User Manual
Contents
1. 0 pin to the corresponding printed circuit board PCB Pad Pi Pin F GPIO 2 L GPIO 17 T GPIO 10 B GPIO 9 R GPIO 25 4 Align the Pi on top of the PCB so that the screw holes on the Pi match the screw holes on the PCB Using 1 inch screws with nylon washers connect the two board with spacers in between to maximize distance between the boards This will allow for more operating room underneath the Pi board 5 Attach the Pi PCB combination onto the AR Parrot drone using Velcro strips on the bottom of the PCB and top of the drone shell Note An improved method for mounting the PCB Pi Sonar sensor combination is in works but not completed Autonomous Operation To engage autonomous mode launch the drone and while flying send the command f at any time to engage autonomous mode As of now autonomous mode is not entirely functional Software updates will eventually make this operational Flying Room Identifying Autonomous Robot 16 User Manual Image Processing Camera Calibration and Reversal of Distortion Introduction This portion of the User Manual describes use of code to be runona development computer Code directly run on the Raspberry Pi to reverse the distortion process of the fisheye lens in software has not been developed by our team How to calculate distortion parameters to model the distortion 1 Take the drone and capture video focused on a checkerboard pattern with2. contact with the electrolyte contained within the battery The electrolyte and electrolysis vapors are harmful to health Keep your device at ambient temperature Do not expose your device to extreme temperatures Do not subject your device to large temperature variations Do not place your product near a source of heat Remove the battery when you are not using the device Disconnect the charger when you are not charging the battery Battery disposal Discarding batteries in your general household waste can be harmful to the environment Damaged or unusable batteries must be disposed of in a container specially reserved for this purpose When disposing of the battery follow appropriate local guidelines and regulations For further information contact your local solid waste authority Parrot can cause irreversible damages to the AR Drone as well as serious injuries to persons or property The previous sections were taken verbatim from 1 Flying Room Identifying Autonomous Robot 8 User Manual Raspberry Pi Setup and Software Install There are two methods to install the Raspbian operating system OS on the PI 1 This method is the easier of the two however it installs unneeded components taking up space on the SD card a Open a browser and go to http www raspberrypi org downloads and download the NOOBS offline and network install in the ZIP format Unzip the folder and copy the file unto the SD card Place the
3. magnets are swallowed Use and maintenance AR Drone is not suitable for use by children under 14 years of age To fly the AR Drone indoors install the hull in order to protect the AR Drone in case of collision with any object You should keep the Parrot AR Drone in sight at all times when operating it in order among others to avoid injuries or damages to people animals or property The use of the AR Drone is some public areas for instance train stations trains airports aircrafts etc may be prohibited You should check whether the use of the Parrot AR Drone is permitted before using it in public areas or public transport Always use your Parrot AR Drone bearing in mind other people s privacy When rotating the propellers of the Parrot AR Drone could cause injury to people animals and property You should not touch the Parrot AR Drone when propellers are rotating and should wait until the propellers have completely stopped before handling the Parrot AR Drone You should ensure that no one is standing nearer than 1 meter 1 yard from the Parrot AR Drone when in operation and that at all times you keep a sufficient distance between the propellers and any person animal or property You must keep the Parrot AR Drone away from high voltage power lines trees buildings and any other potentially dangerous or hazardous areas Flying Room Identifying Autonomous Robot 5 User Manual The Parrot AR Drone s performance may be a
4. Flying Room Identifying Autonomous Robot 1 User Manual Flying Room Identifying Autonomous Robot F R I A R USER MANUAL Photo Courtesy of Parrot Website Flying Room Identifying Autonomous Robot 2 User Manual Table of Contents oe co Se ee oS ne eee ee ee Pe oe 3 Raspberry Pi Software amp Install cceecessecesseecesseecesseeeees 8 Installing OpenCV ON the Plu eee eesssseesseceeeseceeecesseeeeseees 12 Wana Controlee A 13 Mounting INStructionS sssesseesssssssesesesssreresesesrseesssesseesssee 14 Image PROCESSING esna A vee cedaveaeeetants 16 CENS Eaa E G pemarenaasactenn 20 References Flying Room Identifying Autonomous Robot 3 User Manual Safety All safety instructions from the Parrot 2 0 AR Drone User Manual apply See the following sections Seizure warning Magnets Use and Maintenance Health and safety precautions Charging Usage and storage and Battery disposal taken verbatim from the Parrot 2 0 AR Drone User Manual 1 Seizure warning Some people about 1 in 4000 may have seizures or blackouts triggered by light flashes or patterns such as while watching TV or playing video games even if they have never had a seizure before Anyone who has had a seizure loss of awareness or other symptom linked to an epileptic condition should consult a doctor before playing a video game Parents should watch when their children play video games Stop playing and consult a doctor if you or your child
