1 ECE Department Thermal Mapping Drone MDR Team 17 Jamyang Tenzin Stefan Totino Dylan Fallon Jason Fellow Advisor: Joseph Bardin
Transcript
Slide 1
1 ECE Department Thermal Mapping Drone MDR Team 17 Jamyang
Tenzin Stefan Totino Dylan Fallon Jason Fellow Advisor: Joseph
Bardin
Slide 2
2 ECE Department Team 17 Jamyang Tenzin EE Jason Fellows EE
Dylan Fallon EE Stefan Totino CSE Advisor: Joseph Bardin
Slide 3
3 ECE Department Whats the purpose? RC Drone survey house
Collects thermal data Allows user to analyze data Provides insight
into buildings energy waste
Slide 4
4 ECE Department Our previous block diagram
Slide 5
5 ECE Department Our proposed solution GPS Ardupilot 2.6 IR
Sensor Transmitter uART To USB Rx CC USER INTERFACE Remote Control
Camera DroneMemory Stick
Slide 6
6 ECE Department How are we going to do this? Pilot will fly
drone with RC Drone continuously analyzes thermal data If
significant temperature variation is detected drone will hover over
spot Once hovering, drone will take a picture of leaking point and
transmit back to database for analysis Application will process
incoming thermal/image/altitude data to produce a map
Slide 7
7 ECE Department Mission Requirements? Trained pilot operating
drone with RC Flight time of approximately 5 minutes Transmission
of a radio link from drone to PC operating at 2.4GHz Sending and
receiving data at 1.78Mbps Detect temperature variation of
approximately 3 degree Celsius to determine energy waste
Slide 8
8 ECE Department Application/User Interface Requirements Easy
to analyze data Displays picture location of energy loss Relatively
accurate Challenges Different pitch of roof Trained pilot
Acknowledgement of depth from drone to point of interest
Interfacing motor controller and data link Data transmission
error
Slide 9
9 ECE Department Transmitter/Receiver Nordic
NRF24L01transciever
Slide 10
10 ECE Department About transceiver 11.3 mA for transmission,
12.3 mA for receiving 1.78 Mbps data transmission Operates at 3.3 V
max Power is 60 mW Transmitter and receiver are controlled on both
ends by arduino Operates at 2.4GHz on ISM band
Slide 11
11 ECE Department Reciever Data
Slide 12
12 ECE Department IR Sensor Field of View = 40 degrees Frame
Size = 16x4 pixels D = distance from target in meters Frame Width
(m) = (tan(FOV/2)*2) * D Frame Height (m) = ((tan(FOV/2)*2)/4) *
D
Slide 13
13 ECE Department Camera (Toshiba TCM8230MD) Field of View =
57.4 degrees (horizontal) Field of View = 44.5 degrees (vertical)
Frame Size = 660x492 pixels D = distance from target in meters
Frame Width (m) = (tan(57.4/2)*2) * D Frame Height (m) =
((tan(44.5/2)*2) * D
Slide 14
14 ECE Department Ratio (IR:Camera) Width = Frame Width
(IR)/Frame Width (Cam) = 2/3 Height = Frame Height (IR)/Frame
Height (Cam) = 1/(4.5) Assuming distances from targets are
equal
Slide 15
15 ECE Department App Flow Read text file containing IR bits
and Camera bits Scale bits according to previous equations Color
bits IR temperature dependent Camera given in RGB Position and
display bits to generate a map
Slide 16
16 ECE Department App Screen Shot
Slide 17
17 ECE Department IR Sensor Specifications Store temperature
array in Arduino memory for data link to access Maintain uniform
values in array in isothermal environment Be able to signal copter
to stop when seeing a temperature difference of 5 degrees
Celsius
Slide 18
18 ECE Department IR Sensor Challenges Temperature fluctuations
in uncontrolled environment Long duration use heats sensor skewing
accuracy Larger distances increases area each pixel sees Value is
average temp of seen area
Slide 19
19 ECE Department IR Sensor Experiments: Isothermal
Slide 20
20 ECE Department IR Sensor Wiring
Slide 21
21 ECE Department IR Sensor Experiments: Body Temp
23 ECE Department Key Electronics Specifications Ardupilot APM
2.6 flight controller: Power Supply: 5.37V 2.25A On Board
Accelerometer, Gyro & Barometer Sensor Attachable Magnetometer
& GPS module Programmable Using Arduino Codes NTM 28-26
Brushless motors: Max power 176W @ 11.1V Max Current: 15A 1000 KV =
1000 RPM/volt 3DR Electronic Speed Controller: Converts DC power to
AC current with help of onboard microprocessor Continous current:
20 Amp Burst Current: 25 Amp, 10 Sec
Slide 24
24 ECE Department Drone Parts Frame 1800mAh Li-po Battery
1000KV Brushless motor 2.4 GHz Tx-Rx Controller Electronic Speed
Controller Power Distribution Telemetry Kit Power Supply Cable 8x4
Propellers GPS/Magnetometer Image Source:
http://www.hobbyking.com/hobbyking/store/index.asp,
https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp
Slide 25
25 ECE Department Wirings Telemetry Rx
Slide 26
26 ECE Department Flight Time Motor ThrustDrone Weight
2480g~700g General Rules: Required Thrust per motor = (Weightx2)/4
Max Current Draw from Battery = [Battery Cap(mAh)/1000] * C-rate
Max Current Supply Time = 60(min)/C-rate Flight Time = Battery
Capacity(mAh)*60/total Current(mA) Battery Cap. C-Rate Max Current
Supply Time Max Power 1800mAh30 C54 A2 min599.4 W Tot. Avg Current
Draw by Drone Power 22.87 A239.5 W Est. Flight time 4.72 min
LengthWidthheight 330mm ~55mm
Slide 27
27 ECE Department Motor Configuration Image Source:
http://www.hobbyking.com/hobbyking/store/index.asp,
https://store.3drobotics.com/http://www.hobbyking.com/hobbyking/store/index.asp
Slide 28
28 ECE Department Successful First Flight Test
Slide 29
29 ECE Department FAA Regulations on Drones Dont fly above 400
ft Dont fly within 3 mi of airport Maintain visual line of sight
while airborn Dont fly above populated areas
Slide 30
30 ECE Department Accomplishments Motors and ESC are responding
properly and Drone is able to fly Data communication link Web App
that reads test data from a file and processes it to draw a
map
Slide 31
31 ECE Department Proposed MDR Deliverables Web Application
(core algorithms) Stefan Totino Arduino code for I/O of the IR
sensor working -Dylan Fallon Data Transmission from Radio -Jason
Fellows Motor control using electronic speed controller(ESC) and
9DoF sensor working -Jamyang Tenzin
Slide 32
32 ECE Department CDR Deliverables Will optimize PID values for
more stability Communications with the IR sensor for autopilot
trigger will be added After autopilot trigger, the drone will hover
at certain altitude to take the picture and thermal image App will
be fully functional with actual data from systems components i.e.
pixels and altitude readings Camera Integration