From b8724fb8319cc3cb7297d6c0db199260deeae481 Mon Sep 17 00:00:00 2001 From: Georgios Gerontakis Date: Tue, 21 Jan 2020 13:55:13 +0200 Subject: [PATCH] Fixing images --- README.md | 16 ++++++++-------- screenshots/cam_module.jpg | Bin 0 -> 26356 bytes 2 files changed, 8 insertions(+), 8 deletions(-) create mode 100644 screenshots/cam_module.jpg diff --git a/README.md b/README.md index fbbb123..15cab13 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ ## Γεώργιος Γεροντάκης - 43827 ## Στυλιανός Γιακουμίδης - 43995 -!(https://scontent.fath7-1.fna.fbcdn.net/v/t1.0-9/74674993_115153423241475_4772277731842850816_n.jpg?_nc_cat=103&_nc_ohc=fl0TAVjHIzoAQn0zfYrt0L-uHNcVjRjos4qpfN2RWaFryHpJ41NLYKVnA&_nc_ht=scontent.fath7-1.fna&oh=0b9912eb666fd830d18fce5fb9205b5b&oe=5ED97648) +![](https://scontent.fath7-1.fna.fbcdn.net/v/t1.0-9/74674993_115153423241475_4772277731842850816_n.jpg?_nc_cat=103&_nc_ohc=fl0TAVjHIzoAQn0zfYrt0L-uHNcVjRjos4qpfN2RWaFryHpJ41NLYKVnA&_nc_ht=scontent.fath7-1.fna&oh=0b9912eb666fd830d18fce5fb9205b5b&oe=5ED97648) # Περιγραφή του Project Στο συγκεκριμένο project υλοποιούμε ένα σύστημα οπτικής καταγραφής πτήσεων και τηλεμετρίας για μη επανδρωμένα αεροσκάφη. @@ -14,19 +14,19 @@ ( ο δεύτερος servo). - Η κάμερα με το servo tilt συνδέεται με ένα raspberry pi (3 Model B+) και στο raspberry pi αυτό τρέχει ένας "δαίμονας" ο οποίος είναι υπεύθυνος για τη λήψη στιγμιότυπων από τη κάμερα πάνω στο tilt και μετά από επεξεργασία του στιγμιότυπου αυτού (με OpenCV) είναι σε θέση να βγάλει συμπεράσματα σχετικά με τη τοποθεσία του μη επανδρωμένου αεροσκάφους ως προς τη κάμερα. Στη συνέχεια ελέγχει τους 2 servo έτσι ώστε να ακολουθεί το drone. Τέλος, κάνει streaming της τελικής εικόνας στο Client του project ο οποίος έχει συνδεθεί. (**Για τη συνεχεία της εργασίας θα αναφερόμαστε σε όλο αυτό το σύστημα με τη κάμερα το servo tilt και την υπηρεσία επεξεργασίας και streaming ως "Camera Module"**) - !(https://lh3.googleusercontent.com/ni-tdWzITrJE0WAD59zPzh5sdlc3FIxU3hF4UY1PjQrq_-AEuF1F5XkL0OmwJd8DXbFNHOWnN34DlbE6hhXz6WrNcZ5fLFYynPyC6TQmmRLLVmzy25Zu3hroc0XtyqLQUbXZPH43TX4ztdWkRgf8vDXHydCbIWikNXS77KzVMpLK_p9BxzLpmg-3dIAVu2Z9ObbT9R1n04_sFH3uEk0JVa50EvnEanD2ZPGFDBcmOzMg8ruiiLPJkHUlkyI5fYmh3UsrjsYphnR1JvSt8Ib06MGGyIduRv25qQhTdf8s-N4dvSJLtJjkIYUCZv1i0Cyv4bX7ZzQsmsEYoOMzLp0OLQAwM3cu0MGVje4z_X9cUa7xAVGmaJHyeAYeTn708