Auto Chasing Turtle
Report
Share
•2 likes•893 views
![©SIProp Project, 2006-2008,[object Object],1,[object Object],Auto Chasing Turtle,[object Object],HirotakaNiisato,[object Object],Noritsuna Imamura,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-1-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-2-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-3-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-4-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-5-2048.jpg?cb=1668039104)
![OpenFrameworks x Kinect x Android,[object Object],=,[object Object],ofxDroidKinect,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-6-2048.jpg?cb=1668039104)
![About ofxDroidKinect,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-7-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-8-2048.jpg?cb=1668039104)
![Part “Hardware”,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-9-2048.jpg?cb=1668039104)
![Need more power supply,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-10-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-11-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-12-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-13-2048.jpg?cb=1668039104)
![Part “Software”,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-14-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-15-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-16-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-17-2048.jpg?cb=1668039104)
![Calculate the course,[object Object]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-18-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-19-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-20-2048.jpg?cb=1668039104)
![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]](https://image.slidesharecdn.com/autochasingturtle-110318024246-phpapp02/75/auto-chasing-turtle-21-2048.jpg?cb=1668039104)
Auto Chasing Turtle
•2 likes•893 views
Report
Share
Download to read offline
This product is "Auto Chasing Turtle". By autonomous control, this robot recognizes people's face and approaches to the detected human. The scene that it is working in real time can be seen by iPad. It is built by using Kinect as sensor and using Linaro kernel + Android + openFrameworks as application framework.
![[#EVENT] 2014 #Codemotion_es #Coding4Fun](https://cdn.slidesharecdn.com/ss_thumbnails/20141122codemotioncoding4fun-141122151018-conversion-gate02-thumbnail.jpg?width=768&fit=bounds)
