Auto Chasing Turtle

Industrial Technology Research Institute (ITRI)(工業技術研究院, 工研院)
Industrial Technology Research Institute (ITRI)(工業技術研究院, 工研院)Technical Consultant at Industrial Technology Research Institute (ITRI)(工業技術研究院, 工研院)
©SIProp Project, 2006-2008,[object Object],1,[object Object],Auto Chasing Turtle,[object Object],HirotakaNiisato,[object Object],Noritsuna Imamura,[object Object]
Agenda,[object Object],Summary,[object Object],Part “Hardware”,[object Object],Need more power supply,[object Object],Nothing display,[object Object],Need more more power supply,[object Object],Part “Software”,[object Object],Not Bitmap,[object Object],Calculate the course,[object Object],Calculate the distance,[object Object]
Summary,[object Object],This product is "Auto Chasing Turtle".,[object Object],By autonomous control, this robot recognizes people's face and approaches to the detected human. ,[object Object],Rotate and look for the human who becomes a target.,[object Object],Detect the human with recognizing people's face by using RGB camera of Kinect.,[object Object],If it can detect the human, it calculates the course which it should follow. And It direction is changed.,[object Object],Calculate the distance to target by using Z(depth) camera of Kinect.,[object Object],Walk toward to target.,[object Object],2-5 are repeated until it becomes a suitable distance. And if losts target, returns to 1.,[object Object],The scene that it is working in real time can be seen by iPad.,[object Object]
YouTube,[object Object],http://www.youtube.com/watch?v=8EgfAk5RBVo,[object Object],Source Code & detail explanation,[object Object],http://www.siprop.org/ja/2.0/index.php?product%2FAutoChasingTurtle,[object Object],Movie,[object Object]
complete set parts,[object Object],Robot,[object Object],KONDO Animal 01,[object Object],http://fswg.oesf.biz/,[object Object],Controllers,[object Object],For servo,[object Object],RCB3,[object Object],For application,[object Object],Beagleboard-xM,[object Object],Linaro-Kernel,[object Object],Android(Embedded Master),[object Object],Sensors,[object Object],RGBcamera,[object Object],Z(Depth)camera,[object Object],Kinect,[object Object],Connect to outside,[object Object],Radio wave,[object Object],Wi-Fi router,[object Object],Viewer,[object Object],iPad,[object Object],Power supply,[object Object],12V1A output,[object Object],10V1A output,[object Object],5V3A output,[object Object]
OpenFrameworks x Kinect x Android,[object Object],=,[object Object],ofxDroidKinect,[object Object]
About ofxDroidKinect,[object Object]
About ofxDroidKinect,[object Object],This is the Android Application Framework which runs on openFrameworks & uses Kinect.,[object Object],Download,[object Object],http://www.noritsuna.com/archives/2011/01/openframeworks_kinect_android.html,[object Object],Using softwares,[object Object],openFrameworks for Android,[object Object],It’s the gaming framework. You can make game easier.,[object Object],http://openframeworks.cc/,[object Object],Android,[object Object],Linaro Android,[object Object],http://git.linaro.org/gitweb?p=people/jstultz/linux.git;a=summary,[object Object]
Part “Hardware”,[object Object]
Need more power supply,[object Object]
Need more power supply,[object Object],Don’t run beagleboard-xM by 5V/1A power supply.,[object Object],It needs 5V/2A.,[object Object],Standard USB battery has 5V/1A.,[object Object],Create power supply by myself,[object Object],My battery has 12V/2A.,[object Object],My plan isto create convertor of 12V/2A ⇒ 5V/2A.,[object Object],Can’t get power IC…,[object Object],Using car’s cigarette adapter which convert to USB.,[object Object],12V・24V/2A ⇒ 5V/2A,[object Object]
Nothing display,[object Object],Can’t view camera’s image,[object Object],Using VNC viewer,[object Object],It needs Wi-Fi router.,[object Object],We attached Wi-Fi router on beagleboard-xM.,[object Object]
