StarGazerTM 사용설명서
Contents
1. Table 3 Parameters and commands Threshold Algorithm Auto Manual Threshold Value 0 255 Mark Type Home Office Map Building Mode Start Stop Landmark Mode Alone Map Landmark Deimension HLDn m Parameters Height of Landmark mm and i 1 Calculate Height of Landmark Command Number of ID 1 31 1 4095 Reference ID 2 626 2 28662 Firmware Version Calculation Start Calculation Stop Parameter Setting End Reset All Parameter B Basic Command and Protocol to mean the start of command sentence STX start of text character to mean the end of command sentence ETX end of text character to mean command to read a following parameter READ command l to follow automatically when READ or WRITE command completely executed ACK acknowledge character Response symbol sent from a StarGazer Response symbol to mean that data follow after the following parameter as response of READ command Symbol to distinguish a command from data Or to distinguish Parameter from data C About Parameters 1 Parameters for data Parameters ThrVal MarkHeight IDNum ReflD Version ThrVal Threshold level to reject external turbulence shown in image depend on surroundings Default number is 210 Recommended value is ranging from 210 to 240 MarkHeight Distance from a StarGazer to a landmark used when wanting to input manually the height Default value 2400 mm IDNum A total number of landmarks to be assigned under Map M2. C StarGazer Indicator CHA GISONIC CO LTD 1 Control Initial Name Description M Menu Menu Button to move to other menu Selection Button to select the menu E Enter Also used to remove Buzzer sound Right Scroll Button gt Right After Menu button users can scroll to the right Also users can select Buzzer sound Left Scroll Button lt Left After Menu button users can scroll to the left 1 Mode Number 1 Pure Communication data mode The output data of StarGazer is shown on the LCD without any filtration Users can see data by using the right or left scroll Ex CMOS Success Dead zone 150 23 33 12 12 00 64 2 Mode Number 2 Communication information The output data of StarGazer is filtered and is shown on the LCD in the order of ID X Y and Angle Users can see data by using the right or left scroll Ex 41 150 23 33 12 12 00 64 3 Mode Number 3 System information Users can see the default communication setting of StarGazer e In addition pressing button one more time allows users to set up Buzzer After Buzzer setup please push the Enter button to finish the setting 15 CHA GISONIC CO LTD D RS232 Interface Circuit for the communication between StarGazer and PC HEADER 7 HEADER 2 C3 CAP NP CTZOA 63 4 C5 CONNECTOR DB9
3. 7 7 How to write data to parameters and the procedure 8 8 How to read data in parameters and the procedure 8 9 Examples of Parameter Setting and Map Building 8 10 Format of Received Data 9 11 NCH meee a eae ea ace ce ea anana dana aa ee eee 10 12 Guidance for Landmark Placement 11 13 Alone Mode and Map ME 11 14 Map Building Method 12 15 Inquiries for technical Information and A S 12 16 Appendix RE 12 A Dimension of StarGazer 13 B StarGazer RS1 0 14 C StarGazer Indicator M
4. of calculation ParameterUpdate 5 CalcStart response message gt CalcStart C Start the Map Building Process and the message D lt CalcStop 2 sMarkMode Map 3 MapMode Start 4 CalcStart response message gt CalcStop response message gt MarkMode Map response message gt MapMode Start response message gt CalcStart 5 The data received during Map Building process lt F 165 74 33 12 12 00 2 Refer to 7 Receiving Data Format Move StarGazer around landmarks until mapping is completed After the completion of mapping the response message is accompanied by lt ParameterUpdate Then receiving data is as follows lt 58 48 33 12 12 00 2 Refer to 7 Receiving Data Format 10 Format of Received Data The format of data received from StarGazer for the command CalcStart are as follows aaaa aa aaaa aa txxXxx xx tyyyy yyliiii Means the result data Indicates the Map Building Mode Indicates the Map Mode Indicates the Height Calculation Mode Value of Angle degrees 180 180 CHA GISONIC CO LTD XXXX XX Position on X axis cm yyyy yy Position on Y axis cm liii The number of an ID Ex 14 150 23 33 12 12 00 64 7 36 73 174 89 57 00 64 Map building mode a mode in the process of making a map by correlating several landmarks under a single coordinate system In the process StarGazer is moved around under each landmar