5. SD in the PI and attach the Pi to a monitor keyboard and mouse d Power on the Pi and Select Raspbian as the OS when prompted e The NOOBS installer will install the OS onto the SD When the install f g h is finished a menu will appear using the keypad you can turn on the GUI or user interface desktop mode if you wish This will give you the Graphical User Interface The default username is pi The default password is raspberry For more details or troubleshooting click 2 2 Option two is manually installing just the Raspbian OS on the PI SD card This method is more complex than using the NOOBS installer and requires the use of 3 party software a First browse here to download the ZIP format of the Raspbian OS b Unzip the Raspbian OS C Download unzip and launch the Win32Disk Imager software from here It may be necessary to right click and select Run As Administrator for this program to run correctly This program is for windows only to download a comparable program for MAC or Linux go here In the Win32Disk Imager program select the drive letter for the SD card NOTE If the wrong drive letter is selected it will overwrite and delete all data on select drive potentially erasing documents Flying Room Identifying Autonomous Robot 9 User Manual e In the Win32Disk Imager program select the unzipped Raspbian file downloaded earlier Click Write to install the OS onto the SD card f On f
6. black and white squares We recommend moving the drone by hand with still propellers rather than attempting to pilot the drone Shift the perspective of the drone with both rotational and translational movement while capturing video so that the checkerboard pattern reaches all the edges of the frames The process for capturing video is described in section Chris Newton 2 Save the video in a Linux environment that has OpenCV 2 4 8 installed Use a Linux environment that has OpenCV installed Change directories into the C directory of OpenCV sample code Save the video in this folder 3 Run the command g gedb pkg config cflags opencv o basename calibration cpp cpp calibration cpp pkg config libs opencv 4 Now run the executable file with appropriate parameters To see descriptions of the parameters run the following command calibration Here s an example command with some parameters Flying Room Identifying Autonomous Robot 17 User Manual calibration w 5 h 5 pt chessboard n 40 s 37 o param yaml oe a 1 p V CameraCalibration mp4 5 While the file is running press g so that the program will extract images from the video file and use them to calculate distortion parameters LHP 6 Once the program has finished running open the output file in the example code above the output file is called param yaml The distortion parameters will be in the file nf
7. e in CAPS and will only work in CAPS To send the commands use the XCTU software and enter the command in the session terminal window for the XBee plugged into the GS The drone will execute the command for a set distance if pressed once or if the key is held down the drone will Command Take Off Land Hover Forward Backward Right Left Up Down Rotate Clock Wise Rotate Counter Clock Wise continue to perform the desired command until the key is released and commands stop being sent The drone will Hover if no command is given A a lt n ojan EEr Ha Flying Room Identifying Autonomous Robot 14 User Manual Mounting Instructions Follow the following steps to mount the Raspberry Pi to the sonar sensors and Printed Circuit Board 1 Begin by soldering three wires of 10 inches in length to each of the sonar sensors The wires should be soldered to the 5 GND and AN pad on the sensor as shown below 2 Now solder the wires from the four sonar sensors back onto the give printed circuit board There are 5 sets of three pads that are adjacent to each other Only use the outermost pads Solder the 5 wire to the pad labeled the GND wire to the pad labeled and the AN wire to the remaining pad that should be labeled with a F B L R and T Flying Room Identifying Autonomous Robot 15 User Manual 3 Using the table below connect the Raspberry Pi v2
