final presentation today
TRANSCRIPT
Autonomous Hexapod
Object
Recognition
NinjaneersNahid MosharrafSupreet SinghTabassum AzadNusrat Lima
presented by
with
Agenda
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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• Objectives/Abstract
• Timeline
• Analysis and Requirement
• Changes in Design
• Implementation and test
• Budget
• Project Demonstration
• Conclusion
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Objective: To build a hexapod that can overcome limitations of
other mobile robots.
Objective
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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• Requirements: Autonomous movement. Visual recognition of an object through the
ultrasonic sensor and camera Functional gripper to pick up and move objects Motion provided by the servo motors, integrated
through the servo controller and Raspberry Pi
Requirements
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers 25
Timeline
2014 Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec 2014
5/7/2014
Image Processing4/20/2014
Power Consumption 4/17/2014Mechanics
4/14/2014Gait Generation4/5/2014
Project Start3/3/2014
Preparation/Research 7/5/2014 - 8/01/2014
Parts Ordering 8/01/2014 - 8/23/2014
8/23/2014 - 9/15/2014
Function Analysis 9/2/2014 - 9/15/2014
Programming Visual Recognition 8/24/2014 - 9/23/2014
Testing of camera with programming code
9/24/2014 - 10/05/2014
Testing of servos and legs 10/07/2014 - 10/24/2014
Prototype Testing 10/07/2014 - 11/05/2014
Prototype Analysis 10/07/2014 - 11/10/2014
Product Development 10/26/2014 - 11/14/2014
Feasibility Analysis/Sales Analysis 11/6/2014 - 11/25/2014
Roll-out/Product Lauching 12/1/2014 - 12/7/2014
Project End
Original Project End Date: 12/10/2014
12/07/2014
Prototype Development/Construction
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Design
Original Conceptual Design
Actual Design
Figure 1.2 : Actual Real Life Hexapod Model
Figure 1.1 : Generated 3D virtual Hexapod Model
Autonomous Hexapod with Color-Based Object RecognitionPresented by: Ninjaneers
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Control System Layout
SimpleCV Python
Framework
Raspberry pi
Raspberry Pi
SS32 Servo-
Controller
GE 1.3 MP
MiniCam Pro
WebCam
1 Ultra-sonic
sensor
18 GWS
Standard
S03T STD
Servos
1 GWS Standard
S03T STD
Servo for the
Gripper
Actuators
Sensors
Processing
Hexapod
decisions(MOVE
MENTS)
Output
Autonomous Hexapod Object RecognitionPresented by: Ninjaneers
Program FlowStart
Object Found?
Yes
No
Keep Turning Until Object is Found.
Keep Turning Until Object is Found
• Read Distance from Ultrasonic-sensor
• Process image from camera
Is object displaced?
Yes
Do NothingNo
Walk to object
Gripper Picks up object
Walk to specified location
GripperPlaces Object
END
This flow chart illustratesthe overall programmingProcedure for the system.
3 Shapes 1 Object
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Design Changes
Original Conceptual Design
Actual Design
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Why SimpleCV?
What is SimpleCV?
SimpleCV is an open source Python Framework for Computer Vision applications.
Reasons why we decided to implement SimpleCV with our hexapod because :
It allows access to several high-powered Computer Vision libraries such as OpenCV with having in depth knowledge about Computer Vision.
Since it is an open source Python Framework, we were able to write and implement the Python scripts on SimpleCV.
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Other Changes includes:
1. Rotational Camera changed to non-moving camera
2. Metal Chassis and Frame VS Acrylic Frame
3. GE Mini webcam Pro VS Android phone
Design Changes
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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• Test and implementations were done using:• Voltmeter
• Regulator
• Breadboard
Implementation and Test
• Raspberry Pi
• Ultrasonic Sensor
Figure 8.1 : Testing the Volt regulator to even distribute 12V to the controller while providing 5V to the raspberry Pi
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Ultrasonic Voltage Divider
Circuit
Figure 8.2 : Testing of Voltage regulatorwith Raspberry Pi
Autonomous Hexapod with Object RecognitionPresented by: Ninjaneers
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Budget Component Price (USD) Source
Aluminium Chassis81.90
http://www.aliexpress.com/store/product/18DOF-Aluminium-Hexapod-Spider-Six-Legs-Robot-Kit-w-18pcs-Servo-Horn-Ball-Bearing-Fully-Compatible/1391641_2013606295.html
Sunlite 07625-SU E176/R Electrical Tape, Red 4.99http://www.amazon.com/gp/product/B009XS1HIY/ref=ox_ya_os_product_refresh_T1
1x 32 Channel Servo Controller 35.00http://www.aliexpress.com/item/32-road-steering-gear-control-32-way-controller-servo-control-board-servo-controller-can-sue-with/1576725795.html
20 x MG995 Metal Gear High Torque Servo 103.50 http://www.aliexpress.com/item/-/1627072840.html
Spare Robotic Claw for Medium Servo Robot Arm for Arduino & other projects EM#01
13.20http://www.ebay.com/itm/380881914739?_trksid=p2059210.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT
1pc, 3 x C Size Cell Battery Holder Box 4.5V Case With Wire Lead UM-2X3,6122
3.32http://www.ebay.com/itm/121350399950?_trksid=p2059210.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT
6 x C size 1.2V 9500mAh Ni-MH rechargeable battery Red 15.21http://www.ebay.com/itm/201043877106?_trksid=p2059210.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT
1x HC-SR04 Ultrasonic Sensor 1.90 http://www.aliexpress.com/item/-/1667054813.html
1x GE 98756 Mini Cam Pro 4.95 http://www.amazon.com/GE-98756-Mini-Cam-Pro/dp/B000HHUORK
9v Battery 3.99
http://www.bedbathandbeyond.com/store/product/duracell-9v-battery-single-pack/1010764114?mcid=PS_googlepla_nonbrand_electronicstoys_&adpos=1o1&creative=39230281429&device=c&matchtype=&network=g&gclid=CK2m6Ji6vcICFe7m7AodL1AAUA
Total 267.85*Prices include shipping and handling costs
Thank you!