l_qpqTEZs3yT7hwHBcnAgEyipQDydkdCRnRGP2rMSM98FAO44Cnfgae0OGllZBVNcdb6NveOaVRJz5EVTAk_5xwC8F-DTQhvF_2CagYZOAM7W882-xUF9vJUWOejunZPUNoGymay0uXvGfEpLjYUVI-leOHOGg7tajY629C3NVmZ5U9ap6SpK8q-gn8N6BRXoZyqOS3JbK2L4S7LEHwYC3DggQWyhV1mkHFLqn4jnZEw6cBbQoxg2vtqbQJKcJSqekFtw2DC7bLmqVZVy5Thxjp13eDCP9R0Zil3H__HahqDi2dDVAWKszzfuM=w1250-h937-no) + ![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/cam_module.jpg) # Συνδεσμολογία Camera Module - !(https://lh3.googleusercontent.com/FPlLeHP_TrjELhJQpinp3P6wrE8yDzbYQ5RU6vROafCNYkZkhEmetmY6GrW5cU8xkWJuld8qbC6-zHJT8czj3ttl7r7MjDID0eZEfJtDAUiu7WCIoeLx8br81HkpPpE4gRglG4NekuwO7b3wDqTPl7dRIM1LVuiHU-T1kgS1wGw-oBg9mPFxAXnvypVaB7JWc671TksFKsm-YuB3JFAa-MpDEsD6sT7bMcB6-XrRkISmizLpRjAgklqeolgCsY-oQtmoTkpgfejcwOkjNGS4AXSGjvYuRAtjNSIAOXKKwjgwSCri6EkiJuwuu7JYGOGJrtfIFwxBNhTWgEqZRvMkEqmTsOWDPLOqQqJVLSgoMmEQm0615kwPUBKg013mUYh-N6Xg_KkokrvMdKkxG-pX08DofB5CuTJ1aTcpf5rFLoYcLUcSPLqTrMxQO1_wTDoSiE59Y1Z0N14mPfQmz7gp7M0CbKVcl3MpJCB8psb3fEYKgbwjbMI8N5bGtWTDUMc9QAMPC_cNOIL_OLyVP7tAzVxrToKvU05wCZvI6Ydq60fXemv_xcDJYrHIZuofq7AwgR9rGnwFcG97dofha2G076fUWZJtJ9_yKv4fUvXnYsPhYkEjkf0H_liYXDDTy0Ho3P1oFlKP_bR4vXL-uqyTioxlIOgb8bwiI1FYy8msmw4XkNqh3IXj2kQ=w638-h510-no) + ![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/Screenshot_4.png) # Εφαρμογή Χρήστη Για την απεικόνιση των πληροφοριών από τη τηλεμετρία και τη προβολή των πλάνων από το Camera Module δημιουργήθηκε εφαρμογή σε C# η οποία κάνει χρήση του πρωτοκόλλου MAVLink για τη παροχή τη τηλεμετρία. -!(https://lh3.googleusercontent.com/dC7GTFsNXT2gfqM8LNYjaqa8xut5k_XW5dd_rV6O5pTswJ4g56YVd2uWuM3fG5Yj_hu1oY6emXYxFTZGZVR1DnwTkVSfCh04bsWreLSm-RG-VIuE6TIJa2nHh0UDqml0tDA34vc0Lt0U5pgIGXgbv2lC-NT9TLTxPMnRJkv-wpVPF7wwTQwSiADNi3zZyQrd0Pqg8oWvKo81wvzu1AxqsRgVKCsTNUnCGMWAcNqzaBI-eE9hDQeHcfW_r1lvKVccvmuQM49jQPPGIpSkSrMpcrkjgtNKJElTdzw-6NLZItGhzwiQjvpb57h8axHlvPsxQwoRCHtVNSTKMwoVF8rQd8oJRq1Dp0p_0k68saiJ6CulH2pW2YVV1HsE28EPknjXBMdWcNzoyOxeShqyNclxg-KVTHLK6UcklvYueqtHfMUE0J9S5cASL_sgG-xki0wBcnpYraSU83pQPs14dPQP6_cPYLtF2tXPLoBc8j6528lpww7CjGErPCE7KCRb9Gix3yczcQ-uBlQXseFHZGbSx4DtzPUT5x_s0vUrc825GRpGfQA8nHFHz1HV0JbqPQRHU2Rx2OjUF7LG6U8oKLLDUKfpgcMewK6Txl7BPEnm-qzHnbulATJgvFEjENI19OzgtmdUM4lsbDyFb1dM1wETinGJmsSO2aixZw4vGMLHQApASaXG3f4eLjo=w1037-h572-no) +![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/Screenshot_1.png) Ο χρήστης της εφαρμογής μπορεί να έχει πρόσβαση στο Camera Module επιλέγοντας πατώντας το κουμπί "Add Camera Module" και εισάγοντας την διεύθυνση του. - !