Complete
Surveyor SRV-1Q (click the image above for a larger
view). This new 4 motor design, uses 4 specially made 100:1 gear motors
to provide high torque, & more speed.
The video above shows how a Lockheed project at Carnegie Mellon University is using the surveyor robot products.
SRV1Q: Designed for research, education, and exploration, Surveyor's SRV-1 internet-controlled robot integrates a 1000MIPS 500MHz Analog Devices Blackfin BF537 processor, a digital video camera with resolution from 160x28 to 1280x1024 pixels, laser pointer ranging, and WLAN 802.11b/g networking on a quad-motor tracked mobile robotic base. Operating as a remotely-controlled webcam or a self-navigating autonomous robot, the SRV-1 can run onboard interpreted C programs or user-modified firmware, or be remotely managed from a Windows, Mac OS/X or Linux base station with Python or Java-based console software. The Java-based console software includes a built-in web server to monitor and control the SRV-1 via a web browser from anywhere in the world, as well as archive video feeds on demand or on a scheduled basis. Additional software support for the SRV-1 is also available by way of IPRE's Python-based Myro, Microsoft Robotics Studio, Cyberbotic's Webots, and RoboRealm machine vision software.
- Features
- Open Source design with full access to source code (GPL) and schematics
- Robot is fully programmable for autonomous operation
- Extensive software support through 3rd party applications
- Teleoperate mode to drive robot around via console software or remotely via web browser
- Host software has built-in web server and video archiving
- Robot can run programs written in interpreted C and stored in onboard Flash
- Wireless remote control or viewing up to 100m indoors and 1000m outdoors (line of sight)
- Robot can be controlled from a terminal/console for easy testing
- Linux 2.6 support as well as "bare metal" programming with GNU bfin-elf-gcc
- More details
- Setup Instructions
- Picture of SRV with stock plastic front
- Picture of SRV with Hi stack plastic front option for use of the Signal Breakout Board
- Picture of SRV with look down option
- Options for fully assembled and wired Surveyor SRV-1q robots. Each comes complete with charger.
- Standard SRV-1q (assembled as pictured above)
- SRV-1q with Tilt Mechanism, assembled with req'd breakout board and 5v reg*. (Picture)
- SRV-1q with Stereo Vision*
- SRV-1q with Stereo Vision and Tilt* (Picture)
- *These versions are built to order and may take an additional 5-7 days to ship.
Add an Interchangeable Plastic Front Piece: For SRVs made after October 09 with the two piece plastic front, we have interchangable front pieces. One for the normal stack height of a stock SRV, a higher one that accomodates the Signal Breakout Board, and a low one that comes with a bent header to point the camera at the ground for use in line tracking applications.
Note these are not needed/compatable with the Stereo Vision System
Robofile scripts and the software on the RoboRealm CD can allow cool functionality out of the box, such as light following or chasing a red ball. You can use several pre-written scripts as examples of what can be done and as a starting point for your own projects.
Note that RoboRealm runs on your PC and communicates to the SRV over the 802.11 wireless protocol. This means that you will see what the SRV sees on your PC screen.
* Note that this price is only available when bundled with one of our SRV based robots.
SRV Stereo Vision System (SVS)
The SVS system can be mounted on the Surveyor SRV-1 or the Renegade. You can use the two cameras for stereo vision, or you can put different lenses on each camera to get two simultaneous ranges of vision from your robot. The SVS system also allows for direct use of servos for tilt or other applications.
Features:
- Two SRV-1 Blackfin Cameras with 90-deg FOV lenses (3.6mm F2.0) separated by 10.75 cm (4.25")
- Choice of OV9655 SXGA camera or OV7725 VGA low light (up to 60fps) camera
- Interprocessor communications via SPI bus (64MHz)
- WiFi communication via Lantronix Matchport WLAN 802.11g radio w/onboard 3dB dipole antenna
- On-board 3.3V high efficiency switching regulator (Recom R-783.3-1.0) for battery input (4.75 - 18.0 VDC)
- Headers for 8 servos (5V supply provided)
- Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA capacity per motor
- Two switching transistor drivers with 100mA capacity for lights and laser pointers
- Low battery detect circuit
- Headers for 8 servos (5V regulator provided)
- Extended pin headers for full access to S-32 expansion bus of both processors
- Board dimensions - 60 mm x 150 mm (2.5" x 6.0"), 140g (5 oz)
- 1" x 2" mounting hole pattern for compatibility with SRV-1 robot base (dual and quad motor versions)
- RoHS compliant
- Note the interchangable plastic fronts and breakout boards are not needed/compatable with the Stereo Vision System
Tilt Mechanism for Surveyor. We have developed this tilt mechanism especially for the Surveyor. Panning can be achieved by turning the robot, allowing for a more robust and less shakey tilt mechanism. Tilt is controlled by a GWS servo which is included.
- Picture of single camera tilt mechanism looking up
- Picture of single camera tilt mechanism front
- Picture of single camera tilt mechanism rear
- Picture of tilt mechanism with Stereo Vision System
- Picture of tilt mechanism with SVS #2
We offer two upgrade kits for the SRV-1. Both kits require you to solder on longer wire leads for the SRV power, and motor control leads (6 wires). Both kits come partially assembled with extra wire for you solder.
- The single camera SRV tilt kit also includes a Breakout board #1 and a 5v regulator for you to wire up for powering the tilt servo (Wiring Diagram PDF). This requires additional soldering.