8. ers will be interested in continuing where our work left off In order to install OpenCV to the Raspberry Pi follow the directions at 5 Note the make and make install steps take many hours Put them in a script and run them overnight After installation you need to tell your software where the OpenCV installation is These instructions are from 6 1 Append usr local lib to etc ld so conf d opencv conf 2 Use cmd ldconfig 3 Append PKG_CONFIG_PATH PKG_CONFIG_PATH usr local lib pkgconfig export PKG_CONFIG PATH to etc bash bashrc 4 Restart the Pi Now that the Raspberry Pi knows where the OpenCV library is installed on your processor you can compile and run OpenCV code Flying Room Identifying Autonomous Robot 13 User Manual Manual Control 1 To control the drone manually using the Ground Station GS the GS must have the XCTU software form Digi installed The installer can be found here Once the software is installed and running and the XBee module is plugged into the GS the XBee module needs to found in the XTCU software and the Session Terminal functioned used to send signals to the drone Please see the Digi website on how to do this as it varies between versions 2 Once the GS then establish a SSH session to the Pi and run the software see above Once the Software is running you can control the drone using the following single ASCII 2 characters NOTE all commands to the drone ar
9. ffected or significantly reduced and your Parrot AR Drone irreversibly damaged if you use the Parrot AR Drone in unfavourable meteorological conditions including but not limited to rain wind snow fog etc or if visual conditions are not sufficient e g operation of the Parrot AR Drone by night you use the Parrot AR Drone in wet conditions e g you should not land the Parrot AR Drone on water or on a wet surface you allow sand or dust to penetrate the Parrot AR Drone you obstruct the engine s air vents you use Spare parts and accessories other than those specified by Parrot or you use the Parrot AR Drone near strong magnetic fields radio waves or areas with strong radiations this may prevent the camera of the Parrot AR Drone from operating correctly You should also avoid using your Parrot AR Drone in areas subject to Wi Fi networks such as for instance internet Wi Fi routers or boxes etc This may create interferences that could reduce the performance of the Parrot AR Drone 3 Health and safety precautions Warnings concerning the use of the battery Lithium Polymer batteries are extremely hazardous and liable to cause serious injuries to persons or property The user accepts liability for the use of a Lithium Polymer battery As the manufacturer and the distributor cannot ensure the battery is used correctly charging discharging storage etc they cannot be held liable for damages caused to person
10. have any of the following symptoms convulsions eye or muscle twitching loss of awareness altered vision involuntary movements disorientation To reduce the likehood of a seizure when playing video games Sit or stand as far from the screen as possible Play video games on the smallest available television screen Do not play if you are tired or need to sleep Play in a well lit room indoor or area outdoor Take an 10 to 15 minute break every hour Repetitive motion injuries and eyestrain Playing video games can make your muscles joint skin or eyes hurt after a few hours Follow these instructions to avoid problems such as tendinitis carpal tunnel syndrome skin irritation or eyestrain avoid excessive play It is recommended that parents monitor their children for appropriate play take a 10 to 15 minute break every hour even if you don t think you need it Flying Room Identifying Autonomous Robot 4 User Manual if your hands wrists arms or eyes become tired or sore while playing stop and rest them for several hours before playing again if you continue to have some hands wrists arms or eyes during or after paly stop playing and see a doctor Health and safety precautions 2 Magnets Not suitable for children under the age of 14 This product contains small magnets If swallowed the magnets may stick together in the intestines and cause serious injury Consult a doctor immediately if the
11. ify username box and enter pi i Basic SSH settings Remote host 192 168 137 2 4 Specify username Port 22 viii Click the Ok button on the bottom of the page ix When prompted for a password enter abc123 T Flying Room Identifying Autonomous Robot 11 User Manual x You can choose to have the program save and remember the password so u don t have to enter it again the whole session can be saved as well xi Once you see the following picture in the terminal window you are connected and good to go Now we need to setup the working directory for the software a To create the directory make a folder called SeniorDesign in the following directory home pi This is needed because of the way the software is designed Copy the Pi folder containing the software into this directory b Once this is done Cmake needs to be installed to compile the software To install CMake enter the following commands sudo apt get install cmake sudo apt get update sudo apt get upgrade To compile the software navigate to the home pi SeniorDesign Pi build directory and run the following command make Torun the software in the same directory as above run the following command sudo bin main Flying Room Identifying Autonomous Robot 12 User Manual Installing OpenCV on Pi needed for video and image processing Although our image processing software is not fully functioning our hope is that some us
