Transcript cdr - UCF EECS

ACaR: Autonomous Chasing Robot
Team 19:
Bryan Diaz
Victor Hernandez
Khanh Le
Luis Sosa
BSEE
BSEE
BSEE
BSCpE
Sponsored by Boeing
Motivations
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Aligned with the members’ interest, including:
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Computer Vision applications.
Power Regulation.
Microcontroller Programming and Interfacing.
Embedded OS Applications
Robotics
Usually human reaction is slower than a machine’s would be
helpful for law enforcement in between other applications
Description
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RC car modified to follow a target autonomously
A Robot/Vehicle (may be controlled manually or automatically)
will go around in the specific area and look at the license plate of
all vehicle on street.
When it detects any license plate in blacklist of Police
Department, it will automatically follow the target.
Once the target is locked and followed, Officer does not worry
about losing target and is able to make the next action.
It is really a helpful assistant for Police officer to improve the
security of our environment, which is endangered by crime
Possible Applications
Military: Autonomous Tank/Ground Vehicle
Law Enforcement: Autonomous Car Chasing
Civil: Autonomous Caravan
ACaR: Specifications
Title
QTY
Units
Size
6 x 18 x 12
in
Weigh
3~4
Kg
Voltage Operation
15
V
Battery Life
30
minutes
Maximum Tracking Target Distance
5
meters
Minimum Tracing Target Distance
10
cm
Maximum Speed
Up to 20
Km/h
Maximum (Following) Speed
Up to 15
Km/h
Simultaneous License Plates Detection
Up to 3
plates
High Level Diagram
PCB
Battery
Power System
Web Interface
Video Stream
Manual Control
Intel Edison
Peripherals
Servo
Pan Motor
MCU
Servo
Steering Motor
DC Motor
Control
Brushed DC
Motor
Video Camera
Intel Edison
Edison vs. Rpi vs. BeagleBone
http://www.davidhunt.ie/raspberry-pi-beaglebone-black-intel-edison-benchmarked/
Wireless Communication
Features
Wi-Fi
Bluetooth
Power
Hours
Days
Range
100m
10m
2.4,5 GHz
2.4 GHz
High-WPA, WEP,
WPA2
128 bit
Very Complex
Complex
54 Mbps
1 Mbps
32
7
802.11
802.15.1
Frequency
Security
Complexity
Data rate
Nodes
Physical Layer
Standard
Image Processing
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OpenCV
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Advance vision research by providing not only open
but also optimized code for basic vision
infrastructure. No more reinventing the wheel.
Is free and open source!
Has a lot of support because a lot of people use it
License Plate Recognition (LPR)
Computer Vision
• OpenCV
Open Source!
Image Processing
• Leptonica Image
Processing
Library
Open Source!
Optical Character
Recognition (OCR)
• Tesseract OCR
Open Source!
“Image Usage: Permission Granted under the terms of the GNU Free Documentation License”
LPR Process and Decision
“Permission Granted under the terms of the GNU Free Documentation License”
Software
• OpenCV for image processing - Using C++
• Mraa library (uses C++) - Low Level Skeleton Library for
Communication on GNU/Linux platforms
• Separate Modules for vision and low level serial
communication.
Software Block Diagram
OpenCV Target Detection Demo
Motor Control
Motor Control
•Using PWM signal to control the speed.
•Using idea of H-bridge circuit to control
the direction of motor rotation.
•We send PWM signal through pin 1 and
2. They are I/O pins of Micro-controller.
Motor Control
Pin 1
Pin 2
Action
Low
Low
Stop
High
Low
Forward
Low
High
Backward
High
High
Short-circuit
Motor Control
Component
Name
Model
Quantity
DC motor
DS540 3.6 12V
Electric DC
motor
1
Diode
IN4148
4
NMOS
IRF540N
4
NPN transistor
BC548
2
PNP transistor
BC327
2
Schematic on EagleCADSoft
Circuit Testing on Breadboard
Datasheet of DC Motor
Servo Motor Control
• Extra circuit is not necessary, just connect the servo to Microcontroller directly.
• Micro-controller can power up the servo through DC voltage pin
• Using PPM signal (Pulse Proportional Modulation) to control
position of Servo.
