RVC Robot Vacuum 200810048 정재근 200811445 이성현 200811414 김연준 200812423 김준식
Statement of purpose Robot Vacuum (RVC) - An RVC automatically cleans and mops household surface. - It goes straight forward while cleaning. - If its sensors found an obstacle, it stops cleaning, turns aside, and goes forward with cleaning. - If it detects dust, power up the cleaning for a while - We do not consider the detail design and implementation on HW controls. - We only focus on the automatic cleaning function.
Event List / Description Front Sensor 전면에장애물이있는지인식한다. Left Sensor 주기적으로좌측면에장애물이있는지인식한다. Right Sensor 주기적으로우측면에장애물이있는지인식한다. Dust Sensor Direction Clean 바닥에먼지가있는지주기적으로탐지한다 Direction commands to the motor (go forward / turn left with an angle / turn right with an angle) Turn off / Turn on / Power-Up / Power-Down Motor Front Sensor Left Sensor Right Sensor Dust Sensor Direction Motor Sensor RVC Control Sensor RVC Control Clean
System Context Diagram Front Sensor Left Sensor Right Sensor Dust Sensor RVC Direction Motor Sensor Contro l Clean
DFD Level 0 RVC Front Sensor Front Sensor Motor Direction Left Sensor Right Sensor Left Sensor Right Sensor Dust Sensor RVC Control 0 Clean Dust Sensor Digital Clock
DFD Level 1 - RVC Front Sensor Direction Left Sensor Right Sensor Obstacle & Dust Detection 1 Obstacle & Dust Location & Motor Control 2 Dust Sensor Clean
Data Dictionary / Event Description Front Sensor 전면에장애물이있는지인식한다. Left Sensor Right Sensor Dust Sensor Direction Clean 주기적으로좌측면에장애물이있는지인식한다. 주기적으로우측면에장애물이있는지인식한다. 바닥에먼지가있는지주기적으로탐지한다 Direction commands to the motor (go forward / turn left with an angle / turn right with an angle) Turn off / Turn on / Power-Up / Power-Down
Process Specification Reference No. 1 Obstacle & Dust Detection Front /Left /Right /Dust Sensor (+Data structure if possible), Obstacle& Dust Location Obstacle & Dust Detection 은앞 / 좌 / 우 / 먼지센서에입력을받아 Obstacle& Dust Location 을통해 2. & Motor Control 로정보전달
DFD Level 2 - RVC Front Sensor Left Sensor Right Sensor Dust Sensor Front Sensor Interface 1.1 Left Sensor Interface 1.2 Right Sensor Interface 1.3 Dust Sensor Interface 1.4 Front Obstacle Left Obstacle Right Obstacle Dust Recognition Determine Obstacle Location 1.5 Determine Dust Existence 1.6 Obstacle Location Dust Existence
DFD Level 2 - RVC Obstacle Location Motor Command Motor Interface 2.2 Direction Main Control 2.1 Command Dust Existence Interface 2.3 Clean
Data Dictionary / Description Front Obstacle Front Sensor 로부터 Front Obstacle 이들어왔음을나타내는정보입니다. Left Obstacle Left Sensor 로부터 Left Obstacle 이들어왔음을나타내는정보입니다. Right Obstacle Right Sensor 로부터 Right Obstacle 이들어왔음을나타내는정보입니다. Dust Recognition Dust Sensor 로부터 Dust 이들어왔음을나타내는정보입니다. Obstacle Location Obstacle 의정보를받고보내줍니다. Dust Existence Dust 의정보를받고보내줍니다. Motor Command Motor 의움직임을결정하기위한정보입니다. Obstacle 의여부에따라서움직입니다. Command 의실행을결정하기위한정보입니다. Dust 의여부에따라서실행됩니다.
Process Specification Reference No. 1.1 Front Sensor Interface Front Sensor Front Obstacle(bool) Analog 형식의 Front Sensor 이들어오면 Digital 형식의 True/False 로바꾼후 으로 Front Obstacle 을보내줍니다. Reference No. 1.2 Left Sensor Interface Left Sensor, Left Obstacle(bool) Analog 형식의 Left Sensor 이들어오면 Digital 형식의 True/False 로바꾼후 으로 Left Obstacle 을보내줍니다.
Process Specification Reference No. 1.3 Right Sensor Interface Right Sensor, Right Obstacle(bool) Analog 형식의 Right Sensor 이들어오면 Digital 형식의 True/False 로바꾼후 으로 Right Obstacle 을보내줍니다. Reference No. 1.4 Dust Sensor Interface Dust Sensor, Dust Recognition(Integer) Analog 형식의 Dust Sensor 이들어오면 Integer 형식으로바꾼후 으로 Dust Recognition 을보내줍니다.
Process Specification Reference No. 1.5 Determine Obstacle Location Front Obstacle(bool), Left Obstacle(bool), Right Obstacle(bool), Obstacle Location(Data Store) Bool 형식의 Front Obstacle, Left Obstacle, Right Obstacle 이들어오면 Obstacle Location 의 Data Store 에보내어저장합니다. Reference No. 1.6 Determine Dust Existence Dust Existence(Integer), Dust Existence(Data Store) Integer 형식의 Dust Recognition 이들어오면 Dust Existence 의 Data Store 에보내어저장합니다.