(https://lh3.googleusercontent.com/ThGPIkvbm_SatkXSuAok1cr-9SXLPz5xF9wXCVF5oiCcrn2sKH6FSQ1tqxk2Ca8CF1-sV5vUjH68wXE8O240FRze4M6e7xm2eDtjJNIGnLdlf37rrRIKITILIv8XpHvaig2OwvmGUi00mwJ_7RY0Nt1NU2GWyG7PtBUFTD7eW6dOnvB7p2ByB-9OvZeV0gDWf9m9c3siRl1jalYWZ04ZpOaP9qS4QPh57WZNDkGDpbve9SRaoiFniNdsKImfczWqrtQNNfkVViIWiLzo94vMlZy6v8cvQX-kf1HE2dbvySIVcHdmCMTcb2nF-FkMZcI8JnEiq9PmUvb0RAMhoPK3hOps1Ji36syrPw7sra2E_9bB6yUElPRnOrBQSusac1Dmh2_jtFw5BdXG-P26hUZT489u8-VRK_j4qncBCm3SEKKwbCVYS1INJfVxDhNVBu1XHNRJnL1IEvWHKhE-AIQFLw0jXgOsrkBeaPt-HeoKkytOa231r38AweOb6W5l80cnhkkYGJh5qf1TKH7HEuz8jMua3QskkOLDVrYDa-SmeYDiRggue54dZeVbHqvNkjBgyRSDPJn2-koabzDSSj0JbsFzkbtFJ1gcR0MHji911Jq8G3Mxb8F986REQ0mjUJjYLiQGB3IktFibPR3c1YwN-3i_ihnAsLxqKpRsf5rH2EmFfyO4gSDaZQk=w852-h164-no) +![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/Screenshot_2.png) Μέσω της εφαρμογής έχουμε τη δυνατοτητα: @@ -41,7 +41,7 @@ # Τηλεμετρία Για τη τηλεμετρία χρησιμοποιούμε ένα module ραδιο-τηλεμετρίας στα 433Mhz αφού πρώτα έχουμε εγκαταστήσει τους κατάλληλους drivers. -![enter image description here](https://drones.altigator.com/images/ardupilot/modem-4333-mhz-100mw-mavlink-telemetry-compatibility-pixhawk.jpg) +![](https://drones.altigator.com/images/ardupilot/modem-4333-mhz-100mw-mavlink-telemetry-compatibility-pixhawk.jpg) Ωστόσο δεν έχει σημασία με ποιο τρόπο γίνεται η ζεύξη του χρήστη με το drone για την επικοινωνία, καθώς κοινός παρονομαστής για την επικοινωνία το πρωτόκολλο MAVLink. @@ -55,7 +55,7 @@ ώστε να εγκατασταθούν τα απαραιτητα για την εκκίνηση του δαίμονα στο camera module. 2. Στην εφαρμογή χρήστη κάνουμε κλικ στο κουμπί "**Add Camera Module**" , και στη συνέχεια στη νέα φόρμα που άνοιξε συμπληρώνουμε τις απαραίτητες για τη σύνδεση πληροφορίες και πατάμε "Connect". - !(https://lh3.googleusercontent.com/dFJiY01CayOEwEIl98dQKmRChz_wWwjUPliBCbkGcnDG5bthmm8dvyA3v-GmHvbjeWb8g31wCS86nQUoBZS1bzc3pEx11KBjpLQhZjOhH_KHErt1uz2Cu2NmmAWAXRv17gFgUn4eh0hNW_5Z5rBBvsAIV_qj239Ikrc2a4Uy8IGcMrwiDC_GHQp_Zp8sA5CW29t2cPpuiXdnX5dX1rKOsVsGFwGpzcQLfdwI11dxDcy3aAZ6fX_8yKzD_ZT_ius8KZZtAnJp7q6ebRSccnPdrjgiA47tlvKvZ-1gzv2dEoACpw9nAwXWoRnbR9eU4IRZJl4IbmVAMbgyWWVGwu9AxlwlZUIJWwuHJ-zw2gYG3DXX5u3PDRbn7IYvse4PRekyx_E-sH4EuS8vUjyPm1_Hd97D-E91CJlHjOvm8py3RZYHdymThKy_yEvYdOOVAL4eYzPeWNsWsplpIueoqO6wZbk6J1W1dpbw6q-JI8BKgjIOfKBRcNM70a1PNduyZ_guYSrWDFyztb09C6HaUOXuRH2_iSxbewavaIZNVsOSss-aMBs0ONv4mZFu5LodNjcy5tJYeTA6lwg4X7qlJH37ena_m_jKm7UCcmKI4S4hk3e0JMUeNFRLwGgOK4mnxDjxVw5mZXdx4NmVNLZmb5V2lb_Prgo5R14IKUH1xfdwyeXZ44zC71mongA=w856-h201-no) +![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/Screenshot_4.png) 3. Στη συνέχεια αφού πρώτα έχουμε εγκαταστήσει τους κατάλληλους drivers για το module τηλεμετρίας που έχουμε , επιλέγουμε τη σειριακή θήρα που είναι συνδεδεμένο και το baud rate και πατάμε Connect. -!(https://lh3.googleusercontent.com/qXwj6lU05lVDvUhbSPB69PjYDsurvWUtKw1dX72axIJ2mxwiHcQTgLZo2LPSgWuNn075Ro4_62t1a9d-_7ujApVrmtxpF_UNVpzs5UT5CpnTBMLIAPGkWAYAryIsrVZNUeX85TIQIMmMMpi76inHfbqNxr72Vua9AfDeyexE1si0VI7DF_eGV200IBbMRGSnDq2g55zId-4jaz0XMKomEjFJwDSza6xLfzvQCVfVGaT0ZJPvPzbmuOKfy-KI6vaqXbxM0P26tfctZkm4tHGBCBp09u6rUcf3c03OrMegf27frsS9hc4u-syS1b87FLHO-LnU12I79ucOyrTZwDAYd7Jvwu9gvbRPFfwx2r9kioAUOvc54shO-JzYnDBAghw643UCaF2fPkPck0Py0nFGELkh62Nk1RMGLN9zQFqYOYYwzGivgEWq6tdVEAbrfnRCV55hFWjN5501XHRbrx5U8egeVmPCw06Fgq543gJKCKzcfQgJeVg43cJefpwAURe6DGa7-n3A33p2Gxuy5TL0RSqlWc_n-MSTT6UHE-gF35ewYTxMhzFSjBXIapcqI6zbDROEOmHcea2yn6hAAKTzLoypvqwStsIeyu-2jB-7MHGBW3EFXtfGFwmGGRPVtdx6mU1pSLWgVjE1-A7pil_Vi5uwmlxSWHHpQU_FUv6DgbWLGHOfHVYdelg=w1034-h577-no) +![](https://git.swarmlab.io:3000/cse43827/Talos_Drones_Tracking_and_Telemetry/raw/branch/master/screenshots/Screenshot_3.png) diff --git a/screenshots/cam_module.jpg b/screenshots/cam_module.jpg new file mode 100644 index 0000000000000000000000000000000000000000..400e865a47018e2f0941a5f213ef74297680051b GIT binary patch literal 26356 zcmZ^KV{|4#v+xt!wrxAv*tRx&Vr!F)ZQHhO+jg?i#Hk#y zn=deM2uLXCe^SwZF9iY$4hjVU0R;vQ@?T8=Fcff95*A@)2sBb7NB?-%{QCYINOTdE zc``O*r+~fNgn|YPQPqJ3b`$5o#P1CNJlH=SC}1c6A;2;E+V+I^(b|3b@tl*QZ)YoS z8Np}%#|?ti@6HiRoG4S(^;S0DT)6$t9aY?wIjNs?_goJ{UEspeNVmWD8i$+GY_4w4 z9EziC8b`$OWny#Pu(Vu|&8wB4M@tY@C*TJpKWhrJKa#%Ec;In{k}mVdxJu6)Sw&Z% z**ERmy|v((OR2O;@m$*>UUCQ4vXug>EYB~w{@Q-!uDoRHjIXf6T5jE%e4YDXJ5+Fs z8IMN!&7%!{Q6V{^(d3j&-wW;qy0ea_n)#f*J{#HN)AJG}_?p~*+_V=0S)%x;H~k1N z;0BZWfor2^%!%Y-7bXYy=YbjUjfW@w{8jumLU_jJsHV(g9dxBk%5QtT{rKb=h_O~o zebz%p+OHBYGw7KNipYw+4}G&1eR8I2=bjroXWTqfHi?kybhEWJD6$2&;nr`z^YFu_+^uYHus$5E=J@4`>tzJuJ${@%%M$EQh?JRu zt~B>uy5|s^FNW`U+t6V4o 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