12. indow will open talking about configuring the local area connection with an IP address of 192 168 137 1 Click OK Yes to this window iv Your WiFi connection should now be shared with the Wired Ethernet connection on your computer Flying Room Identifying Autonomous Robot 10 User Manual c Now we need to configure the Pi to have a static IP address for the Ethernet port To do this open the Terminal program on the desktop of the Pi GUI This is using the Keyboard mouse and monitor connected earlier To do this execute the following commands cd cd cat etc network interfaces i This should open up the interfaces file to be modified ii Locate the iface ethO dhcp line and replace with the following iface ethO inet static address 192 168 137 2 netmask 255 255 255 0 network 192 168 137 0 broadcast 192 168 137 255 gateway 192 168 137 1 iii Save the file The Pi is now configured with a static IP to use for SSH into the Pi For more info click 4 iv Now connect the Pi to the computer using an Ethernet cable Internet cable and give it about 30 seconds to connect v Open MobaxXterm and click the New Session button on the left hand side of the window it is toward the top but under the row of icons vi Select SSH as the session this is the left most option vii Enter the following info 1 Remote host 192 168 137 2 This is the IP address of the Pi ad can change but this is the best guess while sharing WiFi 2 Check the Spec
13. irst boot up on the Pi a menu will appear you can turn on the GUI here g For more information on installation go 3 To install the Software and configure the OS install follow these steps 1 The PI needs to be configured for SSH sessions and to get internet This is done by using the Ethernet port on the Pi and sharing the Internet connection of a laptop or desktop SSH terminal is used to control the Pi a First you need a SSH terminal If you are using Windows you will have to download one here is one that works well If you are using MAC or Linux then SSH is natively supported For the windows SSH client please follow the manufacturer s directions on how to install and configure the software b Next on your Windows machine share your WiFi connection this is so you can get internet to the Pi i To share this connection right click the wifi symbol in bottom right corner and go to Open Network and Sharing Center ii On the left side of the Network Center window click the Change Adapter Settings this could also show up as Manage Network Adapters iii Right Click your WiFi adapter and go to Properties 1 From here click the Sharing tab at the top of the window 2 Check the Allow other network users box this should be the first one and if needed select the Local Area Connection from the drop down box use Windows 8 1 and the drop down box does not appear but it did ona Windows 7 box 3 Click the OK button Another w
14. rames 40 image_width 1280 image_height 720 board_width 4 board height 5 square_size 37 aspectRatio 1 flags fix_aspectRatio fix_principal_point flags 6 camera_matrix opencv matrix rows 3 cols 3 dt d fx data 1 2368873031166063e 03 0 6 3950000000000000e 02 0 L 1 2368873031166063e 03 3 5950000000000000e 02 0 1 oe ET 7 5 E opencv matrix K1 K2 P1 P2 K3 cols 1 aq 7 3296517715299347e 01 8 5012872735726619e 01 9 5835861268127407e 04 1 8057658609299896e 02 5 3810025471984324e 02 Flying Room Identifying Autonomous Robot 18 User Manual How to Remove Distortion in an Image Using MATLAB 1 Open MATLAB 2 Read in an image that you would like to remove the distortion Example code is below Img imread distortedimg JPG 3 Switch to the directory with our supplied MATLAB function revDistOpenCV m Call the function with appropriate input arguments Type help revDistOpenCV for instructions of how to call the function Interpolate using the coordinates from the output of revDistOpenCV m and 4 5 display the image If the loaded image is in RGB space convert the image into HSV and interpolate on each channel independently before switching ba Manual Image Gathering To manually capture video for image processing calibration or testing do the following 1 Download the App for controlling the AR Drone onto