Need more more power supply,[object Object],Can’t get IP address from Wi-Fi router,[object Object],Wi-Fi router needs more “Power supply”.,[object Object],Wi-Fi router: 1A + beagleboard-xM: 2A = Total: 3A,[object Object]
Part “Software”,[object Object]
Not Bitmap,[object Object],Standard RGBcamera(BITMAP) format,[object Object],32bit(int),[object Object],8bit(A), 8bit(R), 8bit(G), 8bit(B),[object Object],Kinect’sRGBcamera formatby libfreenect,[object Object],3 int,[object Object],32bit(R), 32bit(G), 32bit(B),[object Object],32bit(int),[object Object],8bit,[object Object],8bit,[object Object],8bit,[object Object],8bit,[object Object],A,[object Object],R,[object Object],B,[object Object],G,[object Object],32bit(int),[object Object],32bit(int),[object Object],32bit(int),[object Object],R,[object Object],G,[object Object],B,[object Object]
Not Bitmap,[object Object],However ・・・・・・ can’t detect Face.,[object Object],Must convert format BMP to JPEG…,[object Object],Bitmap bitmap = Bitmap.createBitmap(w, h, Bitmap.Config.ARGB_8888);,[object Object],byte[] pixels = OFAndroid.getImgPixels();,[object Object],if (pixels != null) { ,[object Object],	for (int i=0;i<w;i++) {,[object Object],	for (int j=0;j<h;j++){,[object Object],intindex = (j * w + i) * 3;,[object Object],bitmap.setPixel(i, j, ,[object Object],Color.rgb(pixels[index++], ,[object Object],				     pixels[index++],,[object Object],				     pixels[index]));,[object Object],	},[object Object],} ,[object Object],FileOutputStreamfos = new FileOutputStream("/screenshot.jpg");,[object Object],bitmap.compress(Bitmap.CompressFormat.JPEG, 100, fos);,[object Object],fos.flush(); fos.close();,[object Object]
Calculate the course,[object Object],Calculate the course which it should follow.,[object Object],It direction is changed.,[object Object],FaceDetector detector = new FaceDetector(w, h, faces.length);,[object Object],intnumFaces = detector.findFaces(bitmap, faces);,[object Object],if (pointX > 0 && pointX < w/4) {,[object Object],DroidBot.getInstance().turnRight2();    // right position,[object Object],} else if (pointX >= w/4 && pointX <= 3*w/4) {,[object Object],    ;                                       // center position,[object Object],} else if (pointX > 3*w/4 && pointX <= w) {,[object Object],DroidBot.getInstance().turnLeft2();     // left position,[object Object],},[object Object]
Calculate the course,[object Object]
Calculate the course,[object Object],Using height.,[object Object],Change Kinect’s angle.,[object Object],int angle = 30 - pointY*30/h;,[object Object],if (angle > 0 && angle <= 30),[object Object],OFAndroid.setAngle(angle);,[object Object]
Calculate the distance,[object Object],Calculate the distance to target by using Z(depth) camera of Kinect.,[object Object],Range 0~65565,[object Object],intdist = OFAndroid.getDistance(pointX, pointY);,[object Object],if (dist < 100)                     DroidBot.getInstance().walkBack4();,[object Object],else if (dist >= 100 && dist < 150) DroidBot.getInstance().walkToward4();,[object Object],else if (dist >= 150 && dist < 200) DroidBot.getInstance().walkToward8();,[object Object],else if (dist >= 200 && dist < 300) DroidBot.getInstance().walkToward16();,[object Object],else if (dist >= 300)               DroidBot.getInstance().walkToward32();,[object Object]
MAKE:style,[object Object],Hardware,[object Object],beagleboard-xM,[object Object],KONDO Animal,[object Object],Kinect,[object Object],Software,[object Object],ofxDroidKinect,[object Object],Linaro Kernel,[object Object],Android(Embedded Master),[object Object],  Do It Yourself ⇒Do It With Others!,[object Object]
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Auto Chasing Turtle

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