Team 2007 ECE Senior Design 2019/2020 Final Oral Presentation - - PowerPoint PPT Presentation

Team 2007 Package Delivery UAV

Faculty Advisor

Professor Shalabh Gupta

Team Members

Alex Maric (EE/CSE) Brandon D’Agostino (EE/CE) Brian Fomenko (EE)

Final Oral Presentation

ECE Senior Design 2019/2020 4-Dec-2019

Sponsor

UConn ECE Department

Outline

• Background
• Project Description
• Design
• Budget
• Timeline
• RACI Chart
• Q & A

• Unmanned Aerial Vehicle (UAV) & drone applications

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Military

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Disaster Relief

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Recreation

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Package Delivery

• Shipping giants investing in drone technology

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Amazon

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DHL

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Google Wing

• Why?

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Faster shipping

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Service to remote locations

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Potential cost savings

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Eco-friendly

Background

General Atomics MQ-9 Reaper Hunter-killer UAV DJI Mavic Pro Consumer Drone Amazon Prime Air Delivery Drone

Project Definition

• No problem or specific statement-of-need provided
• Define our own objective
• [Reference] Last year’s UConn Senior Design Team 1829 (2018/2019)

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Bluetooth-controlled physical manipulator

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Optical Flow Sensor (stability)

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Basic object recognition

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No object position relative to drone or autonomous navigation capabilities

Design Focus Package Delivery Drone

UConn Senior Design Team 1829

Project Objective

• Build fully-functional remote controlled drone
• Modify drone to

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Identify packages

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Calculate package position/distance relative to drone

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Navigate to package position

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Descend to pick-up position

Project Objective

1 Navigate to pick-up area (manual) 2 Identify package 4 Navigate to package position 3 Calculate package position vector

X Y Z

[Xp, Yp, Zp] 5 Lower into pick-up position

Constraints & Considerations

• Indoor operation

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No GPS available

• Complexity

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Any one feature (object recognition, autonomous flight, etc.) could be a senior design project unto itself!

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Try to leverage as many existing technologies/products as possible

• Time

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Two academic terms (Fall 2019 & Spring 2020)

• Budget

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$1,000 USD, provided by UConn ECE department

Design Overview

Drone Development Platform

• Build remote-controlled drone
• Open-source, extensible platform
• Economical

Phase 1 Phase 2 Computer Vision & Object Recognition

• Recognize packages
• Output position, size, index, etc.

Phase 3 Package Position Calculation

• Determine package position/size relative to drone
• Communicate with flight controller

Phase 4 Autonomous Navigation

• Hook into autopilot stack
• Use calculated data as reference for autonomous navigation

Phase 1 - Drone Development Platform

• No pre-built drones, have to build one

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Should be extensible

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Cost

• Requires extensive research
• Multiple components

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Airframe

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DC Motors

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Electronic speed controllers

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Power distribution and supply modules

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Flight controller

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Radio receiver

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Remote transmitter

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LiPo Battery

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Etc.

Holybro S500V2 Kit PM07 Power Module Pixhawk 4 Flight Controller FrSky Radio Receiver FrSky Radio Transmitter

Phase 1 - Drone Development Platform

• Pixhawk 4 Flight Controller

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Autopilot hardware (open-hardware)

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Hiqh-quality & low-cost

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Built-in sensors (IMU, barometer, GPS, ...)

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Runs PX4 Flight Control Software

• PX4 Flight Control Software

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Open-source flight control software for drones (and more)

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Modular and extensible architecture

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Built for autonomy

• Purpose

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Read sensor data

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Drone position/orientation/velocity

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Drone control & navigation

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Radio communication

Pixhawk 4 Flight Controller

Phase 2 - Computer Vision & Object Recognition

• Pixy2

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Camera with Onboard Image Processor

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Object-recognition

• Configured with PixyMon application

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Object training

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Camera monitoring

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Debugging programs

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Signature number

• Outputs object data

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Position, size, X/Y screen coordinates

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Dimensions, index

• Communication interfaces

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I2C, SPI, UART, USB

Pixy2 connected to embedded system Pixy2 Camera

Example Pixy barcodes

PixyMon with Signature Label Numbers PixyMon Data Output seen from microcontroller program

Phase 2 - Computer Vision & Object Recognition

Pixy2 Interface Connections Raspberry PI USB port

Phase 2 - Computer Vision & Object Recognition

Phase 3 - Package Position Calculation

• Pixy2

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Provides screen-space object position, orientation, and size

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Accessible over UART/SPI/I2C

• Pixhawk 4 Flight Controller

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Provides drone position, orientation, altitude, velocity, etc.

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Uses built-in Inertial Measurement Unit (IMU)

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Accessible over UART/SPI/I2C

• Known quantities

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Recognized object size

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Camera orientation relative to drone

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Image size, FOV, etc.

• Linear Algebra

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Go from camera-space coordinates…

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To drone-space coordinates

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Reverse of 3D graphics transforms

Phase 3 - Package Position Calculation

Phase 4 -Autonomous Navigation

• PX4 Flight Control Software

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Open-source

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Highly-modular, extensible

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Well documented

• Additions

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Raspberry Pi (or equivalent)

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Pixy 2

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Package data in drone-space coordinates

• Modifications

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Integrate with proven PX4 autopilot

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Use package position as reference

Flight Control

Electronic Speed Control Autonomous Flight Position Controller Altitude/Rate Controller Sensors Hub Position/Altitude Estimator Output Drivers (ESC/Servo)

External

MAVLink (UART/UDP) FastRTPS (UART/UDP)

Object Recognition Computer (UART/SPI/I2C)

Drivers

Camera Control GPS Gimbal/Mount Airspeed/Optical Flow/… Sensors RC Input (PPM/SBUS/...) IMU Drivers (SPI/I2C/CAN)

Storage

Database (Missions/FLASH) Parameters (EEPROM/SD/...) Logger (MAVlink/SD) Message Bus

Block Diagram

PX4 Flight Controller Embedded System ESC & Motors Pixycam Pixy2 Sensors

• IMU
• Compass
• Barometer
• Etc.

Drone position/velocity/orientation Drone-space package position/orientation Camera-space package size/position/orientation

Remote Control

Project Management - Budget

Project Management - RACI Chart

Project Management - Timeline

Thank You! Questions?