ECE 4902 Spring 2018 Group 1829 - Unmanned Air Vehicles Final Presentation Tony Chen (EE) David Kay (EE) Ravi Patel (CSE/EE) Sponsor: UConn ECE Dept. (Prof. Shalabh Gupta)
Agenda Our Task ● Component Selection ● ● Imaging ● Progress Hardware ○ Software ○ ● Timeline ● Costs
Our Task To create an drone that can: ● Identify boxes on ground ● Orient over, lower down to box ● Pick up and take off with box
Our Task (cont.)
Basic Components: Frame DJI Flamewheel F450 ● Strong ● Modular ○ Easy to replace broken parts ○ Easy to mount components ● Affordable
Flight Controller Pixhawk Autopilot ● Open source autopilot ● All-in-one unit Sensors: ● 3-axis 16-bit gyroscope ● ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer ● MEAS MS5611 barometer Interfaces: ● UART ● CAN I 2 C ● ● MicroSD
Drift Minimizer PX4Flow Sensor: ● Optical flow smart camera ● Uses ground texture and visible features to determine aircraft ground velocity ○ Works where GPS can’t reach ● Indoors and outdoor, including low light conditions (no need for external illumination) ● 3 axis gyro allows for compensation of vehicle tilt and heading relative to the ground ● Designed to work with Pixhawk FC
Target Identification High Contrast Color Combinations: Alternatives: Downsides: QR Codes Requires Very Clear Image Retroreflective Material Expensive / Single Color Shapes Requires Very Stable Image Text Computation Heavy ● Easily Detected ● Limited Interference
Target Detection: Pixy Cam Pros ● Open source ● One-touch object and color learning ● Color for object detection ● Up to seven color signatures. ○ Red, Orange, Yellow, Green, Cyan, Blue, Violet ● Multi-color combinations ● Detects angle, width, and height Cons ● White balance ● Incandescent vs Fluorescent lighting can affect color signature ○ Can be easily recalibrated for each lighting
Onboard Computer Odroid XU4 ODROID XU4 Alternative: ● 2GHz octa-core CPU Raspberry Pi3 ● 2GB LPDDR2 RAM ● 1.2 GHz Quad-core CPU ● Micro SD slots ● 1GB RAM ● Linux 16.04 or Android ● Micro SD slot ● Better for onboard flight computations Raspberry Pi3 ● Raspbian (Debian branch-off) ● $61 ● $35
Signal Flow Diagram Pixy CMUcam Sensor Electronic Speed Controller Gripper Flow Sensor
Hardware Design - Gripper Gripper: ● Two Servo Design ● 3D Printed ● Traction Tape Landing Gear: ● Separate Component ● Drone Safety
Hardware Design Complete: ● Flight controller wired ○ Stable flight ● Flow sensor installed ○ Minimized drift ● Gripper Installed ○ Bluetooth connectivity In-Progress: ● Tuning ○ Increase smoothness & flight behavior ○ Improve altitude hold (sonar) ● Pixy/CMUcam5 control Integration ○ Adjust position based on CMUcam position data
Software Design XU4 CMUCam5 Sensor Sensor Data Gripper Switch Data Commands
Software - Image Processing Arduino Serial Output PixyMon Color Signatures
Test Flight - Image Processing
Test Flight - Box Manipulation
Next Steps: Optimizations ● Two Pixy Logic --->Accurate orientation over object ● Arduino port to Odroid ---> Faster communication ● Kinect IR/Depth/Flat ---> Better altitude accuracy ● Conversions/Flight Controller ---> Data translation
Timeline April 1-7: April 15-21: Complete Software Presentation Finalization (Report / Poster) (Communication Test) Record Demo Videos March 25-31: April 8-14: April 21-27: Complete Software Drone Optimization Demo-Day (Controls Test) and Aesthetics Preparation
Costs To-Date Items Cost $110.00 Pixhawk Flight controller $150.00 PX4 Flow Sensor $61.00 Odroid XU4 $69.00 CMUcam5 (Pixy) $50.00 Kinect Sensor $20.00 Gripper $34.00 Receiver $22.00 Power Module
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