Self Balancing Robot

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(Key Control Board in the Self-Balancing Robot)
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object following and obstacle avoidance.
object following and obstacle avoidance.
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= Block Diagram =
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= Update Information =
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[[BAL_CD_Update_Log |BAL CD Update Log]]
= Two Robot Version =
= Two Robot Version =
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The motor driver board receives the control signal from the de10-nano to control the motor rotation. There are also some sensors and communication devices on the motor driver board. These devices can provide the status data of the robot and external communication interface to FPGA. For detailed hardware information, please refer to 03_Hardware_Manual.pdf which can be found in the CD package.  
The motor driver board receives the control signal from the de10-nano to control the motor rotation. There are also some sensors and communication devices on the motor driver board. These devices can provide the status data of the robot and external communication interface to FPGA. For detailed hardware information, please refer to 03_Hardware_Manual.pdf which can be found in the CD package.  
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[[File:DE10-Nano and Motor Driver Board.png|700px]]
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[[File:DE10-Nano and Motor Driver Board.png|500px]]
== Familiar with the Terasic DE10-Nano ==
== Familiar with the Terasic DE10-Nano ==
[[File:De10 nano top.jpg|300px]]
[[File:De10 nano top.jpg|300px]]
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平衡車上的主要控制板為 DE10-Nano , 這個Kit上擁有一個 內嵌ARM Cortex A9 CPU 的 Intel Cyclone V SoC FPGA. 使用者若要對平衡車入手,  
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The main control board on the balance car is the DE10-Nano Kit. This Kit has an Intel Cyclone V SoC FPGA with an embedded ARM Cortex A9 CPU. To get started with the balance car, you need to start learning and using the board first. Related learning resources are as follows:
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需要先開始學會了解與使用這塊板子. 相關的學習資源如下:  
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*[https://software.intel.com/en-us/terasic-de10-nano-get-started-guide DE10-Nano on the Intel 's Developer Zone]
*[https://software.intel.com/en-us/terasic-de10-nano-get-started-guide DE10-Nano on the Intel 's Developer Zone]
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= Document =
= Document =
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{| align="center" style="border-spacing:0;width:14.651cm;"
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|-
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==1. Battery  Version Compare==
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| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Document Name'''
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*[[Self_Balacing_Robot_Battery_Version_Compare|Battery_Version_Compare]]
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| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Battery_Package_Version'''
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| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Battery_Package_Version'''
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==2. User Manual ==
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|-
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| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Quick Start Guide
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===Battery Package Version===
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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[[File:Bal battery package logo.png|200px]]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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*English :
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|-
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**[https://www.terasic.com.tw/attachment/archive/1096/01_Quick_Start_Guide.pdf 01_Quick_Start_Guide.pdf]
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| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Battery_Installation_Guide
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**[[BAL_Battery_Package_02_Getting_Start_Guide |02_Getting_Start_Guide]]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''-'''
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**[[BAL_Battery_Package_03_Hardware_Manual |03_Hardware_Manual]]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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**[[BAL_Battery_Package_04_User_Guide |04_User_Guide]]
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|-
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| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Getting_Start_Guide
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*中文(Chinese) :
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | [[BAL_Battery_Package_02_Getting_Start_Guide |02_Getting_Start_Guide]]
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**[https://www.terasic.com.tw/attachment/archive/1136/01_Quick_Start_Guide_chinese.pdf 01_平衡车快速入门指导]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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**[http://mail.terasic.com.tw/~johnny/release/bal/bp/02_平衡车学习指导.pdf 02_平衡车学习指导]
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|-
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**[http://mail.terasic.com.tw/~johnny/release/bal/bp/03_平衡车硬件手册.pdf 03_平衡车硬件手册]
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| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Hardware_Manual
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**[http://mail.terasic.com.tw/~johnny/release/bal/bp/04_平衡车使用手册.pdf 04_平衡车使用手册]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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===Battery Case Version===
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|-
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[[File:Bal battery case logo.png|200px]]
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| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | User_Guide
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*English :
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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**[http://mail.terasic.com.tw/~johnny/release/bal/bp/01_Quick_Start_Guide.pdf 01_Quick_Start_Guide.pdf]
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| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | -
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**[[BAL_Battery_Package_02_Getting_Start_Guide |02_Getting_Start_Guide]]
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|-
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**[[BAL_Battery_Package_03_Hardware_Manual |03_Hardware_Manual]]
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|}
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**[[BAL_Battery_Package_04_User_Guide |04_User_Guide]]

Latest revision as of 10:14, 30 November 2020

Balance robot typeB 04.jpg

Contents

Overview

Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the Robot offers developers a perfect starting point to create your own robotic innovations.

This Robot can perform posture recognition in real time through the acceleration sensor and the gyroscope, and achieve the balance by controlling the motors to adjust the posture. The Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as moving forward, turning right & left, object following and obstacle avoidance.

Update Information

BAL CD Update Log

Two Robot Version

2018-05-21 16-26-17.jpg

For battery shipping consideration, the robot has two versions, one is battery_package version, and the other one is battery_case version (users need to buy three 18650-lithium batteries when using this version), the differences in accessories and appearance between the two versions are listed below link :

Key Control Board in the Self-Balancing Robot

The Self-Balancing Robot control system consist two boards as shown below:

  • Terasic DE10-Nano FPGA board
  • Motor Driver board (BAL board)

The FPGA on the DE10-Nano is responsible for all the functions of the balance and control system.

The motor driver board receives the control signal from the de10-nano to control the motor rotation. There are also some sensors and communication devices on the motor driver board. These devices can provide the status data of the robot and external communication interface to FPGA. For detailed hardware information, please refer to 03_Hardware_Manual.pdf which can be found in the CD package.

DE10-Nano and Motor Driver Board.png

Familiar with the Terasic DE10-Nano

De10 nano top.jpg

The main control board on the balance car is the DE10-Nano Kit. This Kit has an Intel Cyclone V SoC FPGA with an embedded ARM Cortex A9 CPU. To get started with the balance car, you need to start learning and using the board first. Related learning resources are as follows:

Document

1. Battery Version Compare

2. User Manual

Battery Package Version

Bal battery package logo.png

Battery Case Version

Bal battery case logo.png

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