FINAL YEAR PROJECT SYNOPSIS3-D MAPPING AUTONOMOUS FLIGHT QUADCOPTER WITH
INDUCTIVE CHARGING
Submitted by:
Muhammad Ayaz Qureshi 2013-EE-27
Muhammad Ismail Saleem 2013-EE-29
Wajid Ali 2013-EE-35
Hummad Ahmed Usmani 2013-EE-46
Supervised by: Dr. Khalid Mahmood ul Hassan
Department of Electrical Engineering
University of Engineering and Technology Lahore
FINAL YEAR PROJECT SYNOPSIS3-D MAPPING AUTONOMOUS FLIGHT QUADCOPTER WITH
INDUCTIVE CHARGING
Submitted to the faculty of the Electrical Engineering Department
of the University of Engineering and Technology Lahore
in partial fulfillment of the requirements for the Degree of
Bachelor of Science
in
Electrical Engineering.
Final Year Project Advisor Final Year Project Coordinator
Department of Electrical Engineering
University of Engineering and Technology Lahore
i
Declaration
I declare that the work contained in this synopsis is my own, except where explicitly
stated otherwise. In addition this work has not been submitted to obtain another degree
or professional qualification.
Signed:
Date:
ii
Acknowledgments
We express our deep sense of gratitude to Professor Dr. Khalid Mahmood ul Hassan,
for accepting our final year project proposal. May Almighty Allah gives us health and
ability to complete this project sucessfully.
iii
To our parents, teachers and all the well wishers out there . . .
iv
Contents
Acknowledgments iii
Abbreviations vii
Abstract viii
1 Introduction 1
2 History 2
2.1 Recent Developments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
3 Objectives 4
3.1 Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 Wireless Charging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.3 Wireless Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.4 Self-Balanced System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.5 3-D Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.6 Techniques to Implement 3-D Mapping . . . . . . . . . . . . . . . . . . . . 5
4 Rough Cost Analysis 6
5 Software Tools 7
6 Project Feasibility 8
7 Estimated Completion Time and Flow Chart 9
7.1 Deliverable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
7.2 Project Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
8 Prospective Problems 11
9 Future Work and Applications 12
9.1 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
9.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
10 Block Diagram 13
v
Contents vi
References 15
Abbreviations
UAVs Unmanned Aerial Vehicles
GUI Graphical User Interface
SFM Structure From Motion
ESC Electronic Speed Control
PMA Powermat compatible standard
Qi Wireless Power Consortium standard
vii
Abstract
Quad-Copter is an Unmanned Aerial Vehicle (UAV) which is operated to fly indepen-
dently. In our project, we are designing a fully automated Quad-Copter programmed
in a manner, that will fly a specific amount of distance for specific period of time and
then it will sense its landing pad and will land there. Quad copter will move and hover
around by keeping its stability maintained. The conventional quad copters requires a
continuous charging of quad copters but in this project we are including wireless charg-
ing system also named as inductive charging. In addition to automation we are boosting
it up with wireless communication system. So in wireless communication Quad-Copter
can be controlled manually by using a graphical user interface, giving full control to the
user. Conventional Quad-Copters are provided with 2-D mapping capability but our
project surpass their 2-Ds map because we are introducing 3 D map in which concept
of rasterization and image processing is employed. After landing image processing soft-
ware will stitch these photos into 3-D map. So our automated Quad-Copter is capable
of taking the flight after some specified interval of time, collecting all the possible data
regarding 3D-layout (digitized sketch) of any section, and on returning back to its pad,
Quad-Copter send this sketch to working unit on GUI interface.
Chapter 1
Introduction
With the advancement in engineering and technology, there was a dire need of an in-
troduction of device which can go to places where humans cannot, which will enable
them to do much. Also there was a need of device which help take human in the air
in a very much fascinating way. A device was needed which can capture aerial images.
These devices which have revolutionized the flight are called as drones and quad-copter.
