TEAM 15: Handy-Drone
Spring 2014
MEMBERS
Ting Xu (tingx)
Ling Yuan (lyaun)
Wei Wang (weiwang2)
Raphael Kim (raphaelk)
PROJECT CONCEPT
This project will show that Quadricopter is not just a toy. It has many applicable places that can aid people.
The prototype uses electric magnet to pick up any objects requested by user.
MOTIVATION
Quadricopter is cool and visually appealing!
There are thousands of uses where Quadricopter could be used. Quadricopter’s ability to be airborne gives lots of flexibility in what it could do. It simply has so many applicable fields!
COMPETITIVE ANALYSIS
- Avian-Inspired Grasping for Quadrotor Micro UAVs from researchers of UPenn
- We do not need fast/snatching drone
- Our project focuses on picking up and retrieving object
- Our project focuses on commercializable aspect with lots of applicable fields than speed
TECHNICAL SPECIFICATIONS
Architecture
- Flight Control
- Sensing & Tracking
Hardware:
- DJI Flame Wheel 550RT
- Model : Flame Wheel 550 (F550)
- Frame Weight : 478g
- Diagonal Wheelbase : 550mm
- Takeoff Weight : 1200g ~ 2400g
- Recommended Propeller : 10 × 3.8in ; 8 × 4.5in
- Recommended Battery : 3S~4S LiPo
- Recommended Motor : 22 × 12mm (Stator size)
- Recommended ESC : 30A OPTO
- DJI Naza-M V2
- Supported Multi-Rotor : Quad-rotor I4, X4 / Hex-rotor I6, X6, IY6, Y6 / Octo-rotor I8，V8，X8
- Supported ESC Output : 400Hz refresh frequency
- Recommended Transmitter : PCM or 2.4GHz with minimum 4 channels
- Working Voltage Range : MC:4.8V~5.5V / VU Input: 7.4V ~ 26.0 V (recommend 2S ~ 6S LiPo) / Output(V-SEN port red wire): 3A@5V / (burst current:7.5A)
- Power Consumption : MAX: 1.5W(0.3A@5V) / Normal:0.6W(0.12A@5V)
- Operating Temperature : -10°C ~ 50°C
- Raspberry Pi
- Arduino Due
- IR/UV Emitter & Sensor
- Electromagnet
Software:
- DJI flight assistance software
- Custom flight control software
- OpenCV
- C, Python
Protocols:
REQUIREMENTS
Functional
- Recognition - efficiently identify the destination (<=5s)
- Accuracy - arrive close to the destination (<=1ft H/V)
- Range - reach any destination within specified range (~=100 ft)
- Carriage - able to pick up and transport designated cargo
- Carrying Capacity - up to 3 lb
Non-functional
- Reliability - sustained operation,~ 15min/3 trips per battery charge
- Safety - motor disarm, low voltage/disconnect protection, altitude lock
- Security - should not be hackable
RISKS & MITIGATION STRATEGIES
- Drone Safety
- restrain it with thread so it does not fly away or hit any object.
- wear googles and gloves when operating.
- have some sort of kill push switch/button.
- Outdoor IR Noise
- have filters with higher cutoffs.
- increase the brightness of the IR led.
- as an alternative, have the camera trace for possible pattern/color than IR brightness.
- Drone Safety
- restrain it with thread so it does not fly away or hit any object.
- wear googles and gloves when operating.
- have some sort of kill push switch/button.
TIME LAPSE
PRESENTATIONS & VIDEOS
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