iRIS

Iris is a low cost Hardware solution for high quality data collection. Using a webcam for object location and a DSLR for cropping in high resolution images. The projects long term goals are to service vineyards for grape health monitoring.

ROS

Utilizing ros2 humble this allows for seamless integration into the Ralph project (a UAV platform for this module to sit on) - this will allow me to quickly connect and disconnect from the platform a single 12V supply and newtwork cable.

Plans to experiment with the google Coral board will allow for more GPU power for realtime ML.

Todo:

• add aruco tracking, for easier tracking testing
• add homing routine to the controller hardware
• create TF tree for the joint positions
• update hardware interface to take radian inputs and outputs
• create viable URDF for visualisation purposes
• seperate out launch files for image and hardware testing
• verify home position prior to the subscribers launching
• add redundancy to the DSLR handler
• when the teensy goes to debug mode, restart the teensy to reinstigate the connection to the uros agen
• train further haar cascades
• optimise CV module -> rewrite in c++?
• add tracking parameters
• add SQL data storage for photos and adjacent tables for key information: - GPS coordinates - filename - time - temps This will be extended to record presense of desease, leaf burning and growth.

BOM

The Bill of Materials can be found within the CAD folder, and a live view can be found at the below link:

Latest BOM

https://docs.google.com/spreadsheets/d/1brc093db2wOhchpbwPfbKKWlJsNdvawlCEVu6vIqlME/edit?usp=sharing

PCB hardware

To go along with the software component of the project I have developed a PCB to interface with the hardware, using a PJRC Teensy 4.1 and uROS. This allows for budget compoents to be used whilst still giving a full PID control loop and ROS integration.

todo for v1.1

• standardise mounting holes
• fan output
• remove one 5V4A supply
• replace current descrete logic voltage shifting components into a single IC
• add a power control mosfet to teensy to allow the pi to control power state
• add general GPIO for expansion
• look into alternatives for connection to host, (ethernet?)

v1.0

This serves as an initial protype platform:

      

general project non critical goals:

• add additional topic for hardware for mode control for example int topic

  Mode	value
  standbye	0
  standbye_homed	1
  home X	2
  home Y	3

• update camera stack to use arducam 16MP autofocus (via csi)

Complete:

• Rebuild DSLR handler
• integrate webcam to ros2
• integrate DSLR to ros2
• uros testing -> pub sub working adding hardware functionality to come, motors need testing
• uros build and upload initial init tests
• build encoder functionality out
• implement PID control