Process Specification Reference No. 2.1 Main Control Obstacle Location(Data Store), Dust Existence(Data Store), Motor Commend, Commend Obstacle Location 과 Dust Existence 의 Data Store 에서보내어진정보를받고 Motor Commend 와 Commend 로내보냅니다. Reference No. 2.2 Motor Interface Motor Commend Direction Motor Commend 를 으로받아 RVC 의움직임을조절할수있게 Direction 을내보냅니다. Motor Commend
Process Specification Reference No. 2.3 Interface Commend Clean Commend 를 으로받아 RVC 의청소기능을조절할수있게 Clean 을내보냅니다.
DFD Level 4 - RVC Obstacle Location Motor Controller 2.1.1 Trigger Trigger Enable Disable Move Forward 2.1.3 Turn Left 2.1.4 Motor Commend Motor Commend Dust Existence Enable Disable Turn Right 2.1.5 Motor Commend Stop 2.1.6 Motor Commend
DFD Level 4 - RVC Obstacle Location Dust Existence Controller 2.1.2 Enable Disable Enable Disable Trigger Trigger Turn On 2.1.7 Turn Off 2.1.8 Power Up 2.1.9 Commend Commend Commend Power Down 2.1.10 Commend
Data Dictionary / Description Enable 전해지는것에대하여가능한지를알려주는데이터 Disable Trigger 전해지는것에대하여불가능한지를알려주는데이터 전해지는것에대하여실행을일으키는명령을내리는데이터
Process Specification Reference No. 2.1.1 Motor Controller Obstacle Location, Dust Existence, Enable, Disable, Trigger 장애물의위치와먼지의존재여부를받아움직임을결정하고움직임을수행할수있는이벤트를발생시킨다. Reference No. 2.1.2 Controller Obstacle Location, Dust Existence, Enable, Disable, Trigger 장애물의위치와먼지의존재여부를받아 Clean 을실행할수있는이벤트를발생시킨다.
Process Specification Reference No. 2.1.3 Move Forward Enable, Disable Motor Commend 앞으로움직일수있는가능성을입력받고모터가실행될수있는명령을내린다. Reference No. 2.1.4 Turn Left Trigger, Motor Commend 왼쪽으로움직이는이벤트를받으면모터를실행시키는명령을출력한다.
Process Specification Reference No. 2.1.5 Turn Right Trigger, Motor Commend 오른쪽으로움직이는이벤트를받으면모터를실행시키는명령을출력한다 Reference No. 2.1.6 Stop Enable, Disable Motor Commend 앞의장애물이발견되었을때움직임을멈추는명령을출력한다.
Process Specification Reference No. 2.1.7 Turn On Enable, Disable Commend Clean의대한정보를받고 Clean을실행하라는명령을출력한다.. Reference No. 2.1.8 Turn Off Enable, Disable Commend Clean의대한정보를받고 Clean을멈추라는명령을출력한다.
Process Specification Reference No. 2.1.9 Power Up Trigger, Commend Clean의대한정보를받고 Clean의세기를증폭시키라는명령을출력한다.. Reference No. 2.1.10 Power Down Trigger, Commend Clean 의대한정보를받고 Clean 의세기를증폭시킨것을멈추라는명령을출력한다.
DFD Level 4 RVC State Transition Diagram for Controller 2.1 (motor controller) F Obstacle is on the front R Obstacle is on the right L Obstacle is on the left! Not /Enable Move Forward / Finished Turn Left on 90 degrees Enable Move Forward Move For ward / Finished Turn Right on 90 degrees Enable Move Forward / Disable Move Forward Turn Left Turn Right [(F &&!L &&!R) (F && R &&!L)] /Disable Move Forward Trigger Turn Left Stop [(F && L && R) (F && L &&!R)] /Disable Move Forward Trigger Turn Right
DFD Level 4 RVC D Detect Dust State Transition Diagram for Controller 2.1 (cleaner controller) DL Dust Amount Level! Not / Enable Turn on Turn on level 1 [D && DL>1] / Power Up level Turn on [DL<=1] / power Down level / Disable cleaner Turn on Power up [!D F L R] / Trigger Power Down Power Down Turn off
DFD Front Sensor Left Sensor Right Sensor Dust Sensor Front Sensor Interface 1.1 Left Sensor Interface 1.2 Right Sensor Interface 1.3 Dust Sensor Interface 1.4 Front Obstacle Left Obstacle Right Obstacle Dust Recognition Determine Obstacle Location 1.5 Determine Dust Existence 1.6 Obstacle Location Dust Existence Motor Controller 2.1.1 Controller 2.1.2 Enable Disable Trigger Disable Trigger Enable Enable Disable Enable Trigger Disable Trigger Move Forward 2.1.3 Turn Left 2.1.4 Turn Right 2.1.5 Stop 2.1.6 Turn On 2.1.7 Turn off 2.1.8 Power Up 2.1.9 Power Down 2.1.10 Motor Commend Motor Commend Motor Commend Motor Commend Commend Commend Commend Commend
11년 9월 15일 목요일