I have redesigned my Irrbloss 4G Rover, it is bigger and not as top heavy as the old one. The camera is located slightly behind and quite high up on the rover to get a better view when driving.
This one is also more rigid and stronger.
I use the same control station with some modifications.
It can be controlled by Wifi or 4G and the FPV video/audio is also transmitted in the same way.
So I can drive everywhere where there is 4G coverage. The default FPV resolution is 800x480 20fps, i can increase it but that will increase the lag. The video lag over 4G about 150ms and the audio i think is 500ms.
The control signal delay is about 40ms.
Both the rover and control station uses a Raspberry Pi 3 as brain.
All the logic (code) is in two Steelsquid Kiss OS modules.
But the modules depends on all the logic inside Steelsquid Kiss OS.
And also a html page that contains the settings and map view.Pictures of the control station
And here is the remote control and my son's hand :-)
Pictures of the rover
Here are a bunch of pictures of the new rover.
Different parts of the Control station
The control station is the server and the rover is connecting to it as client.
That is because the control station is on my home internet connection where i have a public IP.
But the rover has i USB 4G modem that not have public IP.
Below I just list all the different parts of the contol station.
- Microphone
On the top i added a microphone (The long stick that sits at the top).
By pushing and holding the "Transmit Speech" button the microphone will record the sound (me speaking)
When the button is released the recording will be transmitted to the rover and played on the speaker.
The microphone is a cheap USB mic.
- Telemetry display
Above the main display i have a extra display that show important information (about the same information that shown on the map view on the main display.)
But when i drive i can not look at the map view, so that is way i have this extra display.
The display is a LCD that is controlled by UART so the refresh rate is not that good.
http://digole.com/index.php?productID=1218
- Speakers
On the side of the main display i have the speaker so i can hear sound from the rover.
- Main display
On the main display you can see the FPV view, a map with telemetry data and settings.
The map shows where the rover is and also some useful information.
And here is the settings view
The settings is transmitted to the rover either over the 4G (like all the other control signals) or direct on the local LAN. The first time when the rover don't have the IP of the control station i use the direct LAN to transmit the settings.
When that is done the rover knows the IP of the control station ant can then use the 4G to save new settings.
You can also change the bitrate, fps and resolution of the FPV feed.
I also have a nave YouTube playlist, i can add links to YouTube songs and when pressing the "Play YouTube" button it will play on the rover.
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Small OLED diplay
On the small OLED display i print uptime of the controll station, wired IP, WAN IP and IP of the rover.
The rover IP is the IP-number that the rover has on the 4G Modem. That is not a public IP So I really do not have any use for it.
I also print status of the different connection to the rover (Y=Connected, N=No connection).
SYN: Sync variables between rover and control station.
For example is headlight on, transmit video stream...
COM: Send command from the control station to the rover.
For example save settings, siren for 1 second...
BIN: Send binary data to and from the rover.
For example when i transmit speech from the control station to the rover.
PUSH1/2: Push data from control station to the rover without response back (as quick as possible)
Send the drive signal...steer left and right (Right joystick)
Send the tilt/pan camera signal (Left joystick)
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Status LED's
I have 8 status LED's.
The left LED's will light when i press the blue buttons on the bottom (1 to 4).
A sound will play and if:
1 Will animate a heart on the led matrix on the rover.
2 Will show a smile on the led matrix on the rover.
3 Will show a angry face on the led matrix on the rover.
4 Will show a waving man on the led matrix on the rover.
The right LED's show:
- Is the control station connected to to network.
- Is the rover connected to the control station.
- Has the rover GPS connection:
- Red flash if some error.
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Keyboard
- On the small keyboard i can use to input new settings.
- Change bitrate on the fly.
- Set home position on the map.
- Start/stop timer (Mission time).
- Increase decrease volume.
- Zoom in out on the map.
- Select if i want the map to follow were the rover is.
- Take a screenshot (Will save to USB-memory).
- Write a text and the text will speak on the rover with computer voice.
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Button: Play YouTube
The rover will start streaming from the play list and playing in the speakers.
