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

Team 2007 Package Delivery Drone

Faculty Advisor

Professor Shalabh Gupta

Team Members

Alex Maric Brandon D’Agostino Brian Fomenko

Preliminary Design Review

ECE Senior Design 2019/2020 25-Oct-2019

Sponsor

UConn ECE Department

Outline

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

• Unmanned Aerial Vehicle (UAV) & drone applications

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Military

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Disaster Relief

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Recreation

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Package Delivery

• Shipping giants investing in drone technology

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Amazon

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DHL

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Google Wing

• Why?

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Faster shipping

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Service to remote locations

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Potential cost savings

Background

General Atomics MQ-9 Reaper Hunter-killer UAV DJI Mavic Pro Consumer Drone Amazon Prime Air Delivery Drone

Background

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)
• Pixy CMUcam5 (object recognition)

3. Arduino-based Bluetooth grabber (physical manipulation)

Design Focus Package Delivery

UConn Senior Design Team 1829 Drone

Proposal

Extend last year’s project:

1. Autonomous Package Identification & Tracking

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Identify packages

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Output position/orientation relative to drone

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Identify pick-up/drop-off locations 2. Autonomous Navigation

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Navigate to identified package

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Navigate between package pick-up/drop-off locations 3. Autonomous Package Manipulation

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Pick-up & drop-off package with physical manipulator

Objective

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

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

Task Breakdown - Overview

1. Flight Controller

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Drone logic (Brandon)

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Read sensor data (Brandon)

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Drone position/orientation/velocity (Brian)

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Drone control & navigation (Brian)

2. Embedded System

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Object recognition (Alex)

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Object position/orientation (Brandon)

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Send commands to flight controller (Alex)

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Control physical manipulator (Alex)

Task Breakdown - Flight Controller

• Pixhawk 4 Flight Controller

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Autopilot hardware (open-hardware)

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Hiqh-quality & low-cost

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Built-in sensors (IMU, barometer, GPS, ...)

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Runs PX4 Flight Control Software

• PX4 Flight Control Software

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Open-source flight control software for drones (and more)

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Modular and extensible architecture

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Built for autonomy

• Purpose

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Read sensor data

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Drone position/orientation/velocity

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Drone control & navigation

Pixhawk 4 Flight Controller

Task Breakdown - Flight Controller

• PX4 Block Diagram
• Modifications

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Add sensors (if necessary)

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Integrate sensors (if necessary)

• Additions

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Delivery logic state machine

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Embedded system communication

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Package position/orientation

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Physical manipulator control

Flight Control

Electronic Speed Control State Machine Autonomous Flight Position Controller Altitude/Rate Controller Sensors Hub Position/Altitude Estimator Output Drivers (ESC/Servo)

External

MAVLink (UART/UDP) FastRTPS (UART/UDP) Embedded System

Drivers

Camera Control GPS Gimbal/Mount Airspeed/Optical Flow/… Sensors RC Input (PPM/SBUS/...) IMU Drivers (SPI/I2C/CAN)

Storage

Database (Missions/FLASH) Parameters (EEPROM/SD/...) Logger (MAVlink/SD) Message Bus

Task Breakdown - Object Recognition

• Pixy2

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Video Camera

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Onboard Image Processor

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Configured with PixyMon

• Onboard image processor

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Object-recognition

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Barcode reading

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Intersection detection

• PixyMon

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Camera monitoring

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Debugging programs

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Object training and monitoring

Task Breakdown - Object Recognition

• Purpose

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Human teaching it to read objects

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Find package drop-off and delivery locations

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Color-based and barcode detection

• Advantages

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Intelligent camera ■ Used with any microcomputer ■ Quick image processing ■ Pixy2 ($60) vs Pixy CMUCAM5 ($138)

Task Breakdown - Drone Control

• Purpose

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Convert various input parameters to flight commands to allow the drone to move reliably in 6 degrees of freedom.

Desired rates: Roll Pitch Yaw Thrust Individual PID controllers Individual gains Four individual motor speed commands Model

Task Breakdown - Drone Control

• Components of flight control system

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Inputs: user commands and sensor readings

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Outputs: Motors speeds and shutdown flag

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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:

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Drone firmware, hardware, atmosphere being flown in.

• Linearizing the model will make it easy to work with.
• Model may be divided into sub models

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Actuators

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Airframe

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Sensors

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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?