- The Stereo Vision (SVS) tilt upgrade kit just needs the motor and power leads to be soldered as it has direct 5v servo output.
SRV Infra Red Distance Sensors
These 3v IR distance sensors mount directly above the new cameras shipping on the SRV electronics package (Picture). They take a continuous distance reading and return a corresponding analog voltage. The sensor package includes a JST 3-pin connector, three pre-crimped wires. SVS units with two cameras can carry two sensors.
- Renegade bots have inputs to implement up to 4 of these sensors on the Speed Controller.
- Note that there is currently not a developed implementation for these sensors for the SRV-1. There is only implementation and input for them on the Renegade 4WD controller at present.
We are carrying two ranges of this sensor (if you would like other ranges or would like to see all the versions, you can get them directly from Acroname). On the Renegade you have the option use one sensor per camera, and then two sensors to look down at the ground (one in front and one in back) to look for drop off hazards.
SRV Signal Breakout Boards are expansion boards for the SRV that provide access to all of the signals on the SRV's S-32 expansion header. Extended header pins allow board stacking.
Ideal for adding sensors to the SRV-1 Blackfin Camera + Wifi or SRV-1 Blackfin Robot.
We use this board and add a 5v regulator to run external servos, connect the Nav Board, or wire out to external speed controllers. This diagram (PDF) shows wiring for these uses.
* Note that for SRVs made after October 09 with the two piece plastic front we have a special front piece that fits this. You can add this to your order here. For earlier ones you will need to modify your plastic front.
- Breakout board #1 $29.00 (pictured above) with hi-front plastic
- Breakout board #2 $55.00 (picture)
with hi-front plastic
- Includes 3.3v 1A voltage regulator and header for battery power.
- Both breakout boards come with a hi-plastic front to allow proper mounting on your SRV.
- Note these are not needed/compatable with the plastic on the Stereo Vision System
The SRV-1 RCM is an expansion board for the SRV-1 Blackfin that supports 20 servos, 16 12-bit analog input channels, 16 GPIO signals, additional I2C and SPI expansion channels, and a micro-SD memory card slot. Voltage level converters provide support for 5V devices, and an external 5V supply can be added to drive large numbers of servos.
Note that this board does not fit directly on the robot base. It was developed for use in other applications.
• picture of bottom
• picture with camera module mounted (camera not incl)
Detailed description is found here -
* robot journal #210
* robot journal #221
SRV Navigation Board GPS + compass + tilt + 8-channel A/D board includes uBlox5 GPS and new 3-axis Honeywell HMC5843 compass, ST LIS3LV02DQ 3-axis accelerometer and Analog Devices AD7998 8-channel 12-bit A/D. I2C interfaces are provided to all onboard devices, plus uBlox5 GPS supports UART and a time pulse. This can be wired easily to the signal breakout board with 4 wires or to the 32 pin header. We have also made a set of plastic clips that attach this above the camera board. You can add these to your order below.
1.25" x 2.25" (35mm x 60mm), 0.7oz (20gm)
Mounting holes on 1" x 2" centers
- Setup details
- Schematic
- Connections if using the 32 pin header
- Picture of the Nav Board mounted with clips
- Picture of the clips alone
Interchangeable Plastic Front Pieces
Interchangeable Plastic Front Pieces: For SRVs made after October 09 with the two piece plastic front, we have interchangable front pieces. One for the normal stack height of a stock SRV, a higher one that accomodates the Signal Breakout Board, and a low one that comes with a bent header to point the camera at the ground for use in line tracking applications.
- Picture of SRV with Stock Version
- Picture of SRV with Hi stack plastic front option for use of the Signal Breakout Board
- Picture of SRV with look down option with bent header to point the camera down for line tracking applications.
- Note these are not needed/compatable with the Stereo Vision System
100:1 SRV Drive Motor (custom 18mm shaft)
These are just amazing little motors for their weight. With one at each of your four corners you are always guaranteed good traction and speed. These have a special long shaft with a "D" cut into it for the outer 10mm to ensure full engagement and proper spacing of our tank tread wheels.
- Specifications
- 5-14v
- 18mm long shaft x 3mm diameter
- D shape on last 10mm
- 100:1 gear ratio
- Size 0.47" x 0.39" x 1.24"
- Weight 8.5 grams (0.31 oz)
These custom made wheels and treads fit directly onto our long shaft gear motors (or any 3mm "D" shaft like Copal motors and the small Bane Bots motors).
These treads are sold in sets of 4 wheels and two treads.
- Wheels are .96" in diameter and .8" wide
- Wheels with tread are 1.175" tall and 5" long.
- Treads are .765" wide and require the wheels to be 3.815" apart (on center).
- Wheels weigh .09oz, treads are .5oz, complete set is 4.6oz.
These super-light grippy wheels are made to fit perfectly on our gearmotors (as well as copal motors), with just a simple slip-fit on the output shaft. They fit perfectly in the SRV Chassis. We ship these with a set of 3mm set screw collars to keep them secure.
These wheels are sold in sets of 4.
Please note that your rim style may vary from the photos here and that we currently only carry the smooth tread pattern.
Weight: 2g (0.071oz) each or approx 8.5g /set of 4
Diameter: 24mm Width: 10mm
Questions or comments please contact zander@inertia-labs.com
