Team 2007 ECE Senior Design 2019/2020 Preliminary Design Review - PowerPoint PPT Presentation

Team 2007 ECE Senior Design 2019/2020 Preliminary Design Review Package Delivery 25-Oct-2019 Drone Sponsor UConn ECE Department Faculty Advisor Professor Shalabh Gupta Team Members Alex Maric Brandon D’Agostino Brian Fomenko

Outline ● Background ● Proposal ● Objective Requirements ● ● System Overview ● Task Breakdown ● Project Schedule Budget Estimate ●

Background ● Unmanned Aerial Vehicle (UAV) & drone applications Military ■ Disaster Relief ■ Recreation ■ Package Delivery ■ ● Shipping giants investing in drone technology Amazon ■ General Atomics MQ-9 Reaper DHL Hunter-killer UAV ■ Google Wing ■ ● Why? Faster shipping ■ Service to remote locations ■ Potential cost savings ■ Amazon Prime Air DJI Mavic Pro Delivery Drone Consumer Drone

Background Design Focus Package Delivery Last year’s UConn Senior Design Team 1829 (2018/2019) 1. Built remote-controlled quadcopter: - DJI F450 Flamewheel Frame - Pixhawk PX4 Flight Controller 2. Integrated sensors: - PX4 Flow Sensor (stability) UConn Senior Design Team 1829 Drone - Pixy CMUcam5 (object recognition) 3. Arduino-based Bluetooth grabber (physical manipulation)

Proposal Extend last year’s project: 1. Autonomous Package Identification & Tracking Identify packages ■ Output position/orientation relative to drone ■ Identify pick-up/drop-off locations ■ 2. Autonomous Navigation Navigate to identified package ■ Navigate between package pick-up/drop-off locations ■ 3. Autonomous Package Manipulation Pick-up & drop-off package with physical manipulator ■

Objective Drone navigates to 1 Drone identifies package in pick-up area 2 pick-up area Drone navigates to & 3 lifts package Drone navigates to 4 drop-off area Drone drops off 5 package

Requirements 1. Indoor operation 2. Package identification 3. Pick-up and drop-off location identification 4. Package manipulation 5. Localized autonomous navigation around package and pick-up/drop-off locations 6. Minimal manual input

System Overview Embedded System PX4 ESC & Motors Flight Controller Pixycam Pixy2 PX4 Optical Flow Sensor Physical Manipulator

Task Breakdown - Overview 1. Flight Controller Drone logic (Brandon) ■ Read sensor data (Brandon) ■ Drone position/orientation/velocity (Brian) ■ Drone control & navigation (Brian) ■ 2. Embedded System Object recognition (Alex) ■ Object position/orientation (Brandon) ■ Send commands to flight controller (Alex) ■ Control physical manipulator (Alex) ■

Task Breakdown - Flight Controller ● Pixhawk 4 Flight Controller Autopilot hardware (open-hardware) ■ Hiqh-quality & low-cost ■ Built-in sensors (IMU, barometer, GPS, ...) ■ Runs PX4 Flight Control Software ■ ● PX4 Flight Control Software Open-source flight control software for drones (and more) ■ Modular and extensible architecture ■ Built for autonomy ■ Pixhawk 4 ● Purpose Flight Controller Read sensor data ■ Drone position/orientation/velocity ■ Drone control & navigation ■

Task Breakdown - Flight Controller ● PX4 Block Diagram Storage Database Parameters Logger ● Modifications (Missions/FLASH) (EEPROM/SD/...) (MAVlink/SD) Add sensors (if necessary) ■ Integrate sensors (if necessary) External Drivers ■ MAVLink Camera Additions ● Gimbal/Mount (UART/UDP) Control Message Bus Delivery logic state machine ■ Airspeed/Optical FastRTPS Embedded system communication GPS Flow/… ■ (UART/UDP) Sensors Package position/orientation ■ Embedded RC Input IMU Drivers Physical manipulator control ■ System (PPM/SBUS/...) (SPI/I2C/CAN) Flight Control Output State Sensors Electronic Speed Drivers Machine Hub Control (ESC/Servo) Position Position/Altitude Altitude/Rate Autonomous Controller Estimator Controller Flight

Task Breakdown - Object Recognition ● Pixy2 Video Camera ■ Onboard Image Processor ■ Configured with PixyMon ■ Onboard image processor ● Object-recognition ■ Barcode reading ■ Intersection detection ■ PixyMon ● Camera monitoring ■ Debugging programs ■ Object training and monitoring ■

Task Breakdown - Object Recognition ● Purpose Human teaching it to read objects ■ Find package drop-off and delivery locations ■ Color-based and barcode detection ■ ● Advantages Intelligent camera ■ Used with any microcomputer ■ ■ Quick image processing ■ Pixy2 ($60) vs Pixy CMUCAM5 ($138)

Task Breakdown - Drone Control ● Purpose Convert various input parameters to flight commands to allow the drone to ■ move reliably in 6 degrees of freedom. Desired rates: Roll Four Individual Pitch individual PID Individual motor controllers gains Yaw speed commands Thrust Model

Task Breakdown - Drone Control ● Components of flight control system Inputs: user commands and sensor readings ■ Outputs: Motors speeds and shutdown flag ■ Inside System: State estimator, controller, flight logs, fault protection ■ Building the flight code: ●

Task Breakdown - Drone Control ● The model provides the feedback loop ● Model consists of: Drone firmware, hardware, atmosphere being flown in. ■ ● Linearizing the model will make it easy to work with. ● Model may be divided into sub models Actuators ■ Airframe ■ Sensors ■ Environment ■

Project Schedule

Budget Estimate Hardware Component Component Cost Holybro Pixhawk PX4 Flight controller $180 Holybro PX4 Optical Flow Sensor $110 Pixy2 CMUcam5 camera sensor $54 Odroid-XU4 $50 DJI Flame Wheel F450 kit (with motors, esc’s) ~$100 Landing Gear $7.50 FrSky Q X7 2.4GHz 16ch RC Transmitter $108 FrSky X8R 16ch Receiver $30 Package Retrieval Mechanism $20 Power module $22 Allowed Budget: $1000 TOTAL cost of parts: $681.50

Thank You! Questions?