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Indoor Positioning System

The indoor positioning system is a combination of IR transmitter and IR dual camera receiver. The IR transmitter is mounted on your robot, and the IR dual camera receiver is placed in a corner of the room.

+ How To Add This Control To Your Project (Click to Expand)
  1. Make sure you have the latest version of ARC installed.
  2. Select the Get button in this page to download the archive file.
  3. Double click the downloaded archive file to execute installer.
  4. The installer will add this control to ARC.
  5. Load ARC and press the Project -> Add Control button from the menu.
  6. Choose the Navigation category tab.
  7. Press the Indoor Positioning System icon to add the control to your project.

Manual

The indoor positioning system is a combination of Infrared (IR) light transmitter and a dual camera receiver. The IR transmitter is mounted on your robot, and the dual camera receiver is placed in a corner of the room. The dual camera receiver is made up of a camera that captures regular image data and another that only captures infrared light. You can mount the dual camera on a tripod so it can see the room with it's 100 degree wide angle lenses.

There are three variables created that return the current status of the IPS navigation and heading degrees of the robot. These variables in EZ-Script can be used to identify when the robot is navigating and what direction it is moving.

Main Window - Navigation


User-inserted image


1. Device Drop-down
Select the IPS COM port from this drop-down. If needed, use your Device manager to find the COM Port labelled "STMicroelectronics Virtual COM port".

2. Connect/Disconnect Button
Connect/Disconnect this skill to the IPS hardware.

3. Refresh Ports Button
Refreshes the device list in the drop-down.

4. Reset Calibration Button

5. Stop Going Button
Stops the robot connected to the IPS from moving.

6. Navigation Direction Display
Displays the direction the robot is headed in degrees and a visual line representation.

7. Status Display
Displays the status of the IPS and connected robot in text form.

8. Realtime Visual Display 
Displays the detected IR transmitter (red box), the robots navigated path (yellow line) and the desired position to reach (green box)

Main Window - Settings


User-inserted image


1. Image Adjustment Sliders
These sliders adjust the Brightness, Contrast, Saturation, Color of the IR camera image. Use these slider to dial in the detected IR light. The Brightness, Contrast, and Saturation are the most important sliders to adjust. The Min size slider changes the detectable area the detected light must be, the larger the Min size, the large the IR light spot will be needed.

2. Realtime Infrared Light Display
This is a realtime visual representation of the detected IR light. The display can change based of the image adjustment sliders and the amount of IR light being detected by the IR camera. 

3. Delay Adjustment Drop-down
This will change how often the robot will course correct when it attempts to move to the desired position.

How to Use Indoor Positioning System


1) Open the ARC project that corresponds to the robot you would like to control with the Indoor Positioning System. That ARC project must use a Movement Panel skill.

2) Connect to your robot.

3) Add the Indoor Positioning System skill (Project -> Add Skill -> Navigation -> Indoor Positioning System).

4) Connect to the Indoor Positioning System.

5) Set the Image Adjustment sliders in the Indoor Positioning System settings tab to dial in the detected IR light.

6) Back in the Navigation tab click on the Realtime visual display on the position where you would  like your robot to navigate to.

Videos








Resources


Required USB driver: USB Virtual Com Port Driver.zip

The source files for the hardware are available here: github.com/synthiam/E-39_Indoor_Positioning_System

#1  
Hi Dj, I am happy to see you again present this IPS. I was wondering if or when this hardware may become available? I know your LIDAR device had manufacturing/supplier issues but this IPS will meet my needs. 
Thanks,
Ron
Synthiam
#2  
Looks like it'll be on the EZ-Robot website for purchase end of March 2019. It's being manufacturered as i write this.
#6  
Thanks for the update. I will check it out.
Ron
#7  
Dj,
Is there a tutorial or a way for me to look at how to use this plugin? I see the example videos, but no instruction or example script.
Portugal
#8   — Edited
There is no hardware for this yet Andy.
#9  
No hardware released yet, but the plug-in is shown operating in the video. The plug-in given is not complete. I wanted to see how the waypoints work. The plug-in doesn't show or reference them. I wanted to see how to use the plug-in. I am asking for an example script of what was shown in the video.
#10   — Edited
Where do you purchase a IR transmitter?

and a IR dual camera receiver, at this time?
#11  
Not yet available but is open source on GitHub if you have a way to build one.
Synthiam
#12  
It’s being manufactured by ezrobot. We’re tweaking it for them now
#13  

Quote:

It’s being manufactured by ezrobot. We’re tweaking it for them now
Yay!   I am really looking forward to this.  Will get me back in the workshop working on my bots again.   (Although I also really want reasonable cost Lidar for object avoidance too, but this will solve my main autonomous navigation issues, which is just awareness of where the robot is).

Alan
#14  
Great news. Olivia's going to have happy feet!