The way in which these devices are developed through decades is fascinating. Drones
belongs to a class of air vehicles known as Unmanned Aerial Vehicles (UAVs). These
vehicles can take off in the air without pilots. Drones are basically flying robots. They
have software control integrated in their environment.
1
Chapter 2
History
The quad-copter designs have been around for a very long time, but the design is inher-
ently unstable. With 4 rotors spinning, keep them moving at the right speed to keep the
quad-copter level and stable is difficult. In November of 1922, Etienne first flew improved
helicopter featuring vertically mounted rotors which rotated in the opposite direction
from the large top rotors. Quad-copters today still use this same basic design. The
Convertawings Model A quad-copter designed by Doctor George E Bothezat appeared
in 1956. It was the first to use propulsion, or a propellers forward thrust to control an
aircrafts roll, pitch and yaw. Recent advances in technology have addressed issues that
plagued early quad-copter design, including poor stability, limited control and complex-
ity. Modern quad-copters are very stable, easy to control and easy to fly. At a small size,
quad-copters are cheaper and more durable than conventional helicopters due to their
mechanical simplicity. Their smaller blades are also advantageous because they possess
less kinetic energy, reducing their ability to cause damage. For small-scale quad-copters,
this makes the vehicles safer for close interaction. Increasing blade size improves effi-
ciency as it takes less energy to generate thrust by moving a large mass of air at a slow
speed than by moving a small mass of air at high speed but it takes at the cost of control.
2.1 Recent Developments
In the last few decades, unmanned aerial vehicles including quad-copters have been used
for many applications. The need for aircraft with greater hovering ability has led to a
rise in quad-copter research. The four-rotor design allows quad-copters to be relatively
simple in design yet highly reliable. Research is continuing to increase the abilities
of quad-copters by making advances in multi-craft communication, environment explo-
ration. If these developing qualities can be combined, quad-copters would be capable of
advanced autonomous missions that are currently not possible with other vehicles.
2
Chapter 2. 3
Some current programs include:
• Bell Boeing Quad Tilt Rotor : concept takes the fixed quad-copter concept
further by combining it with the tilt rotor concept.
• Parrot A.R.Drone : is a small radio controlled quad-copter with cameras at-
tached to it, designed to be controllable by smartphones or tablet devices.
• Nixie : is a small camera-equipped drone that can be worn as a wrist band.
As far as recent development regarding inductive charging is concerned it is being em-
ployed in mobile industry and electric vehicles. In 2015 Samsung announced the new
S6 and S6 Edge with wireless inductive charging through both Qi and PMA compatible
chargers. Blackberry also released phone to support wireless inductive charging through
compatible chargers. In electric vehicles in one inductive charging system, one winding
is attached to the underside of the car, and the other stays on the floor of the garage.
While as far as 3 D mapping is concerned, in industry and in many applications there
is a dire need of a system which can rapidly, reliably, remotely and accurately perform
measurements in three-dimensional space for the mapping of environment. From now
onwards there will be a lot of research on 3 D mapping. Previous work comprises of
invention seeks to provide a method of locating at least a surface and modeling the
surface using at least two image capture. A considerable amount of work has been done
by researchers in the field of machine vision and image analysis.
Chapter 3
Objectives
3.1 Automation
Designing a fully automated quad-copter programmed in a manner such that, quad-
copter will fly a specific amount of distance for specific period of time and then it will
sense its landing pad and will land there using ultrasonic sensors.
3.2 Wireless Charging
Wireless charging is also known as inductive charging. Landing pad of quad copter will
contain a transmitter coils. Alternating current will be provided to coils. Receiver coil
is embedded in quad copter. Because of change of current in transmitter coil, magnetic
field is changed. This rate of change of magnetic field will induce voltage and hence
quad copter will be charged according to electromagnetic induction.
3.3 Wireless Communication
Quad-copter can also be controlled manually by using a graphical user interface, giving
full control to the user. Communication between GUI and controller is done through
wireless communication system. Through GUI we can move it up, down and left, right.
