrasonic sensors LCD Display 1.General Introduction
19. INAT SYSTEM: A Navigation B Tracking C Control Warehouse Factory Workshop Destination: Tracking Mode Control Mode Current Position: X-axis: 00.00 Y-axis: 00.00 Destination: Warehouse
20. 2.Platform
21. 3.Navigation ZigBee Locating Reference Node Gateway Node Blind Note
22. Using the serial port program and serial port-debugging helper to connect the ZigBee system to the MCU and computer. Add in the location program. Modify the Z-Stack Code. Add in the polling operation.
23. Navigation Algorithm：
24. • The shortest path • Efficient • Low energy-consumption
25. 4.Tracking Collect the data and work out the movement strategy. Multiplexing the two sensors. Initiate the two ultrasonic sensors.
26. Assume: The left sensor gives x1 The right sensor gives x2 Tracking algorithm：
27. 3.Bluetooth Control
28. Eclipse Java Android Bluetooth
29. 1 • Pair the Bluetooth devices. 2 • Sending different codes to the robot. 3 • CPU collect the data from the serial port and work out the movement strategy.
30. • Android based • Remote control using mobile phone • Convenient
31. 6.Avoid Obstacles
34. Thank you
35. Q & A