5. of data including position and angle is obtained continuously CalcStop Command to stop calculating SetEnd Command to mean the completion of a serious of command sentences Values for a serious of parameters given in preceding several commend sentences are operated only after SetEnd command comes into practice Note Execution command HeightCalc CalcStart CalcStop are operated without SetEnd and also MapMode and Version of parameters are operated without SetEnd too Reset Reset all the parameters Following is parameters that are reset ThrVal 210 MarkType Home IDMultipleType Alone IDNum 4 MarkDim 1 ReflD 2 MarkHeight 2400 CHA GISONIC CO LTD 7 How to write data to parameters and the procedure CD Send a command to stop calculation Ex CalcStop 2 Send a command sentence for the change of a parameter Ex MarkHeight 2200 9 Wait a response message In the response is changed to Ex MarkHeight 2200 4 Send another command sentence for the change of another parameter and wait a response Send other sentences in the same way Send the completion command SetEnd after sending whole sentences for parameters Ex SetEnd 6 StarGazer responds with the message ParameterUpdate after receiving SetEnd and updating the values and strings for parameters to flash memories Finally send a command to sta
6. 15 D RS232 Interface Circuit for the communication between StarGazer and PC MainProcess 16 E The types of landmarks and how to generate the number of ID 17 CHA GISONIC CO LTD 1 Product Overview StarGazer is a unique sensor system for Indoor localization of intelligent mobile robots It analyzes infrared ray image which is reflected from a passive landmark with an independent ID The output of position and heading angle of a robot is given with very precise resolution and high speed It is seldom affected by surroundings such as an infrared ray a fluorescent light and sunshine location direction recognition code StarGazer Passive Landmarks CHA GISONIC CO LTD 2 Parts List A StarGazer Module DSP Module IRED Module Support Lens Hood 1set B 3pin Connector with cables tea 7pin Connector with cables 1ea C Passive Landmarks 4ea D User s Manual Download from website www hagisonic com E Sample Program with Visual C 6 0 Download from website www hagisonic com 3 Features and Specification A Landmarks With IDs i e codes given by the combination of circles to reflect infrared rays No battery or adapter for Landmark is required Easy extension of application range Landmark Types by use 1 HLD1 3 X 3 combination total 31ea for normal use HLD1 1 0 3 m lt Height 1 1 m HLD1 2 1 1 ms Height s
7. 2 9 m HLD1 3 2 9 m lt Height lt 4 5 m HLD1 4 4 5 ms Height lt 6 5 m HLD1 5 6 5 m Height s 15 m 2 HLD2 4 X 4 combination total 4 095ea for larger spaces HLD2 1 0 3 m lt Height lt 1 1 m HLD2 2 1 1 m lt Height lt 2 9 m HLD2 3 2 9 m lt Height lt 4 5 m HLD2 4 4 5 m lt Height lt 6 5 m HLD2 5 6 5 m lt Height lt 15 m x Height means the distance between a StarGazer between a landmark which is attached on ceiling Please refer to 12 Appendix D for the detailed information about landmark CHA GISONIC CO LTD B Specification of StarGazer UART TTL 3 3V 115 200bps Localization Rang 2 5 5 m in diameter per a Landmark for ceiling height 2 6 m Heading Angle Resolution 1 0degree Type 1 0 3s height 1 1 m Type 2 1 1 lt height s 2 9 m Type 3 2 9 lt height lt 4 5 m Classification for height range Type 4 4 5 lt height 6 5 m Type 5 6 5 height lt 15 m Landmark Types Landmark Types HL1 31 ea for a normal space Classification for total ID numbers HL2 4 095 ea for a larger space Power Consumption 5 V 300 mA 12 V 70 mA C Features and Performance It analyzes the image of the infrared ray which is reflected from a passive landmark with a unique ID Itis composed of an IR Projector part and an image processing unit High resolution and high speed localization of position and heading angle Landmark is used by being att
8. 30 0x270 624 31 0x272 626 Fig 16 C 3 Showing HL1 landmarks and ID numbers CO LTD Fig 16 C 4 Type of the HL1 landmark decimal number inside the landmark means a ID number at 2 N 16 48 19 18 N 32 64 CO LTD O lo e O e lO e lo olo e ojo e ojo O fe lo e lO e 10 Fi o o o O OIO e OD O D O lO e O O e e o o O olo olo olo gt N C 546 C 560 O 562 C 576 o o o 66 6 6 O OIO OIIO O IO O O eo o o o O OIO e OD e O fe IO e O e o 66 6 6 O DO e oo e O CHA GISONIC 20