Servo and Microcontroller Connections
• White Wire -> I/O pin
• Red Wire -> Power supply
• Black Wire -> Ground pin
http://www.robotshop.com/en/hitec-hs422-servo-motor.html
Micro-controller for DC motor and Servo
•Use MSP430 chips as Micro-controller for motor control
•MSP430 will communicate with Edison through serial
•Edison gives command through Serial Pins to tell
MSP430 what to do with DC motor and Servo
MSP430G2553
http://www.ti.com/ww/en/launchpad/img/launchpad-mspexp430g2-02-thumb.png
Pheripherals
• Ultra Sonic Sensor
• Inertia Measuring Unit (IMU)
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Accelerometer
Gyroscope
Magnetometer
Ultra Sonic Sensor
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Used for Obstacle Detection and Distance
We will use the HC-SR04
Tested to accurately measure in between 10 and 75 cm
https://electrosome.com/hc-sr04-ultrasonic-sensor-pic/
Inertia Measuring Unit
• Can provide Speed Measurements
• Safety Feature
IMU
Accelerometer
(ADXL345)
Gyroscope
(ITG-3200)
Magnetometer
(HMC5883L)
These devices have:
• Same Input Voltage
• SPI interface, which can be communicated with
the MSP430G2553
• Will all be operated under a Master Clock
Power System
Main DC
Source
Voltage
Regulator
Motor
Voltage
Regulator
Voltage
Regulator
Edison
MCU
Servo
Motor
(Steering)
Camera
Sensors
Servo
Motor
(Pan)
Main DC Source (Rechargeable Battery)
• Main Requirements
• Battery life must be at
least 30 minutes
• Something light
weight and small
• Reasonable price
With permission from Venom-group.com
Voltage Regulators
Features
Linear Voltage Regulator
Function
Step down only, output
voltage must be less than
input voltage
Size
Small to medium in portable Large than linear at low
design, may be even larger if power, but smaller in the
heat sink is needed
case where linear requires a
heat sink
Low to medium
High
Low
Medium to high due to ripple
effect
Efficiency
Noise
Switching Voltage
Regulator
Steps up or Steps Down the
voltage, can produce multiple
outputs.
Output Ripple
Very small almost negligible
Large
Waste Heat
High, when load and voltage
difference is high
Low, most components will
run cool for low power levels
Voltage Regulator (con’t)
Items
Input Voltage (volts)
Input current (A)
Edison
7-15V
2
Msp430
3
0.5e-3
Motor
3.6-12
Up to 6 amps
Servo (pan/tilt)
4.5
0.500
Servo ( Steering)
4.5
0.500
Webench Tool
RC Car Platform
Motor
C
a
m
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Intel Edison
Breakout
Board / PCB
Batt
1:4 Scale GoKart
Enough Space for Components
Capable of Speeds of +20 km/h
Low Center of Gravity
Has a Steering System
Has Predetermined Spacing
(e.g. Space set for Battery)
Administrative Content
Work Distribution
Section
Power
Bryan
Victor
Khanh
P
Motor
P
Computer Vision
S
P
Video Streaming
P
Peripherals
PCB Design
Luis
P
S
P
S
Budget and Cost
Initial Estimated Budget
Item
Qty
Total Cost
Sensors (various)
Various
$100
Car Body
2
$100
Ultra Sonic
3
PCB Fabrication
1
$70
Car Body
Misc. Electrical
Various
$150
Misc. Mechanical
Various
IP Camera
Cost to Date
Item
Qty
Estimated Production Cost
Total Cost
Item
Qty
Total Cost
$12.00
Ultra Sonic
3
$12
1
$85.00
Car Body
1
$85
Intel Edison
1
$110.00
Intel Edison
1
$75
$100
Misc. Electrical
Various
$101.00
Misc. Electrical
Various
$141
1
$110
Pan Mechanism
1
$50.00
Pan Mechanism
1
$50
Tablet
1
$200
USB Camera
1
Owned
USB Camera
1
$30
Pan/Tilt Mechanism
1
$50
Tablet
1
Owned
Servo
1
$10
Battery
1
$60
IMU Components
Various
$40.00
PCB
1
$70
$910
TOTAL
TOTAL
$398
TOTAL
$473
Progress
Progress (%)
Research
Design
Software Dev.
Hardware Testing
Software Testing
Prototyping
Total
0
20
40
Progress (%)
60
80
100
Issues
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Steering Angle: Left 20 deg, Right 30 deg
(Mechanical modifications required).
Object detection does not uniquely identifies the target.
Real Time Video Streaming from the Edison.
1.8V vs. 3.3V Logic Levels (Edison vs. MSP430)
Q&A Session