Introducing the New and Improved
Surveyor SRV-1
Wireless Mobile Robot with Video for Telepresence, Autonomous
and Swarm Operation
Some of the new features:
1000MIPS 500MHz processor system running embedded Linux
Digital video camera (up to 1280x1024 pixel resolution)
Laser pointer ranging
WiFi 802.11b/g networking
Designed for research, education, and exploration, Surveyor's SRV-1 internet-controlled
robot integrates a 1000MIPS 500MHz Analog Devices Blackfin BF537 processor, a digital
video camera with resolution from 160x28 to 1280x1024 pixels, laser pointer ranging,
and WLAN 802.11b/g networking (also supports Zigbee 802.15.4 wireless communications)
on a dual-motor tracked mobile robotic base. Operating as a remotely-controlled
webcam or a self-navigating autonomous robot, the SRV-1 can run onboard interpreted
C programs or user-modified firmware, or be remotely managed from a Windows, Mac
OS/X or Linux base station with Python or Java-based console software. The Java-based
console software includes a built-in web server to monitor and control the SRV-1
via a web browser from anywhere in the world, as well as archive video feeds on
demand or on a scheduled basis. Additional software support for the SRV-1 is also
available by way of IPRE's
Python-based Myro, Microsoft Robotics
Studio, Cyberbotic's Webots, and
RoboRealm machine vision
software.
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| Above: The new Surveyor Blackfin control board. |
Features
- Open Source design with full access to source code (GPL) and schematics
- Robot is fully programmable for autonomous operation
- Extensive software support through 3rd party applications
- Teleoperate mode to drive robot around via console software or remotely
via web browser
- Host software has built-in web server and video archiving
- Robot can run programs written in interpreted C and stored in onboard
Flash
- Wireless remote control or viewing up to 100m indoors and 1000m outdoors
(line of sight)
- Robot can be controlled from a terminal/console for easy testing
- Linux 2.6 support as well as "bare metal" programming with GNU
bfin-elf-gcc
Hardware
- Processor: 1000mips 500MHz Analog Devices Blackfin BF537, 32MB SDRAM,
4MB Flash, JTAG
- Camera: Omnivision OV9655 1.3 megapixel 160x128 to 1280x1024 resolution
- Robot Radio: Lantronix Matchport 802.11b/g WiFi
- Range: 100m indoors, 1000m line-of-site
- Sensors: 2 laser pointers for ranging
- Drive: Tank-style treads with differential drive via four precision DC
gearmotors (100:1 gear reduction)
- Speed: 20cm - 40cm per second (approx 1 foot/sec or .5 mile/hour)
- Chassis: Machined Aluminum
- Dimensions: 120mm long x 100mm wide x 80mm tall (5" x 4" x 3")
- Weight: 350gm (12oz)
- Power: 7.2V 2AH Li-poly battery pack - 4+ hours per charge
- Charger: 100-240VAC 50/60Hz (US plug)
Software
- Robot Firmware: easily updated, written in C language under GPL Open Source,
compiled with GNU bfin-elf-gcc and bfin-uclinux-gcc toolchains
- Onboard User Programming: interpreter for "small C" language with special
robot-specific commands are provided for running user programs from onboard
Flash memory
- Development Tools: GNU toolchains via
http://blackfin.uclinux.org
- Console Software: Java based application, runs on Windows, MAC, Linux.
WebcamSat web server
module built into console software, allows multiple simultaneous remote viewers
via Internet
- Robot Control Protocol:
Published here.
Easily used from other applications
- Third-party Software Support:
- Myro -
http://wiki.roboteducation.org/Myro_Hardware - Myro is a new framework
for programming robots. Myro is written in the language Python and designed
for use in Introductory Computing courses, and has been developed by the
Institute for Personal Robots in Education. The goal of the project is to
provide a programming environment for easily exploring advanced topics in
artificial intelligence and robotics without having to worry about the low-level
details of the underlying hardware.
- Webots - http://www.cyberbotics.com
- SRV-1 support is now included in Webots mobile robotics simulation software.
Webots provides a rapid prototyping environment for modelling, programming
and simulating mobile robots under Windows, Mac OS/X and Linux. The 3D modeling
and physics are outstanding.
- RoboRealm -
http://www.roborealm.com/help/Surveyor_SRV1.php
- The SRV-1 can now be directly controlled from RoboRealm, a very popular
Windows-based machine vision software package for robots. The RoboRealm
extensions for SRV-1 allow creation of scripts that combine image processing
on live video feeds from the robot, e.g. color filtering, blob detection/tracking,
edge detection/outlining and feature extraction, with decision processing
and robot motion control, making it easy to create behaviors such as object
location and tracking, obstacle avoidance, motion detection, notification,
etc, with a web interface, and control can be scripted from C/C++, Python,
Java, C#, Lisp, Visual Basic, WScript and COM through the RoboRealm API.
- Microsoft Robotics Studio -
http://www.surveyor.com/MSRS.html
- Drivers for the SRV-1 in Microsoft Robotics Studio are now available.
MSRS is a Windows-based environment for academic, hobbyist and commercial
developers to create robotics applications across a wide variety of hardware.
Key features and benefits include: end-to-end robotics development platform,
lightweight services-oriented runtime, and a scalable / extensible platform.
Additional Resources
Here's a clip of 4 SRV-1's operating in close proximity in "wander
mode". The robots are controlled by a single base station on a common radio channel
using new "swarm mode" commands defined in
the SRV-1 communication protocol.
Here's a clip of the SRV-1 in action, climbing a 40-degree slope with
approximately 50% motor power.
Kit Includes:
SRV-1 Robot (Tracked base, Blackfin control board,
camera module, Wi-Fi transceiver, lasers)
7.4V Lithium polymer battery
Lithium
polymer battery charger