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Camera Aided Robot . Progress Report. 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.

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Camera aided robot

Camera Aided Robot

Progress Report


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.

  • Robot uses the real world information to locate object.

  • Draws a dot on centre of object.


Block diagram
Block Diagram

Camera

USB

Pandaboard

Motor 1

Motor 2

M1OUT

M2OUT

4460 Core

Dagu 4 channel motor driver

M3OUT

Motor controls

encoders

USB

Arduino

Motor 3

Dagu Rover 5


System flow
System Flow

Start

Initialize camera and robot

Start looking for objects

object found?

object found?

Stop robot

No

Yes

Detect position of object

Left

Middle

Right

No

No

Yes

Yes

Yes

Turn robot left

Drive forward

Turn robot right


Development environment
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.


Development enviroment
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.


Development environment1
Development Environment

  • Robot

    • To control the robot I have

      decided to use an Arduino

      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.


Progress to date
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.


Progress to date1
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.


Progress to date2
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).


Progress to date3
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.


Future plans
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.


Future plans1
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.


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