BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT THÀNH PHỐ HỒ CHÍ MINH ĐỒ ÁN TỐT NGHIỆP NGÀNH CNKT ĐIỀU KHIỂN VÀ TỰ ĐỘNG HÓA DESIGN, IMPLEMENTATION AND CONTROL OF HEXAPOD ROBOT COMBINING IMAGE PROCESSING ON ANDROID PLATFORM GVHD: NGUYEN VAN THAI, PhD SVTH: PHUNG TU MINH MSSV: 16151028 SVTH: NGUYEN HOANG HUYNH MSSV: 16151048 SKL 0 0 7 1 9 6 Tp. Hồ Chí Minh, tháng 07/2020 do an HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND DUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT DESIGN, IMPLEMENTATION AND CONTROL OF HEXAPOD ROBOT COMBINING IMAGE PROCESSING ON ANDROID PLATFORM PHUNG TU MINH Student ID: 16151028 NGUYEN HOANG HUYNH Student ID: 16151048 Major: AUTOMATIC AND CONTROL ENGINEERING TECHNOLOGY Advisor: NGUYEN VAN THAI, PhD. Ho Chi Minh City, July 2020 do an THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, August 4, 2020 GRADUATION PROJECT ASSIGNMENT Student name: Phung Tu Minh Student ID: 16151048 Student name: Nguyen Hoang Huynh Student ID: 16151028 Major: Automation And Control Engineering Class: 16151CL3 Technology Advisor: PhD. NGUYEN VAN THAI Phone number: 0902.576 Date of assignment: 24/02/2020 Date of submission: 26/07/2020 1.
Project title: Design, Implementation and Control of Hexapod Robot combining image processing on Android platform 2. Initial materials provided by the advisor: ___________________________________ 3. Content of the project: _________________________________________________ 4. Final product: ________________________________________________________ CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) do an THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, August 4, 2020 ADVISOR’S EVALUATION SHEET Student name: Phung Tu Minh Student ID: 16151048 Student name: Nguyen Hoang Huynh Student ID: 16151028 Major: Automation And Control Engineering Technology Project title: Design, Implementation and Control of Hexapod Robot combining image processing on Android platform.
NGUYEN VAN THAI EVALUATION 1. Content of the project:. Approval for oral defense? (Approved or denied) .) Ho Chi Minh City, August 4, 2020. ADVISOR (Sign with full name) do an THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, August 3, 2020 PRE-DEFENSE EVALUATION SHEET Student name: Phung Tu Minh Student ID: 16151048 Student name: Nguyen Hoang Huynh Student ID: 16151028 Major: Automation And Control Engineering Technology Project title: Design, Implementation and Control of Hexapod Robot combining image processing on Android platform.
Name of Reviewer: PhD. Dang Xuan Ba. Content and workload of the project The project is a combination of many technologies such as image processing, robot, and web application. Strengths: It could be applied to real-life missions.
Weaknesses: The project seems to be a challenge for students in tutoring the new technologies rather than adopting what they learned for an intensive applications. As a result, the robot could be controllable, yet in poor performance. Its advantages over wheel robots have not been shown or tested. Effectiveness of tracking control and the management system should be shown more clearly.
Approval for oral defense? (Approved or denied) Approved 5. Overall evaluation: (Excellent, Good, Fair, Poor) Good 6.5 (in words: Eight point five) Ho Chi Minh City, August 3, 2020. REVIEWER (Sign with full name) do an THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, August 4, 2020 EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: Phung Tu Minh Student ID: 16151048 Student name: Nguyen Hoang Huynh Student ID: 16151028 Major: Automation And Control Engineering Technology Project title: Design, Implementation and Control of Hexapod Robot combining image processing on Android platform. Name of Defense Committee Member:.
Content and workload of the project .) Ho Chi Minh City, August 4, 2020. COMMITTEE MEMBER (Sign with full name) do an DISCLAIMER We assure you that this is our research project and is guided science by PhD. Nguyen Van Thai. The research content, the results in this topic are honest.
