Perimeter wire - Versionsgeschichte

Alexanderg: /* Perimeter */

2016-07-02T14:24:55Z

‎Perimeter

Alexanderg: /* Perimeter */

2016-07-02T14:24:43Z

‎Perimeter

Alexanderg: /* Perimeter */

2016-07-02T14:23:52Z

‎Perimeter

Alexanderg: /* Sender automatic standby */

2016-06-12T08:46:03Z

‎Sender automatic standby

Alexanderg: /* Sender */

2016-06-12T08:45:33Z

‎Sender

Alexanderg: /* Sender */

2016-06-12T08:42:39Z

‎Sender

Alexanderg: /* Sender */

2016-06-12T08:41:44Z

‎Sender

Alexanderg: /* Sender */

2016-06-12T08:41:16Z

‎Sender

Alexanderg: /* Sender */

2016-06-12T08:40:37Z

‎Sender

Alexanderg: /* Sender */

2016-06-12T08:40:25Z

‎Sender

← Nächstältere Version		Version vom 2. Juli 2016, 14:24 Uhr
Zeile 34:		Zeile 34:

	The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position.		The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position.
−

	For a better understanding of the perimeter filter, see the [http://www.grauonline.de/alexwww/ardumower/filter/filter.html Matched filter simulation]. For more details about the filter, also see the [https://www.youtube.com/watch?v=NIer_kITelc Matched filter video]. Using a simple symmetric signal (which looks equal on positive and negative side of the zero point), you cannot differentiate between an 'inside perimeter' and 'outside perimeter' signal. When the mower is traversing the perimeter loop, the signal polarity changes (positive becomes negative and negative becomes positive). We want to detect this polarity change of the signal. Using an unsymmetrical signal, you can do this. You can see the difference in the simulator. The default signal (slider 'example signal') is a symmetric signal - press the 'Invert' button to invert the signal (change its polarity). In the correlation result (graph 'Matched filter') the polarity can not be detected. Now use an asymmetrical signal ('pseudonoise5_pw'). Press again 'Invert' to change signal polarity. Now you can see polarity of the signal in the filter output (graph 'Matched filter'). It's the sign of the peak (positive or negative sign).		For a better understanding of the perimeter filter, see the [http://www.grauonline.de/alexwww/ardumower/filter/filter.html Matched filter simulation]. For more details about the filter, also see the [https://www.youtube.com/watch?v=NIer_kITelc Matched filter video]. Using a simple symmetric signal (which looks equal on positive and negative side of the zero point), you cannot differentiate between an 'inside perimeter' and 'outside perimeter' signal. When the mower is traversing the perimeter loop, the signal polarity changes (positive becomes negative and negative becomes positive). We want to detect this polarity change of the signal. Using an unsymmetrical signal, you can do this. You can see the difference in the simulator. The default signal (slider 'example signal') is a symmetric signal - press the 'Invert' button to invert the signal (change its polarity). In the correlation result (graph 'Matched filter') the polarity can not be detected. Now use an asymmetrical signal ('pseudonoise5_pw'). Press again 'Invert' to change signal polarity. Now you can see polarity of the signal in the filter output (graph 'Matched filter'). It's the sign of the peak (positive or negative sign).

← Nächstältere Version		Version vom 2. Juli 2016, 14:24 Uhr
Zeile 34:		Zeile 34:

	The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position.		The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position.
		+

