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Camera Aided Robot  Progress Report Camera Aided Robot  Progress Report

Camera Aided Robot Progress Report - PowerPoint Presentation

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Uploaded On 2020-08-28

Camera Aided Robot Progress Report - PPT Presentation

AIM Develop a camera guided robot Has to be able to detect red circular objects and the object position in each frame Needs to translate image coordinates to real world coordinates for robot ID: 809708

motor robot driver object robot motor object driver pandaboard development progress arm camera ordinates dagu objects world real image

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Presentation Transcript

Slide1

Camera Aided Robot

Progress Report

Slide2

AIM?

Develop a camera guided robot.

Has to be able to detect red circular objects and the object position in each frame.

Needs to translate image co-ordinates to real world co-ordinates for robot.

R

obot uses the real world information to locate object.

Draws a dot on centre of object.

Slide3

Block Diagram

4460 Core

A

rduino

Dagu

4 channel motor driver

Pandaboard

Dagu

Rover 5

USB

Motor controls

encoders

Motor 1

Motor 2

Motor 3

M1OUT

M2OUT

M3OUT

Camera

USB

Slide4

System Flow

Start

Initialize camera and robot

Start looking for objects

R

ight

Detect position of object

object found?

L

eft

Middle

object found?

Turn robot left

Stop robot

Turn robot right

Drive forward

Y

es

No

No

No

Y

es

Y

es

Y

es

Slide5

Development Environment

Hardware Development Board

The development board chosen is the Pandaboard ES.

1.2GHz Dual core Arm

9 processor,

SGX540 graphics core which

supporting all major API's.

1GB RAM, Adequate memory.

Slide6

Development

Enviroment

Logitech 330 HD webcam being used for camera.

Operating System

The OS chosen for this

project is Ubuntu OMAP4.

TI kernel for the Pandaboard ES.

Support for OpenCV .

Driver support for camera’s (v4l) and arduino.

Slide7

Development

Environment

Robot

To control the robot I have

decided

to use an

A

rduino

for

the sole control of the robot.Dual motor driver from Pololu with two MC332926 chips has been chosen as the motor driver.

Dagu Rover 5 is used for the robot chassis.

Slide8

Progress To Date

Pandaboard And Ubuntu Issues

Difficult integration of Ubuntu OS and the Pandaboard.

TI kernel

ondemand

issue with clock solved.

Boot.script issue with RAM solved.

Slide9

Progress To Date

Application

Finds red circular objects in an image.

Elliptic Morphological

kernel

used to

manipulate image to find circular objects.CvBlobs library used to extract circular objects which are then stored in

arrays.Kalman filter used for tracking the object based on centre point of object. noise and other external factors need to be taken into account.

Slide10

Progress To Date

Yellow x is the predicted centre of the object.

Blue square is the bounding box drawn by CvBlobs library.

The Memory used is small (Just 15 – 25 MB).

Slide11

Progress To Date

Robot

& Arduino

Robot is not working.

Simple code

developed for Arduino to control the robot.PWM generated depending on character received over USB serial.

Slide12

Future Plans

Once a new motor driver is gotten the

entire robot

will be set

up (excluding arm).

Possible change in motor driver.

Dagu

provide a driver with 4 channels.

Simple starting application to calibrate

the robot.Integrate current Application on Pandaboard with Arduino and chassis and check calibration.

Slide13

Future Plans

Get a robotic

arm and

integrate into application.

(

Dagu

- 2DOF Arm with

Gripper and Servos) 

Develop an algorithm to convert 2D image co-ordinates to real world co-ordinates.

Translate the real world co-ordinates into robotic arm commands and chassis movement.

Slide14