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projects:farmrobot:start [2021/02/21 12:01] leon-david [5.8 Autonomes Fahren mit GPS] |
projects:farmrobot:start [2022/03/28 08:23] omed [6. Links] |
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====== ====== | ====== ====== | ||
- | {{https:// | + | {{https:// |
===== - Produktbeschreibung | ===== - Produktbeschreibung | ||
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| Video of Ahmed' | | Video of Ahmed' | ||
- | * video | ||
- | * Foto1 | ||
- | * Foto1 | ||
- | * Foto3 | ||
===== - Technische Spezifikationen ===== | ===== - Technische Spezifikationen ===== | ||
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^ Leistung | ^ Leistung | ||
^ Gewicht | ^ Gewicht | ||
- | ^ Dateien | + | ^ Dateien |
===== - Systemdiagram | ===== - Systemdiagram | ||
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==== - Batteriemanagement ==== | ==== - Batteriemanagement ==== | ||
+ | The battery management system is a important part of the robot. It is responsible to monitor all values regarding electrical power and available energy for the robot. It also has protection features that ensure, that the battery used lasts as long as possible to make the system safe, reliable and sustainable. Based on the measured values, the system can decide when to return to the home base for charging. Also the important metrics can be sent to a control station to let the owner know about the status of the system. This part of the project tries to implement a monitoring system for the important metrics of the power delivery system.\\ | ||
↪[[projects: | ↪[[projects: | ||
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==== - Steuerungs-Kamera ==== | ==== - Steuerungs-Kamera ==== | ||
+ | The FPV Camera serves a video stream as the first person view (FPV) of the Robot. This makes it possible to see the position of the Robot and anything in its way. \\ | ||
↪[[projects: | ↪[[projects: | ||
- | ==== - Objektverfolgung ==== | + | ==== - Objektverfolgung |
- | ↪[[projects: | + | |
- | ==== - Unkrauterkennung ==== | + | This project utilizes |
- | ↪[[projects:farmrobot:nvidia-jetson-tx1| NVIDIA Jetson TX1]] | + | |
- | __YOLO ("you only look once") - Object detection framework__ | + | === NVIDIA Jetson platform === |
- | YOLO can be set up as a pre-trained algorithm | + | The custom implementation of [[https:// |
- | One of the first steps in working with YOLO is choosing the version. Since custom training seems relatively simple, the main issue will be coordinate extraction, so the version will be chosen based on which one offers the best functionality with this. | + | To set up one of those devices, follow their respective guides to get started: |
- | V3 coordinate extraction:\ | + | * [[https://developer.nvidia.com/ |
- | Edit darknet/src/image.c file:\ | + | |
- | <file c> | + | |
- | if(bot > im.h-1) bot = im.h-1; | + | * [[https:// |
- | printf(" | + | * ↪[[projects:farmrobot: |
- | draw_box_width(im, | + | **The default user should always have the following credentials: |
+ | ^ User ^ Password | ||
+ | | '' | ||
+ | |||
+ | === Repository === | ||
+ | |||
+ | The repository is hosted on [[https:// | ||
+ | |||
+ | <WRAP info> | ||
+ | The repository' | ||
+ | </ | ||
+ | |||
+ | === Step-by-step example === | ||
+ | |||
+ | The step-by-step example goes through the whole process of setting up and using an [[https:// | ||
+ | |||
+ | [[projects: | ||
+ | |||
+ | === Cameras === | ||
+ | |||
+ | The implementation supports various CSI and USB cameras. The following cameras have been successfully tested with it: | ||
+ | |||
+ | **[[https:// | ||
+ | |||
+ | Supported formats: | ||
+ | |||
+ | <file shell> | ||
+ | v4l2-ctl -d /dev/video0 --list-formats-ext | ||
+ | |||
+ | ioctl: VIDIOC_ENUM_FMT | ||
+ | Index : 0 | ||
+ | Type : Video Capture | ||
+ | Pixel Format: ' | ||
+ | Name : 10-bit Bayer RGRG/GBGB | ||
+ | Size: Discrete 3264x2464 | ||
+ | Interval: Discrete 0.048s (21.000 fps) | ||
+ | Size: Discrete 3264x1848 | ||
+ | Interval: Discrete 0.036s (28.000 fps) | ||
+ | Size: Discrete 1920x1080 | ||
+ | Interval: Discrete 0.033s (30.000 fps) | ||
+ | Size: Discrete 1640x1232 | ||
+ | Interval: Discrete 0.033s (30.000 fps) | ||
+ | Size: Discrete 1280x720 | ||
+ | Interval: Discrete 0.017s (60.000 fps) | ||
</ | </ | ||
+ | **[[https:// | ||
- | | + | Supported formats: |
- | - Running the algorithm now will output the coordinates of the bounding box in console | + | |
+ | <file shell> | ||
+ | v4l2-ctl -d /dev/video0 --list-formats-ext | ||
+ | |||
+ | ioctl: VIDIOC_ENUM_FMT | ||
+ | Index : 0 | ||
+ | Type : Video Capture | ||
+ | Pixel Format: ' | ||
+ | Name : Motion-JPEG | ||
+ | Size: Discrete 1600x1200 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | Size: Discrete 3264x2448 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | Size: Discrete 2592x1944 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | Size: Discrete 2048x1536 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | Size: Discrete 1280x960 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | Size: Discrete 1024x768 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 800x600 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 640x480 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 329x240 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 1600x1200 | ||
+ | Interval: Discrete 0.067s (15.000 fps) | ||
+ | |||
+ | Index : 1 | ||
+ | Type : Video Capture | ||
+ | Pixel Format: ' | ||
+ | Name : YUYV 4:2:2 | ||
+ | Size: Discrete 1600x1200 | ||
+ | Interval: Discrete 0.100s (10.000 fps) | ||
+ | Size: Discrete 3264x2448 | ||
+ | Interval: Discrete 0.067s (2.000 fps) | ||
+ | Size: Discrete 2592x1944 | ||
+ | Interval: Discrete 0.333s (3.000 fps) | ||
+ | Size: Discrete 2048x1536 | ||
+ | Interval: Discrete 0.333s (3.000 fps) | ||
+ | Size: Discrete 1280x960 | ||
+ | Interval: Discrete 0.100s (10.000 fps) | ||
+ | Size: Discrete 1024x768 | ||
+ | Interval: Discrete 0.100s (10.000 fps) | ||
+ | Size: Discrete 800x600 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 640x480 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 329x240 | ||
+ | Interval: Discrete 0.067s (30.000 fps) | ||
+ | Size: Discrete 1600x1200 | ||
+ | Interval: Discrete 0.100s (10.000 fps) | ||
+ | </ | ||
==== - Missions-Planer ==== | ==== - Missions-Planer ==== | ||
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↪[[projects: | ↪[[projects: | ||
==== - Unkraut behandeln ==== | ==== - Unkraut behandeln ==== | ||
- | Delta Arm\\ | + | python-Steuerung von cnc-Maschinen und 3d-Druckern für ML/ |
- | Sprüh Mechanismus\\ | + | ↪[[projects: |
- | Realcode G-code\\ | + | ↪[[projects: |
- | ↪[[projects: | + | |
+ | ==== - Web Interface ==== | ||
+ | ↪[[projects: | ||
==== - Protokollierung ==== | ==== - Protokollierung ==== | ||
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[[projects: | [[projects: | ||
https:// | https:// | ||
+ | [[projects: | ||
+ | https:// | ||