Maestro A2100-B Manual de usuario descargar pdf (Pagina 6)

the blimp controller.

Fig. 4: Blimp Main Controller Eagle PCB Design

A reset button is also implemented as a recovery to the

board. There are header pins also implemented in order to run

a JTAG programmer through. The IMU was the most difﬁcult

part because it has two sets of male pins that need to be exactly

460 mil apart which meant making the board revolve around

it. The microcontroller uses DIP packaging and will have 28

pins. Most of the pins will be unused but were hooked up to

open headers just in case one of them is needed. Most of the

unused pins are ADC pins. The actual board will be 3.26”

by 3.93”. Which will ﬁt into the gondola perfectly and leave

more space for other components.

B. Camera System

Design for the camera system was pretty forward. The only

real design is the actual stabilization system. The design was

to be made simple and lightweight. Thin plated metal mixed

with two mini servos distinctly gave the requirements desired

for the system. It was put together by screws, self tapping

screws and nuts. The system is also user friendly seeing as

almost any servo size can be used in case they are broken

during installation. The implementation for the camera video

feed will go from the camera to the the transmitter through AV

cords. Then the transmitter will send it to the receiver which

will then send the signal to the EZ CAP. This video capture

card turns the signal digital so it is readable on a laptop.

Finally VLC makes the program runnable with OpenCV and

the video feed is completely streamed. The implementation

of the stabilization system involves having user controls or

automated controls which run through the microprocessor to

tell the servos which way to pan or tilt. The user will press a

button on the joystick and the GUI will transmit the data to

the transmitter and the microcontroller will then tell the servo

motors to move accordingly.

C. Graphical User Interface (GUI)

The program to interface with the Surveillance Blimp will

be programmed in Visual Studio C# in order to create a

graphical user interface for the user to easily use the blimp.

The primary features of this program will include a link to

the Video Feed on the Balloon and a user control system

for the acceleration/deceleration/ascent/descent/turning of the

blimp which will include a buttons on GUI for users to press.

On the Video Feed for the GUI we take in the data

from the USB connection from the video encoder. We use an

OpenCV wrapped for the C# language called Emgu CV, it has

all the same functions of OpenCV written in C++ but using

the C# language to call and edit it. To detect people on the

video feed we use the HOGdescriptor for person/pedesterian

detection. The objects detected are highlighted by a rectangle

and then the center of the object is calculated using the

detection rectangle as a base shape to ﬁnd the center.

We put a mini map on the GUI for the user to click

the points and the program to gather the longitude and

latitude from the points clicked. These points are then sent

to the blimp to auto path on a conﬁrm button click. The

mini map uses a library created for C# called GMaps, which

pulls map data on from OpenStreetView and displays it on

the screen, it also makes the map interactive through various

events you can apply to it, one such event we apply is

on mouse click. The markings are placed on the map as you

click and there is a button to clear them.

The other feature integrated into the video feed is the

Tracking and Following System. For this system we make

use of OpenCV to detect the person in the frame. We are

limiting the person you can track to one person, since we had

trouble doing multiple detection, originally there was going

to be an overlay on top of the camera feed but returning the

images from it did not work out correctly. So we have button

that one openCV detects a person, you will click on it and it

will keep that person in the center of the frame by sending

commands to the blimp to move the camera servos or the

motor controls.

D. Blimp Structure

We have estimated the blimp to be around seventy cubic feet

of air. Since helium has a lifting ration of about 28.2 grams

per cubic foot we have estimated to lift about four and a half

pounds. This will have an affect on the aerodynamics of the

structure by obtaining ‘lift,’ or in our case, weightlessness. We

do not want the blimp to ﬂoat, but we want it to fall at a very

slow rate.

E. Power System - Blimp

The whole blimp will be powered by two Li-Poly 11.1 volt

2200maH batteries and four 3 volt lithium watch batteries.

The four 3 volt batteries will be placed in series to power a

12 volt camera. The 11.1 volt batteries will be responsible

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