The figures in the table for analysis, evaluation and comments were collected by the authors from different sources specified in the references. i do an ACKNOWLEDGEMENTS It is a great pleasure to thank all of our teachers, friends that supported us in the process of doing our thesis. We’re very glad to express our gratitude towards Nguyen Van Thai, PhD for his time and effort in helping us to learn much more scientific concepts, basic and advance knowledge. For your right directions that we can complete this project.
He has given us the enthusiasm and creativity, in order to be continuous innovation to develop our thesis. We always remember the time when we first met him at 3DVisionLab to discuss about the thesis. Many thanks to our vice president of HCMC University of Technology and Education, Ngo Van Thuyen, PhD who is in charge of scientific research, international relations, public relations, construction of ODA projects, deploy KPIs and quality assurance of our university. We have the opportunity to learn his subject - SCADA, thanks to his rigor and meticulousness, we have learned not only the knowledge but also how an engineer must become.
I would like to thank Nguyen Minh Tam, PhD Dean of Faculty of Electrical and Electronics Engineering and Vu Van Phong, PhD. They never hesitate to help us when we encounter problems. And we could not have done the research without all opportunities which Le My Ha, PhD and MS. Nguyen Tran Minh Nguyet, from Department of Automation Control of Faculty of High Quality Training, created for us.Eng Nguyen Tran Minh Nguyet was very closed to us, we learnt really a lot from our discussions and her encouragement as well as life lessons of Le My Ha, PhD.
Last but not least, we would like to express our deepest thanks to parents and families for sticking to as well as supporting us during these 4 years of difficult and challenging university. It is the belief and heartiness of the family that has motivated us to complete the final thesis. We will accomplish this project outright and fulfill the promise of success with our family. ii do an TABLE OF CONTENT DISCLAIMER.
ii TABLE OF CONTENT. iii LIST OF FIGURE. vi LIST OF TABLE. xii KEY WORD.
xiii CHAPTER 1 GENERAL .2 OBJECTIVES OF THE THESIS .3 LIMITATION OF TOPIC .4 THE CONTENT OF THESIS. 1 CHAPTER 2 THEORITICAL BASIC .3 THE METHOD OF CONTROLLING THE AXIS .1 RGB TO HSV CONVERSATION .4 KERNEL STRUCTURING ELEMENT - KERNEL .5 DETECTING CIRCLE USING HOUGH CIRCLE TRANFORM. 17 iii do an 2.1 CANNY EDGE DETECTION .4 NON MAXIMUM SUPPRESSION .6 EDGE TRACKING BY HYSTERESIS .6 DETECT LOCATION OF CIRCLE .1 CONVOLUTION AND NON-MAXIMUM SUPPRESSION .2 CIRCLE HOUGH TRANSFORM .3 FINDING CENTER AND RADIUS OF THE CIRCLE .1 BUILD BETTER APPS .3 IP CAMERA APPLICATION .8 INTRODUCTION TO ANDROID STUDIO. 42 CHAPTER 3 THE APP APPLICATION DESIGN AND HARDWARE DESIGN .1 APP APPLICATION DESIGN.
58 iv do an 3.5 CHANNEL SERVO DRIVER .7 GRAPHIC DESIGN FOR FRAME ROBOT. 71 CHAPTER 4 THE ALGORITHM .1 CONTROL ROBOT FLOWCHART .2 GENERAL FLOWCHART OF IMAGE PROCESSING:. 76 CHAPTER 5 THE EXPERIMENT RESULTS/FINDING AND ANALYSIS .2 RESULT’S SIMULATION MATLAB .3 KEEP BALANCING RESULT .4 IMAGE PROCESSING AND TRACKING RESULTS .6 DATA TRANSMISSION RESULT. 92 CHAPTER 6 CONCLUSION AND RECOMMENDATIONS.
95 v do an LIST OF FIGURE Figure 2. 1: The leg segment model. 3: Leg model of hexapod. 4: Single leg coordinate.
5: The coordinate system diagram. 6: Rotation motion in the axis. 7: The body rotation. 8: Translation centroid body.
9: The Logo’s OpenCV. 10: RGB to HSV conversion. 13: The image of a ball. 14: The rectangular kernel.
15: After applied erosing for image. 16: After dilating for image. 17: After closing for image. 18: After opening for image.
