Publicação
Development of an LED array control system compatible with Micro-ROS
| Resumo: | In a world ever more populated with robots, their communication with humans is crucial to ensure an intuitive and efficient interaction. By using sight, touch or hearing, information exchanges occur between robots and the environment. The goal of this project is to develop an independent system that transmits unidirectional messages from a robot to humans through visual communication. The robot must be autonomous, mobile, and is intended to work in industrial noisy environments or environments where tasks that can be harmful to humans need to be carried out. The system will utilise robot operation data by accessing the associated ROS 2 framework to control an LED array that transmits information to third parties surrounding the robot. A Printed Circuit Board (PCB) is conceived from scratch to run Micro-ROS and control a WS2813 LED array. The board is designed, assembled, and validated, with programming done using Arduino development tools. The Micro-ROS Arduino tool is used to communicate with ROS 2 and the FastLED library to control the lighting array. Many distinct lighting modes have been developed to represent different robot states by using different combinations of colours patterns. The system can read instructions available in a ROS 2 framework, associated to the robot state, and accurately control the LED array to display the intended visual message.This work is done as part of a project by Active Space Technologies involving a multi-purpose autonomous robot. Its main function is hospital disinfection, aimed at freeing healthcare workers from a gruelling and dangerous task. |
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| Autores principais: | Vieira, Daniel Rui Neves |
| Assunto: | LED array Micro-ROS Arduino Microcontroller Robotics Fita de LEDs Micro-ROS Arduino Microcontrolador Robótica |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade de Coimbra |
| Idioma: | inglês |
| Origem: | Estudo Geral - Universidade de Coimbra |
| Resumo: | In a world ever more populated with robots, their communication with humans is crucial to ensure an intuitive and efficient interaction. By using sight, touch or hearing, information exchanges occur between robots and the environment. The goal of this project is to develop an independent system that transmits unidirectional messages from a robot to humans through visual communication. The robot must be autonomous, mobile, and is intended to work in industrial noisy environments or environments where tasks that can be harmful to humans need to be carried out. The system will utilise robot operation data by accessing the associated ROS 2 framework to control an LED array that transmits information to third parties surrounding the robot. A Printed Circuit Board (PCB) is conceived from scratch to run Micro-ROS and control a WS2813 LED array. The board is designed, assembled, and validated, with programming done using Arduino development tools. The Micro-ROS Arduino tool is used to communicate with ROS 2 and the FastLED library to control the lighting array. Many distinct lighting modes have been developed to represent different robot states by using different combinations of colours patterns. The system can read instructions available in a ROS 2 framework, associated to the robot state, and accurately control the LED array to display the intended visual message.This work is done as part of a project by Active Space Technologies involving a multi-purpose autonomous robot. Its main function is hospital disinfection, aimed at freeing healthcare workers from a gruelling and dangerous task. |
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