15. ry while it is still connected to the AR Drone Batteries are only to be charged under adult supervision Do not cover your product or its charger while the battery is charging Exhausted batteries are to be removed from the item Rechargeable batteries are to be removed from the item before being charged Non rechargeable batteries are not to be recharged Recharge the battery at a temperature of between 0 C and 40 C Usage and storage Do not use the battery if the plastic cover has been torn or compromised in any way Do not insert or remove the battery while the power is on Do not expose Flying Room Identifying Autonomous Robot 7 User Manual the battery to excessive physical shock Never use a swollen battery or a leaky battery or one which is damaged or giving off a unusual odor Keep the battery out of the reach of children Do not expose the battery to heat or dispose of a fire Do not allow the battery to come into contact with any kind of liquid Do not leave your device out in the rain or near a source of moisture Do not put the battery in a microwave oven orina pressurized container Do not attempt to dismantle pierce distort or cut the battery and do not attempt to repair the battery Do not place any heavy objects on the battery or charger Avoid dropping the battery Do not clean the charger with a solvent denatured alcohol or other inflammable solvents It is essential to avoid short circuits Avoid direct
16. s or property In the event of battery leakage avoid the liquid coming into contact with skin and eyes In case of contact with the skin wash copiously with soap and water In case of contact with the eyes rinse copiously with cold water and consult a doctor If you notice a suspicious smell or noise or observe smoke around the charger disconnect it immediately Flying Room Identifying Autonomous Robot 6 User Manual Non compliance with the instructions below could result in gas being given off fire electric shock or an explosion Charging The Parrot battery shall only be used together with the Parrot charger Examine the charger regularly for damage to the cord plug enclosure or other parts Never use a damaged charger Never charge a swollen battery a leaky battery or one which has been damaged Do not use the AR Drone charger to charge any other battery than the provided rechargeable battery Do not overcharge the battery When the battery is fully charged disconnect it from the charger Do not put the device back in the charger once charging has finished You risk causing overheating Do not charge the battery near inflammable materials or on an inflammable surface carpet wooden flooring wooden furniture etc or conducting surface Do not leave the battery unattended during charging Never charge the device immediately after use while it is still hot Let it cool down to room temperature Do not charge the batte
17. turer of this product Parrot has released the API and documentation for their drone with their own license Any software using this API including the F R I A R project must abide by Parrot s license The Parrot license can be found at 7 From our understanding of this license if you use Parrot s API you must follow their license The parts of our software interfacing with Parrot s API are released under Parrot s license The rest of our software is released under GNU license version 1 3 which can be found at 8 Parrot s license restricts the use of their API to developing applications to be used by a User for entertaining game leisure or training For more details about these restrictions see Parrot s license References 1 Parrot AR Drone 2 0 User Manual 2 http www raspberrypi org help noobs setup 3 http www raspberrypi org documentation installation installing images windows md 4 http www suntimebox com raspberry pi tutorial course week 3 day 5 5 http robertcastle com 2014 02 installing opencv on a raspberry pi 6 http milog blogspot co uk 2012 12 install opencv ubuntu linux html 7 https projects ardrone org attachments 376 PARROT_License_JUNE_2011 v2_ 1 txt 8 https www gnu org licenses fdl txt
18. your phone Click here to view which app is needed for your phone 2 Once the App is installed plug a USB memory stick into the USB port in the AR Drone s battery compartment Secure the battery with the Velcro straps and hook up the battery to the AR Drone Wait until all the rotors spin and give a green light 3 Now connect to the Drone using the App on your phone this uses wi fi After connecting to the drone choose the pilot option in the App This should bring up a screen showing you the feed from the Drone s camera 4 In the upper right side of the screen there is a camera icon Tap this icon and it will start recording vide to the USB memory stick From here you can fly the drone with your phone to get the desired video or you can hold the Drone in your hand and move it around to get the video Using your hand to get the video is usually easier and more stable Flying Room Identifying Autonomous Robot 19 User Manual 5 Once you are done recording the desired footage then tap the camera icon again to stop recording This is when the video actually written to the USB drive Unplug the battery form the Drone and unplug the USB stick 6 Plug the USB stick in a computer and copy off the captured footage You can record several videos on a single USB stick if it is large enough Flying Room Identifying Autonomous Robot 20 User Manual License Our product is an extension of the commercially available AR Drone 2 0 The manufac
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