3.4 Self-Balanced System
Quad copter will move and hover around by keeping its stability maintained. Upward
thrust will be produced by four motors. Direction will be changed with the help of pro-
pellers. Automated flight of Quad-copter will be sustained by using feedback circuitry
which avoids any upcoming obstacle.
4
Chapter 3. 5
3.5 3-D Mapping
3-D mapping makes it possible to generate 3-dimensional layout of that place. Circuitry
inside quad- copter will automatically send this digitized layout to the working unit of
that place (most probably the data will be sent to some GUI interface). A good 3D map-
ping can be completed with 60 to 100 still pictures. There should be 80 percent overlap
between consecutive pictures. The camera shutter needs to be triggered throughout
the mission. After landing image processing software will stitch these photos into three
dimensional map.
3.6 Techniques to Implement 3-D Mapping
The conventional method of 3D mapping is to divide it into bins. The bins are checked
whether they are full (identified interesting feature) or empty. This is known as raster-
ization. Rasterization is the task of taking an image converting it into a raster image
(pixels or dots) for output on a video display or printer. So in 3D mapping one picture
is one big box which is split into 4 boxes. So from these four boxes; the box containing
information is further divided into 4 boxes and this process continues. Larger boxes
with no useful information are discarded to save memory.
Chapter 4
Rough Cost Analysis
Frame PKR 6,0004 Motors PKR 4,0004 ESCs Electronic Speed Controller PKR 4,0004 Propellers PKR 3,6001 Flight Controller PKR 1,5001 Lithium polymer Battery PKR 3,000Transmitter and Receiver PKR 10,000Wireless Charger PKR 2,000Camera PKR 20,000Miscellaneous Parts PKR 1,000Rasberry Pi 3 controller PKR 7,000STM 32 F4 Discovery Board PKR 3,000Total Estimated Cost PKR 65,100
*This is a rough sketch and we will be giving actual cost analysis in our last report
6
Chapter 5
Software Tools
Throughout our Project we will be dealing with the following softwares:
• Keil U-Vision
• Matlab
• Visual FSM
• Agisoft Photoscan
• Pix4D
• Embedded C
• GNU Compiler
7
Chapter 6
Project Feasibility
Our project is purely industry based, which will help industry to get a 3-d layout of any
working section after regular intervals. Our visit to Packages Industry and a little talk
with section engineer agnized us, their dire need of Automated Quad-Copter capable of
taking the flight after 3Hrs collecting all the possible data regarding 3d-layout (digitized
sketch) of that section, and on returning back to platform, quad-copter send this sketch
to working unit on GUI interface so that they may get rid of congestion and probably
accommodate all the packages of that working section on desired location. This strat-
egy will surely serve that industry to get a density diagram of their busiest section, thus
enabling them to work there effectively and efficiently.
How our project is different from FYP of the lastsession-2011?
We are introducing the following new features in our project which were not present last
year.
1. The project made by the students of EE 2011 with the title autonomous quad copter
in GPS denied environment were using laser rangefinder for displaying 2-D map and
path of navigation, but our project surpass their 2-D map because we are introducing
3-D map in which concept of rasterization and image processing is employed.
2. The previous project was requiring a continuous charging of quad copter but in this
project we are including wireless charging system also named as inductive charging. So
there will be no additional labor required for charging the quad copter.
3. Previous project was fully automated but in our project in addition to automation
we are boosting it up with wireless communication system. So an additional control is
given to user.
8
Chapter 7
Estimated Completion Time and
Flow Chart
Key Milestones of the Project with prospected time is as follow:
1. Our first goal is to achieve the wireless charging. And to study the main body
structure, that is mechanical and aero-dynamics of quadcopter in the very coming sum-
mer vacations.
2. Perhaps, getting all the related knowledge we shall try to implement it on hard-
ware and if successful then proceed further to control analysis of quad-copter in seventh
semester.
3. With control analysis being completely done in seventh semester we will be proceed-
ing toward 3-d mapping techniques in the eighth semester.
