Faculty of Electrical Engineering Control & Robotics – Lab 1 הטכניון - מכון...

Faculty of Electrical EngineeringControl & Robotics – Lab1

לישראל טכנולוגי מכון - הטכניון

TECHNION - ISRAEL INSTITUTE OF TECHNOLOGY

חשמל להנדסת הפקולטהורובוטיקה לבקרה המעבדה

PROJECT :

Human tracking system using

a zeppelin & pc-station

INSTRUCTOR:

Kobi-Kochay David-Gidony

ACCOMPLISHED BY :

Ronen-Horovitz Uri-Gover

Faculty of Electrical EngineeringControl & Robotics – Lab2

PROJECT-DEFINITION :PROJECT-DEFINITION :

HUMAN-TRACKING SYSTEM , using :1) A MOBILE ZEPPELIN , a flying

motored platform transmitting video-stream of tracked-target to PC-station

2) A STATIC PC-STATION , performing real-time image-processing on video-stream and sending steering-commands to mobile-zeppelin

Faculty of Electrical EngineeringControl & Robotics – Lab3

APPLICATIONS :APPLICATIONS :

• INDOOR SURVEILLANCE :

inspecting or tracking a suspect in any kind of a closed arena ( airport/mall/check-point )

from a control room

• ANY INDOOR OBJECT INSPECTING APPLICATION ( with limitation of speed )

Faculty of Electrical EngineeringControl & Robotics – Lab4

SUB-SYSTEMS :SUB-SYSTEMS :

PC-APPLICATION : a suspect that was marked upon video-stream received from zeppelin will be tracked by a s.w. algorithm. PC-station will send steering commands to zeppelin in order to track suspect.

VIDEO-TRANSMISSION : a camera will send video-stream to a video-transmitter , both placed on the zeppelin . PC-station will receive the video-stream through a video-receiver .

COMMANDS-TRANSMISSION : PC-station will transmit commands to zeppelin through commands-transmitter . These commands will be received by the zeppelin and control its 3 motors : right, left and up-down motors

Faculty of Electrical EngineeringControl & Robotics – Lab5

PROJECT-SCHEME :PROJECT-SCHEME :

Video-streamcommands

Static PC-stationmoving target

Mobile zeppelin

Faculty of Electrical EngineeringControl & Robotics – Lab6

Image processing taskImage processing task

The task is defined as follows:A user clicks on a human or an object in the screen.The algorithm analyses the object to be tracked and continuously finds it in the next video frame along the video stream, marking it as well.

Faculty of Electrical EngineeringControl & Robotics – Lab7

Our original solutionOur original solution

Color is a very powerful attribute which distinguishes an object from its environment, and is easy to represent.

Faculty of Electrical EngineeringControl & Robotics – Lab8

Our original solutionOur original solution

Objects change their position in a very smooth and continuous way so an object’s local position is a very important attribute which can help distinguish an object from other similar or exact objects. It is also an easy attribute to represent.

Faculty of Electrical EngineeringControl & Robotics – Lab9

Lets see a few moviesLets see a few movies……

Occluded by similar color…

Faculty of Electrical EngineeringControl & Robotics – Lab10

COMMANDS - TRANSMISSIONCOMMANDS - TRANSMISSION

THE TASK :

commands from PC-station will be transmitted using a transmitter-unit. It will be received and decoded on the zeppelin , to control its motors .

SOLUTION REQUIRMENTS : Support a wide/flexible range of commands Reliable Lightweight Low power consumption Small dimensions

Faculty of Electrical EngineeringControl & Robotics – Lab11

SOLUTION FLOW-CHART :SOLUTION FLOW-CHART :

1) S.W. SENDS COMMANDS TO PARALLEL-PORT

2) PARALLEL-PORT CONNECTS TO A TRANSMIT-UNIT

3) COMMAND IS ENCODED

4) COMMAND IS TRANSMITTED

5) COMMAND IS RECEIVED

6) COMMAND IS DECODED

7) SELECTION OF MOTORS AND THEIR DIRECTIONS. PULSE GENERATION.

8) DRIVING POWER INTO CORRESPONDING MOTORS

PC-UNIT ZEPPELIN-UNIT

a P.W.M CONTROL , but not a full one -> S.W. invokes a pulse to a motor/motors

Faculty of Electrical EngineeringControl & Robotics – Lab12

IMPLEMENTING REQUIRMENTS :IMPLEMENTING REQUIRMENTS :

Support a wide/flexible range of commands : -> 10 commands , pulse-freq. determined by s.w.

Reliable

-> enc/dec units , pulse-width is fixed smaller implementation = less noise

Lightweight Small dimensions

-> smaller implementation

Low power consumption-> smaller implementation , using 3V-logic (74hcXX family)

Faculty of Electrical EngineeringControl & Robotics – Lab13

TOP :TOP :

PC-UNIT :

transmission of

command BOARD-UNIT :

receive command &

drive motors

Faculty of Electrical EngineeringControl & Robotics – Lab14

Faculty of Electrical EngineeringControl & Robotics – Lab15

S.W. interface to

Parallel-port Encoder Output

Encoder Clock & TX data

Transmitter : Frequency Modulation

PC-UNIT :PC-UNIT :

Faculty of Electrical EngineeringControl & Robotics – Lab16

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BOARD-UNIT :BOARD-UNIT :

REC&DEC-UNIT:

Receive data & decode it

(reverse opertion of PC-UNIT)

CONTROLLER :

Convert command to motor-selection & direction

DRIVER :

Drive power to selected motors

Faculty of Electrical EngineeringControl & Robotics – Lab18

Faculty of Electrical EngineeringControl & Robotics – Lab19

REC&DEC-UNIT :REC&DEC-UNIT :

Receiver output

Decoder time-constant of a bit

Receiver output

Decoder time-constant of a word

** Encoder double checks data received

Faculty of Electrical EngineeringControl & Robotics – Lab20

Faculty of Electrical EngineeringControl & Robotics – Lab21

CONTROLLER : CONTROLLER :

convert command to selection of motor and its direction

generate fixed-width-pulse to selected motors.

Fixed-width-pulse

Faculty of Electrical EngineeringControl & Robotics – Lab22

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DRIVERS :DRIVERS :

Supply power to motors

according to their selection

2 drivers :

1) Motors left and right

2) Motor up-down

Faculty of Electrical EngineeringControl & Robotics – Lab26

Faculty of Electrical EngineeringControl & Robotics – Lab27

PC-UNITPC-UNIT

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BOARD-UNITBOARD-UNIT

Faculty of Electrical EngineeringControl & Robotics – Lab31

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DEMONSTRATION :DEMONSTRATION :

Faculty of Electrical EngineeringControl & Robotics – Lab33

Faculty of Electrical EngineeringControl & Robotics – Lab34

!! !! MANY THANKSMANY THANKS !! !!

TO

CRL-STAFF

FOR YOUR KIND

SUPPORT

&

GUIDANCE…