19: Gaussian distribution function. 20: Block diagram of Canny edge detection technique. 22: The weak pixel link strong edge. 23: The diagram of detection circle.
24: a) A-dimension function in intensity; b) Derivative of function in intensity. 25: The kernel for finding Horizontal gradient orientation. 26: Kernel for finding vertical gradient orientation. 27: Range of angles of pixel direction.
28: Circular Hough Transform Algorithm. 25 vi do an Figure 2. 29: The coordinate of circle. 30: Parametric space representation of a constant radius circle.
31: Accumulator matrix sample. 32: Sliding window on first row of AI. 33: Detect circle of the coins. 34: All the combinations of major arcs which can form a circle.
35: Finding center of the circle using the perpendicular bisector property of the chord. 36: R1 and R2 radius found using the arc with pixel direction 3 and 1 respectively. 37: The communication of Firebase. 38: The features in Firebase.
39: The logo’s Firebase. 40: Real-time Database be become A Tree of Values. 41: The Firebase application connect the other applications on smartphone. 42: Create a project Hexapod.
43: The Real-time database. 44: The manage structure data Firebase. 45: The IP address Firebase. 46 The logo’s IP camera.
47: The logo’s Android Studio. 48: The project files in Android view. 49:The project files in Problems view, showing a layout file with a problem. 50: Main Java layout.
51: Complete process of Kalman filter. 52: Combination of two Gaussian curves. 53: Uncertainty around xk. 2: The main control layout.
3: The members in the same team. 50 vii do an Figure 3. 4: The navigation drawer menu for showing other screen. 5: The Bluetooth control layout.
6: The camera phone layout. 7: The Internet control layout. 8: The monitoring data layout. 9: Board Arduino Mega 2560.
10: Module Buck DC-DC 12A. 11: Module bluetooth HC05. 13: MPU 6050 – Accelerometer and Gyroscope module. 14: The schematic diagram.
15: The diagram Wiring GY521 with Arduino. 16: Servo mini SG90. 17: MG996R High Torque Metal Gear Dual Ball Bearing Servo. 18: The PWM signal cycle.
19: The PCA pinout. 20: The Wiring Arduino and the PCA9685 pinout. 21: The led matrix 8x8 module. 23: Wiring Arduino and Led matrix 8x8.
24: Led matrix 8x8 schematic diagram. 25: CorelIDRAW graphics suite 2020. 26: SOLIDWORK student edition 2016. 27: Build the Servo Bracket Assemblies.
1: The algorithm flowchart for moving. 2: The algorithm flowchart for image processing. 1: The Matlab simulation process. 2: The hexapod simulation in matlab.
3: Adapt balance on the terrain. 87 viii do an Figure 5. 4: Adapt balance on the ground. 5: Keep tracking object in allowed area.
6: The image processing and data transmission. 7: The data transfer rate. 8: Monitor parameters online. 9: Far away mode.
93 ix do an LIST OF TABLE Table 2. 1: Specification for hexapod robot. 2: The D-H matrix parameter of hexapod robot. 3: Conditions used to determine the pixel direction.
4: Image with linear window in color corresponding to the pixel direction and gradient magnitude and result of NMS. 1: Technical specifications for board Arduino Mega 2560. 2: Technical specifications for module Buck DC-DC 12A. 3: Specification for module HC05.
4: Pins of module MPU6050. 5: Specification for MG996R. 6: The PCA9685 pinout configuration. 7: Specification for PCA9685.
8: Specification for Led matrix 8x8. 9: Specification for wiring Led matrix. 10: The designing software. 11: Separate parts of hardware construction.
1: The practical model. 2: The results of the image processing. 3: The parameter table evaluating movement. 4: The parameter table evaluating the accuracy of tracking.
5: Define the parameters of the object. 90 x do an ABSTRACT The thesis "Design, Implementation and Control of Hexapod Robot combining image processing on Android platform" was developed based on the idea of building a robot with flexibility in movement as well as feasibility in transportation, merchandise transference, rescue and exploration. Robot is designed with features that allow to be controlled even from short and long distances, balance terrain response, and process follow-up objects, namely circular-shaped objects in custom applications included tracking, monitoring and directions. To do that, robot is applied dynamic algorithms to control the structure and gait.