Feasibility(of(implemenEng(a(laser0distancing( Poster’PrintSize: ’ … · 2016. 1. 5. ·...
Transcript of Feasibility(of(implemenEng(a(laser0distancing( Poster’PrintSize: ’ … · 2016. 1. 5. ·...
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Feasibility of implemenEng a laser-‐distancing system for an unmanned aerial vehicle
Junyi Dai; Supervised by Dominic Robillard, Charles Blouin, and Eric Lanteigne Department of Mechanical Engineering, University of Okawa
Junyi Dai Mechanical Engineering Student Email: [email protected] Phone: 613-‐816-‐1177
Contact 1. Dai, Junyi (Photographer). (2014, November 19th). Sonar, camera, and laser set-‐up. 2. Dai, Junyi (Photographer). (2014, December 28th). Laser dot through a camera-‐lens at close range and at far-‐range. 3. Dai, Junyi (Photographer) with permission from Tyto Robo?cs. (2015, January 30th). Small helicopter UAV. 4. Danko, Todd (Ar?st). (2009, August 25th). Laser Ranger Drawing. Retrieved from hkp://www.codeproject.com/KB/cs/
range_finder/laser-‐range-‐finder-‐1.gif 5. Wiora, Georg (Ar?st). (2005, October 5th). Principle of a sonar or radar distance measurement. Retrieved from hkp://
www.kerrywong.com/blog/wp-‐content/uploads/2011/01/2000px-‐Sonar_Principle_EN.svg_.png
References
One of the fundamental parameters during the flight of an unmanned aerial vehicle (UAV) is the al?tude at which it is flying at. One method is to use sonar sensors, which emit a pulse of sound and uses the ?me-‐of-‐flight of the echo to calculate the distance. It is however unreliable due to slow refresh rates and erroneous readings caused by interfering echoes. This research project aims to determine the feasibility of implemen?ng a laser-‐distancing system for a small UAV in order to determine its al?tude. It is known that the distance between a projected laser dot on a camera focal plane and the center of the focal plane can be related through triangula?on. This can be used to find the distance to the surface that the laser was projected onto. The results from this research project will provide a proof-‐of-‐concept for the laser-‐distancing system, which can poten?ally replace current unreliable sonar distancing implementa?ons.
IntroducEon
The measured experimental distances were accurate when compared to the actual distances. The percent error ranged from 3.76% to 9.97%, and the average percent error was 5.46% (see Table 1 and Figure 3). As seen in Figure 2, when the camera and laser set-‐up was farther away from the wall along the same axis, the laser appeared closer to the center of the focal plane. Similarly, the laser would appear farther away from the center of the focal plane as the camera and laser set-‐up is moved closer to the wall.
To determine the feasibility of using this laser system, MATLAB will be used to develop a model to test the system. A webcam will send real-‐?me video of the laser projec?on to the computer, and the distance from the wall to where the laser was projected from will be calculated. The webcam and laser set-‐up will then be moved around to vary the distance. See Figure 1 for a picture of the webcam and laser set-‐up as well as the theory behind the measurements. Specifically, the live video stream from the webcam will be displayed on the computer screen. Since the display area will be known, it will be possible to see how many pixels away the laser dot is from the center of the screen (pfc). Thus, also knowing the distance between the center of the camera lens and the center of the laser lens, triangula?on can be used to determine the distance to the wall. The experimental results will be compared to the actual distances to determine the accuracy of the laser system.
Methods and Materials
The black background used during the experiment was necessary because of the difficulty recognizing the laser through the Matlab soAware. There were not enough parameters to filter out the excess noise; the main parameter used to siA through the noise was a red threshold that would only take pixel values above a certain value. As a result, other red objects that were not intended to get detected were uninten?onally detected. The implica?on of this is that in real-‐life situa?ons, the background of the laser projec?on will not always be a perfectly uniform colour, thus further measures must be taken. To improve the reliability of the laser set-‐up, further parameters could have been implemented. For instance, the detec?on size could have been reduced to sizes near the laser dot size, which would filter out a lot of unintended red objects. As well, since the laser is fixed to the camera, the laser dot projec?on on the computer screen will only shiA in a linear fashion in one axis. This means that the detec?on area could be reduced to only a rectangular sliver along the axis of movement. Finally, infrared lasers should be used in order to completely filter out most of the visible spectrum, which would simplify the detec?on of the laser dot.
Discussion
Through this research project it was determined that implemen?ng a laser-‐distancing system is feasible. The average percent error of 5.46% indicated that the triangula?on method used for calcula?ng the distance between the laser and the wall was accurate. Future improvements to laser-‐distancing systems would include implemen?ng more parameters to filter out the laser dot. A possible parameter would be to reduce the detec?on size to near the size of the laser dot. As well, an infrared laser could be used to completely filter out the visible spectrum, thus simplifying the detec?on process. The next step would be to apply this model from Matlab to create an actual implementa?on on the small helicopter UAV from Tyto Robo?cs (see Figure 4). This would require hardcode to be wriken for the specific microchip of the UAV. The en?re laser-‐distancing system for the UAV would have to meet the requirements of being both lightweight and energy-‐efficient, in addi?on to being able to share the same camera as the one used for detec?ng the op?cal flow.
Conclusions
PFC (pix) Experimental D (cm) Actual D (cm) % Error
109 32.99 30 9.97
84 52.62 50 5.23
70 78.87 75 5.16
63 105.08 100 5.08
59 129.70 125 3.76
56 157.36 150 4.90
54 183.43 175 4.82
52 219.85 200 9.93
Results
Figure 1. Sonar, camera, and laser set-‐up (leA)1; Sonar distancing (top right)4; laser distancing using a camera (bokom right)5.
Table 1. Experimental distances compared to actual distances measured at different pixels from center (PFC).
Figure 3. Graphical representa?on of experimental vs. actual distance.
0
50
100
150
200
250
109 84 70 63 59 56 54 52
Distan
ce (cm)
Pixels From Centre (pix)
Experimental D (cm) Actual D (cm)
Figure 2. Laser dot through a camera-‐lens at close range (leA) and at far-‐range (right)2.
Figure 4. The UAV being developed by Tyto Robo?cs that would benefit from implemen?ng a laser-‐distancing system (no?ce the small size)3.
Acknowledgements University of Okawa Faculty of Engineering Undergraduate Research Opportunity Program
Sonar