9. USE Cross rs232 cable C4 CAP NP luF MONO 25V 16 CHA GISONIC CO LTD E Types of landmarks and how to generate the number of ID 1 HLD1 landmarks are composed of the 3 X 3 combination of small circles The total number is 31 The landmarks are used for general application such as at home 2 HLD2 landmarks are composed of the 4 X 4 combination of small circles The total number is 4095 The landmarks are used for the application to very large area with several offices 3 Each line corresponds to an identified hexadecimal value 4 Fig 16 C 3 shows HL1 landmarks and corresponding decimal values Ox in figures is the notation to mean hexadecimal Fig 16 C 1 HL1 landmark with hexadecimal values corresponding to each line 17 CHA GISONIC CO LTD 0x01 0x10 0x100 0x1000 Fig 16 C 2 HL2 landmark with hexadecimal values corresponding to each line We HEX DEC 1 0x002 2 2 0x010 16 3 0x012 18 4 0x020 32 5 0x022 34 6 0x030 48 7 0x032 50 8 0x040 64 9 0x042 68 10 0x050 80 11 0x052 82 12 0x060 96 13 0x062 98 14 0x070 112 15 0x072 114 18 CHA GISONIC 16 0x200 512 17 0x202 514 18 0x210 528 19 0x212 530 20 0x220 544 21 0x222 546 22 0x230 560 23 0x232 562 24 0x240 576 25 0x242 578 26 0x250 592 27 0x252 594 28 0x260 608 29 0x262 610
10. User s Guide Localization system StarGazer for Intelligent Robots www hagisonic com CHA GISONIC CO LTD CHA GISONIC CO LTD User s Guide Table of Contents 1 Product Overview 2 Pe EN 3 3 Product Feature nd Specification 3 EE 3 B Specification 4 C Features and Performance 4 4 Connector Configuration 5 5 UART Configuration 5 6 Communication Protlocol ren 5 A Communication Protocol Parameters Commands 5 B Basic Command and Protocol 6 Cu Abott Parameters sn 6 D Execution Commands see
11. ached on ceiling No need for any synchronization or communication between a robot and a landmark The area that StarGazer covers is extended by only adding landmarks to ceiling Each room can be distinguished easily each other by using landmarks with different IDs Automatic measurement and calibration of distance between landmarks and ceiling height No battery or power supply for landmark is needed A little extra cost consumes when landmarks are attached additionally Nearly not affected in environment such as lamp and sunlight It works excellent localization function at night as well as in the day CHA GISONIC CO LTD World s best in resolution convenience and cost efficiency 4 Connector Configuration D Connector configuration for DSP Module Cable Line White Black White Black White Color S SDIN GND SDOUT VCC 5V VCC 5V 2 Connector configuration for IRED Module 5 UART Configuration The StarGazer supports UART communication as shown in Table 1 Table 1 UART configuration 6 Communication Protocol StarGazer calculates coordinates and heading angle using parameters in flash memory The protocols shown in Table 2 and Table 3 can be used to read or update the parameters A Communication Protocol Parameters Commands Table 2 Communication Protocols uvae sx s emw 1088 en oc srei cemara ibus E Notice STX ETX CHA GISONIC CO LTD
12. ced at 2 m intervals for the height of about 2 5 m in order that any dead zone may not occur a b The placement of landmarks a with dead zone and b without dead zone 13 Alone Mode and Map Mode In Alone Mode a system operates under each independent coordinate system corresponding to each landmark In Map Mode a system operates under one coordinate system defined by regarding the placement of a reference ID as an origin after map building process CHA GISONIC CO LTD 14 Map Building Method 1 Map building to make a map under single coordinate system The placement of a reference ID becomes an origin 2 Set MarkMode to Map and MapMode to start 3 If StarGazer detects a landmark a position data accompanied by F is responded 4 As the next step move toward other nearest landmark and stop for about two seconds near halfway between two landmarks for the time to calculate the relation 5 And then move toward other landmark and stop near midway between another landmarks 6 Proceed by the same way until whole landmarks are detected by StarGazer 7 lf the last landmark is found the operating is stopped for a short time for data updating to flash memory 8 Then a response message data message accompanied by I is given and map building process ends 9 Mode is automatically changed to Map Mode For example and some details ref
13. er to 9 C Start the Map Building Process and the message 15 Inquiries for Technical Support and Customer Service HAGISONIC Co LTD TEL 82 42 936 7740 FAX 82 42 936 7742 Address 535 Yongsan dong Yuseong gu Daejeon 305 500 Korea South Website www hagisonic com Email hagisonic hagisonic com 16 Appendix A Product Dimension B RS232 Interface Circuit for the communication between StarGazer and PC C The types of landmarks and how to generate the number of ID 12 CHA GISONIC CO LTD A Dimension of StarGazer D 8 dul uan r na a fu mn TD EC D A o a I t 2 un Q B dsa VL A38 LO 9002 JINOSIDYH LAL 1 HS 13 CHA GISONIC CO LTD B StarGazer RS1 0 for the communication between PC Main Process and StarGazer a StarGazer RS 1 0 Kit 1 The user friendly solution which easily outputs and controls data from StarGazer localization sensor through standard serial wire wireless communication in PCs various systems and robots The optimum localization system which is registered to Microsoft Robotics Studio Application Research in laboratory and development of the prototype of robots I O Level TTL 3 3V Output 3 3V 5V Input Size 62x56x50 8mm Power DC 12V Baud Rate 115200 bps Data Bit 8 Bit Stop Bit 1 Bit Parity Bit None Flow Bit None Output 11 150 23 33 12 12 00 64 14