4. Tentatively, we will be continuing our project and further moving on to GUI-
interfacing along with wireless communication of quad-copter.
7.1 Deliverable
Summer 2016 (June-July) Making out complete mechanical strucutreSummer 2016(July-August) Working circuitry of wireless charging2016 (August-December) Control Analysis of Quad-Copter2016-2017 (December-February) Implementing 3-D mapping2017 (February-April) Enabling the wireless communication
9
10
7.2 Project Flow Chart
Figure 7.2.1. Flow Diagram of Proposed Project
Testing 3 D mapping using SFM (structure from motion) through open CV along with LINUX for connecting camera with base computer.
Research on mechanical and aero-dynamics of quad-copter and implementing it on the mechanical structure.
Wireless/Inductive charging of quad copter and to complete wireless and inductive circuitry.
Control analysis of quad-copter and its automation
Implementing 3-D mapping by using 3-D techniques
GUI Interfacing along with wireless communication
Chapter 8
Prospective Problems
One of the features of our project is 3 D mapping. We found that open CV is a good
option for image processing. The code of live video stream worked well with webcam
of laptop but when tried to add IP address of camera it does not work. This was the
first problem faced as we were new to image processing. Taking pictures from camera
and then transmitting to base station and then processing to make 3-D map was not
allowing us real time processing. A technique called structure from motion (SFM) with
open CV is available which uses image stitching into 3 D reconstruction terrain. There,
also comes a problem of connecting camera with base computer; which requires for
which we need to learn Linux for motion transmission. Besides these challenges we will
be facing other challenges regarding stability, wireless charging, wireless communication
and automation.
11
Chapter 9
Future Work and Applications
9.1 Future Work
Future work can comprise of increasing its stability such that this quad copter can hover
around easily by lifting the heavy weights. Its flight time and flight distance can be
increased. Graphical user interface can be made more attractive and user friendly.
9.2 Applications
Some of the applications of quad copter are:
1. Military and law enforcement
2. Aerial photography
3. Minor industrial lifting
4. Commercial usage
5. Research platform
12
Chapter 10
Block Diagram
*
Overall schematic of our proposed project with all its functional modules can be seen
on next page.
13
14
Figure 10.1. Overall Schematic Of Proposed Project
Wireless Charging System (Induction coils) Wireless Communication System (Receiver and transmitter)-GUI
INTERFACING _*tentative
3 Dimensional Image Processor Motors and Propellers
MICROCONTROLLER Sensors for
Automation Control mechanism for self-balancing
Wireless Charging Circuitry
Automated Quad-Copter Circuitry
References 15
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(Accessed 1 April 2016)
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[Accessed 1 April 2016].
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news/news/2016/01/ganze-gebaeude-mobil-3d-kartieren.html. [Accessed 1 April 2016].
[4] ”instructables,” [Online]. Available: http://www.instructables.com/id/Projection-
Mapping-with-3D-Tracing/. [Accessed 1 April 2016].
[5] ”Quora,” [Online]. Available: https://www.quora.com/How-does-3D-projection-
mapping-work. [Accessed 1 April 2016].
[6] ”Image Processing Resarch Group,” [Online]. Available: http://iprg.co.in/index.php.
[Accessed 1 April 2016].
[7] B. G. a. C. Detweiler, ”College of Arts and Sciences College of Engineering,” [On-
line]. Available: http://cse.unl.edu/ carrick/papers/wirelessPowerICRA2012Final.pdf.
[Accessed 1 April 2016].
[8] [Online]. Available: http://cse.unl.edu/ carrick/papers/wirelessPowerICRA2012Final.pdf.
[Accessed 1 April 2016].
[9] ”DroneTrest,” [Online]. Available: http://www.dronetrest.com/t/charge-your-quadcopter-
wirelessly/173. [Accessed 1 April 2016].
[10] ”PowerbyProxi . Wirless Power Transfer and Charging Solutions,” [Online]. Avail-
able: http://powerbyproxi.com/wireless-charging/. [Accessed 1 April 2016].
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