Faculty of Electrical Engineering Control & Robotics – Lab 1 הטכניון - מכון...
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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
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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
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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 )
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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
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Faculty of Electrical EngineeringControl & Robotics – Lab5
PROJECT-SCHEME :PROJECT-SCHEME :
Video-streamcommands
Static PC-stationmoving target
Mobile zeppelin
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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.
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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.
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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.
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Faculty of Electrical EngineeringControl & Robotics – Lab9
Lets see a few moviesLets see a few movies……
Occluded by similar color…
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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
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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
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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)
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Faculty of Electrical EngineeringControl & Robotics – Lab13
TOP :TOP :
PC-UNIT :
transmission of
command BOARD-UNIT :
receive command &
drive motors
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Faculty of Electrical EngineeringControl & Robotics – Lab14
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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 :
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Faculty of Electrical EngineeringControl & Robotics – Lab16
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Faculty of Electrical EngineeringControl & Robotics – Lab17
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
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Faculty of Electrical EngineeringControl & Robotics – Lab18
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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
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Faculty of Electrical EngineeringControl & Robotics – Lab20
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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
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Faculty of Electrical EngineeringControl & Robotics – Lab22
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Faculty of Electrical EngineeringControl & Robotics – Lab23
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Faculty of Electrical EngineeringControl & Robotics – Lab24
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Faculty of Electrical EngineeringControl & Robotics – Lab25
DRIVERS :DRIVERS :
Supply power to motors
according to their selection
2 drivers :
1) Motors left and right
2) Motor up-down
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Faculty of Electrical EngineeringControl & Robotics – Lab26
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Faculty of Electrical EngineeringControl & Robotics – Lab27
PC-UNITPC-UNIT
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Faculty of Electrical EngineeringControl & Robotics – Lab28
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Faculty of Electrical EngineeringControl & Robotics – Lab29
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Faculty of Electrical EngineeringControl & Robotics – Lab30
BOARD-UNITBOARD-UNIT
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Faculty of Electrical EngineeringControl & Robotics – Lab31
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Faculty of Electrical EngineeringControl & Robotics – Lab32
DEMONSTRATION :DEMONSTRATION :
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Faculty of Electrical EngineeringControl & Robotics – Lab33
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Faculty of Electrical EngineeringControl & Robotics – Lab34
!! !! MANY THANKSMANY THANKS !! !!
TO
CRL-STAFF
FOR YOUR KIND
SUPPORT
&
GUIDANCE…