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System Structure

 
 I have drawn the system block diagram with 'Armadillo'.

 Please watch the following figure.



As 'Armadillo' has 10BaseTx Ether connector,
it can get the client command through adoor.htm (HTML file).

After get client request, 'Armadillo' performs padoor.cgi (CGI).
This CGI controls some actuators.

When CGI completes activation, return the sensor informations
to client through Web Browser.




Automatic door with pneumatic power

@Watch the following photo i.e. automatic door with pneumatic power.






Sensors

@This system has two sensors.

    

  • detect objects

  • door state


Apply photo transistor with lense to detect objects.
As a lamp always emits light to photo detector, 
objects cross invisible light then this system will detect them.

Apply micro switch to get door state.

@Assign each GPIO bits.

    

  • GPIO_7 spare input

  • GPIO_6 spare input

  • GPIO_5 detect objects

  • GPIO_4 door micro switch






Actuators

 This pneumatic robot has four actuators.

    

  • electro magnetic valve (open door)

  • electro magnetic valve (close door)

  • turn on or off lamp

  • pumping (control compressor)


Two electro magnetic valves are used to open or close door. 
According to photo you can find to move a rod 
from left to right or from right to left.

 *Prohibit to activate both valves.
  If you shall activate both valves, this rod does not move
  and actuator interface devices have overload.

You can flow the current to turn on lamp.

Activate motor , then the air is compressed.

@Assign each GPIO bits.

    

  • GPIO_3 control compressor

  • GPIO_2 control lamp

  • GPIO_1 close door

  • GPIO_0 open door
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inserted by FC2 system