	For a better understanding of the perimeter filter, see the [http://www.grauonline.de/alexwww/ardumower/filter/filter.html Matched filter simulation]. For more details about the filter, also see the [https://www.youtube.com/watch?v=NIer_kITelc Matched filter video]. Using a simple symmetric signal (which looks equal on positive and negative side of the zero point), you cannot differentiate between an 'inside perimeter' and 'outside perimeter' signal. When the mower is traversing the perimeter loop, the signal polarity changes (positive becomes negative and negative becomes positive). We want to detect this polarity change of the signal. Using an unsymmetrical signal, you can do this. You can see the difference in the simulator. The default signal (slider 'example signal') is a symmetric signal - press the 'Invert' button to invert the signal (change its polarity). In the correlation result (graph 'Matched filter') the polarity can not be detected. Now use an asymmetrical signal ('pseudonoise5_pw'). Press again 'Invert' to change signal polarity. Now you can see polarity of the signal in the filter output (graph 'Matched filter'). It's the sign of the peak (positive or negative sign).		For a better understanding of the perimeter filter, see the [http://www.grauonline.de/alexwww/ardumower/filter/filter.html Matched filter simulation]. For more details about the filter, also see the [https://www.youtube.com/watch?v=NIer_kITelc Matched filter video]. Using a simple symmetric signal (which looks equal on positive and negative side of the zero point), you cannot differentiate between an 'inside perimeter' and 'outside perimeter' signal. When the mower is traversing the perimeter loop, the signal polarity changes (positive becomes negative and negative becomes positive). We want to detect this polarity change of the signal. Using an unsymmetrical signal, you can do this. You can see the difference in the simulator. The default signal (slider 'example signal') is a symmetric signal - press the 'Invert' button to invert the signal (change its polarity). In the correlation result (graph 'Matched filter') the polarity can not be detected. Now use an asymmetrical signal ('pseudonoise5_pw'). Press again 'Invert' to change signal polarity. Now you can see polarity of the signal in the filter output (graph 'Matched filter'). It's the sign of the peak (positive or negative sign).

@@ Zeile 33: / Zeile 33: @@
 # The matched filter output is evaluated (for perimeter inside/ouside detection, tracking etc.)
-The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position. For a better understanding of the perimeter filter, see the [http://www.grauonline.de/alexwww/ardumower/filter/filter.html Matched filter simulation]. For more details about the filter, also see the [https://www.youtube.com/watch?v=NIer_kITelc Matched filter video].
+The images below explain why the polarity of the received coil signal changes between inside and outside of the perimeter wire. The image shows the direction of the electric flux lines sent out from the perimeter wire and how they hit the coil for both inside and outside position.
 <gallery>

@@ Zeile 83: / Zeile 83: @@
 ===Sender automatic standby===
-The sender can be switched off during the time the robot is in the charging station. To detect the robot, a current sensor is connected between the charger and the charging pins.
+The sender can be switched off during the time the robot is in the charging station. To detect the robot, a current sensor (INA169, 5A) is connected between the charger and the charging pins.
 ===Sender diagnostics===

@@ Zeile 44: / Zeile 44: @@
 ==Sender==
-[[Image:Ina169_marotronics.jpg|thumb|200px| Marotronics INA169: Short pads for 5A operation]]
+[[Image:Ina169_marotronics.jpg|thumb|200px| Note for Marotronics INA169: Short pads for 5A operation]]
 [[File: Ardumower_perimeter_overview.jpg|600px]]

@@ Zeile 45: / Zeile 45: @@
 ==Sender==
 [[File: Ardumower_perimeter_overview.jpg|600px]]
 We use a motor driver as output amplifier and an Arduino Nano to generate the signal. The motor driver is driven by 3.2 Khz (two pulse widths 4808 Hz and 2404 Hz). We use a motor driver with integrated current limiting and thermal switch-off (e.g. MC33926).
@@ Zeile 55: / Zeile 59: @@
 * [https://github.com/Ardumower/ardumower/blob/master/pcb/Produzierte_Platinen/sender_v2_geschlossen/Perimeter%20sender%20v2.pdf sender PCB schematics]
 * [https://github.com/Ardumower/ardumower/tree/master/pcb/Produzierte_Platinen/sender_v2_geschlossen/Platinenbilder sender PCB pictures]
 ===Sender software===
 <b>NOTE</b>: If you have never worked with Arduino before or if your Arduino Nano does not seem to respond, please read our <b>[http://wiki.ardumower.de/index.php?title=Arduino_first_steps 'Arduino first steps' introduction]</b>.

@@ Zeile 56: / Zeile 56: @@
 * [https://github.com/Ardumower/ardumower/tree/master/pcb/Produzierte_Platinen/sender_v2_geschlossen/Platinenbilder sender PCB pictures]
-Marotronics INA169: Short pads for 5A operation:
+<gallery>
-[[File:Ina169_marotronics.jpg|200px]]
+ File: Ina169_marotronics.jpg| Marotronics INA169: Short pads for 5A operation

← Nächstältere Version		Version vom 12. Juni 2016, 08:40 Uhr
Zeile 57:		Zeile 57:

	Marotronics INA169: Short pads for 5A operation:		Marotronics INA169: Short pads for 5A operation:
−	[[File:Ina169_marotronics.jpg\|~~400px~~]]	+	[[File:Ina169_marotronics.jpg\|200px]]