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Button: TCP Video Stream
Toggle between use TCP or UDP when streaming the video from the rover.
UDP can have some interruption in the video but the latency is smaller than with TCP.
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Button: High Beam
Turn on the weketory 7 inch 60W 4D 5D LED Work Light Bar and 6 Eagle Eye Light 10W.
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Button: Headlight
Turn on 8 3w eagle eyes. 4 yellow to the sides, 2 white to front and two red to back.
Also turn on two COB LED bar, white on front red on back.
And inside the frame there is a Read, green, blue LED list (just for show...)
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Button: Transmit Speech
By pushing and holding the "Transmit Speech" button the microphone will record the sound (me speaking)
When the button is released the recording will be transmitted to the rover and played on the speaker.
The microphone is a cheap USB mic.
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Button: Is Away
The headlights will flash on the rover and a voice will say: The driver is temporarily away, please don't touch the robot.
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Button: Show Settings
This will show the settings view on the main display.
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Button: Show Video Stream
Make the rover transmit the video, audio stream and show it on the main display.
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Button: Show Map
Display map that show where the rover is and some other data
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Button: Save stream to USB
This will show the FPV video/audio stream and also save it to the USB memory.
I have not bean able to mux the video, audio and map so there will be three video files.
One with the FPV view, one with the audio and one with the map.
Then I can join them in external video editing programs.
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Button: Mute
If i don't want to hear the FPV audio stream.
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Button: Use external HDMI
Will switch the picture to external display.
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Button: Siren for 1 second
Will make the siren on the rover sound for 1 second.
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Button: Follow Waypoints
Working on this...
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Button: Follow Road
Working on this...using vanishing point detection to follow the road
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Button: Cruise Control
On every press on this button the speed of the rover will increase by 5 percent.
And double press will decrease by 5 percent.
You steer the rover by turn the nob on the joystick below.
As soon as you move the joystick up or down the rover will stop...cruise off.
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Radio/Wifi/4G control
The radio (433Mhz) is broken...do not use it.
You can change if the rover shall use the wifi card or the USB modem to connect to the control station.
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Button: 1, 2, 3, 4
Will play sound and show animation on the 8x8 LED matrix on the rover.
1 Will animate a heart and play a wolf whistle.
2 Will show a smile and play a pling sound.
3 Will show a angry face and play a monster roar.
4 Will show a waving man and play a car horn.
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Right Joystick
Use this to drive the rover.
Turn the knob will rotate the rover on the spot.
If cruise control is activated the knob will steer the rover.
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Left Joystick
Pan and tilt the camera.
In stabilization mode you can only tilt the camera, the camera will also stabilize for movements.
By twisting the know in the joystick you enter pan mode, you can then also pan the camera. But then there is no stabilization.
Twist know again to enter stabilization mode again.
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Battery
At the bottom of the control station there is plate with velcro on.
And on the side two yellow connectors, so you can connect two batteries if you want.
Different parts of the Rover
Work logJust some steps from the build...
On the old rover some of the screws came loos so I use loctite on all screws,
Some of the steps below is changed later in the build... - Bottom U-beam
Where the suspension arm is connected. On the old rover this was a long U-beam, but on this i use 3 small instead so the batteries can be mounted between them.
Suspension armsThen its time for the suspension arms to be connected to the U-beam. And a also have two fixing on each side of the joint. On the old rover the screw was bent when drive hard. The suspension arms is also much longer... Motor fixingOn each of the suspension arms i need to connect the motor fixing bracket. Fixings for upper U-beam and suspension arm strengthenAdd some fixing to connect the lover U-beam to the upper U-beam. And some extra fixings to strengthen the suspension arms. Light holdings
I also add the light holding to the lover U-beam. Change oil in the shocksI change to higher viscosity oil in the shocks. Upper U-beam
Add the bracket that stop the suspension to go to low.
Connect upper and lower U-beamThe lover U-beam is connected to the upper U-beam. Camera and USB modem platform Back and front light fix plateAdd aluminium plate on the front and back that can hold the headlights. Headlights and high beamMount the high beam front and rear headlight. Later on i mount the LED bars and the side light.
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