14. k and correlation between landmarks is calculated Map mode the mode to calculate the position and angle of StarGazer and send the data using the Map after the completion of Map Building 11 Notice Though it can be possible to send or receive data without the command stop calculation in that case sometimes the command cannot operate because StarGazer is sending data successively Therefore it is strongly recommended to use the command stop calculation prior to other command sentences Sometimes the command stop calculation can be executed because of the same reason that a command is not executed though a command has been sent the command should be sent repeatedly 3 In order to communicate stably with StarGazer minimum 50 ms delay is required for every byte The program should be written to confirm the response message for each command When StarGazer updates a memory several seconds typically two or three seconds is required So after a command such as SetEnd or HeightCalc or after the completion of Map Building StarGazer cannot operate Note that ParameterUpdate message is shown after the completion of a memory update 6 StarGazer operates only over 1 2m height Map Building should be programmed by the procedure to be shown in 9 C Start the Map Building Process and the message 10 12 Guidance for Landmark Placemeni CHA GISONIC CO LTD The landmarks should be pla
15. ode Default value 4 ReflD The number of reference ID under Map Mode Default value 2 Version Version of Firmware CHA GISONIC CO LTD 2 Parameters for setting up modes Parameters ThrAlg MarkType MapMode MarkMode ThrAlg To determine how to get ThrVal There are Auto and Manual Manual should be assigned to use the input data and Auto be assigned to use a value calculated automatically in StarGazer Default Manual MarkType To set up landmark type by use There are Home and Office Home means HL1 1 landmark up to 31 IDs and Office means HL2 1 up to 4095 IDs Default Home MarkDim To set up landmark type by height There are different landmark types for height HLDn 2 for MarkDim 1 HLDn 3 for MarkDim 2 HLDn 4 for MarkDim 3 MapMode To determine whether map building mode is executed or not There are Start and Stop If action under Map Mode is required you should set the parameter Start and start Map Building Default Stop MarkMode To determine whether landmarks are used independently under Alone Mode or not dependently under Map Mode There are Alone and Map Default Alone if Map mode then Map D Execution Commands Commands HeightCalc CalcStart CalcStop SetEnd HeightCalc Command to calculate automatically height between a StarGazer and a landmark It is enough to execute only once when installing CalcStart Command to start calculation After executing the command the output
16. rt calculating And then calculated data output is obtained Ex CalcStart 8 How to read data in parameters and the procedure CD Send a command to stop calculation Ex CalcStop 2 Send a command sentence to read a parameter Ex Read the height of a landmark MarkHeight Wait a response message In the response is changed to Ex MarkHeight 4 Data are immediately received after the response message If the data is value the character accompanies the message Ex If height is 2200 mm response is MarkHeight 2200 5 Send the completion command SetEnd after sending whole sentences Ex SetEnd Send a command to start calculating Ex CalcStart 9 Examples of Parameter Setting and Map Building A Update a number of IDs to 8 and reference ID to 32 D lt CalcStop response message gt CalcStop stIDNum 8 response message gt IDNum amp ReflD 32 response message gt ReflD 32 SetEnd response message gt SetEnd 8 CHA GISONIC CO LTD response message gt ParameterUpdate CalcStart response message gt CalcStart B Calculate automatically the height of a landmark D lt CalcStop response message gt CalcStop HeightCalc response message gt HeightCalc The data received during calculating lt A Z 150 12 33 12 12 00 2 Refer to 7 Receiving Data Format The reponse received after the completion
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