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Roomba Cam

Joe Cohen http://compsci.snc.edu/cs460/cohejr. Roomba Cam. Presentation Overview. Project definition and requirements Solution process and explanation Methodology Demonstration Development process Final remarks. Project Definition.

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Roomba Cam

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  1. Joe Cohen http://compsci.snc.edu/cs460/cohejr Roomba Cam

  2. Presentation Overview • Project definition and requirements • Solution process and explanation • Methodology • Demonstration • Development process • Final remarks

  3. Project Definition • Mount a laptop and webcam atop a robot (iRobot Create) • Develop an application to control the Create via the laptop • Develop two separate applications: • Server: Run on laptop, take user input and control Create, capture webcam video and publish to client • Client: Run on separate computer, have full user interface to control the Create, allow for the viewing of video feed

  4. Project Definition • Connect the two applications via sockets • Develop psuedo-language to communicate between the two applications • Run the two applications over the same (wireless) router

  5. Solution ProcessCreate Control • Develop a VB application to control the Create robot • The language built into Create takes a set of codes and parameters to execute commands • Develop user interface for client application

  6. Solution ProcessCreate Control

  7. Solution ProcessPseudo-Language • Develop a pseudo-language to communicate between server and client applications • Client application takes user input, encodes and sends to server. Server decodes and executes command. • Data/Control socket uses numerical codes

  8. Solution ProcessPseudo-Language

  9. Solution ProcessSocket Connections • Sockets used to communicate between two computer/programs • Server application establishes socket and waits for client to connect to it • Connection made by IP address and port number

  10. Solution ProcessClient/Server Application • Separate current application into client and server • Client: Keep user interface, instead of calling Create control functions, encode and sent command over socket • Server: Decode code and execute Create commands

  11. Solution ProcessWireless Network • Allow the applications to run over a wireless network rather than the internet • Benefits: • Faster transmission of commands • Wireless movement of robot • Wider range

  12. Solution ProcessVideo Capture • Use Intel’s OpenCV camera library to initialize camera and capture frames • Once frames are located in memory a bitmap file is created • Using a memory dump the bitmap is displayed in a PictureBox on the screen

  13. Solution ProcessVideo Feed • Once the bitmap structure is built, it is sent down a second socket to the client application • The server constantly captures and displays the video but only sends to client when it is requested

  14. Video demonstration

  15. Solution ProcessKeyboard Control • Incorporate another control method for the user via the keyboard • Allows for basic functionality using the keyboard • Perhaps a better way to control the robot

  16. Solution Process • Project easily broke into three parts • Develop separate solutions for each part and piece together to make final product • Robot control grouped into three functions: straight, stop, and turn

  17. Solution ProcessResources • iRobot Create Open Interface manual • Previous projects by John Moss, and Bryan Jorgensen & Adam Ziegler • Internet development forums • All CS faculty

  18. Solution ProcessCS Courses & Concepts • Operating systems – COM Ports, sockets, numerical conversions • Databases – VB 6 user interface development • Event Programming – Structure and flow of windows applications

  19. Solution ProcessShortcomings • Populate COM ports on server connection form based on active COM ports • Allow for resizing of the video input window • Create respond to sensor events

  20. Solution ProcessFuture Extensions • Improve on shortcomings • Improve user interface and application feedback • Wireless camera and Create control • Incorporate video algorithms: motion tracking, object detection, etc. • Possibly integrate into .Net framework for further development

  21. Solution ProcessAdvice to Future Seniors • Work early, and work often • BACKUPS! • Divide and conquer approach, don’t get hung up on one part • Ask for help and meet with as many people as possible • Define project early and voice possible frustrations • Develop passion for project

  22. Thank you… • All CS professors • Other CS seniors • My father and the other fine employees at Manitowoc Ice • Bryan Jorgensen & Adam Ziegler • Paul Deibele

  23. Live demo • Questions ?

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