MWH02a-21 Autonomous docking and recharging for indoor drones

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ZHANG, Jun(@eejzhang)
January 19, 2022 3:01 pm

What is the automatic surveillance system for? What’s the progress on this part?

MOW, Wai Ho(@eewhmow)
January 19, 2022 3:25 pm
Reply to  ZHANG, Jun

Actually, this team only focuses on returning to the charging dock.

ZHANG, Jun(@eejzhang)
January 19, 2022 3:28 pm
Reply to  MOW, Wai Ho

I see. It’s confusing, as the objective contains 4 items.

YEUNG, Kin Kwan(@kkyeungaa)
January 19, 2022 3:32 pm
Reply to  ZHANG, Jun

Sorry for your confusion .Actually, our project is only focus on the charging part of the surveillance system. And this is the last part of our project, we need to first finish the automatic charging system. The automatic surveillance system allows multiple drone to operate and never stop. We will implement multiple drones to achieve the continuous operating service when we successfully implement the whole automatic charging.

MOW, Wai Ho(@eewhmow)
January 19, 2022 2:29 pm

How to estimate the orientation of the drone (camera) from the ArUco label? How long it take?

TANG, Wai Ching(@wctangah)
January 19, 2022 2:56 pm
Reply to  MOW, Wai Ho

Hi Professor,
Thank you for your question, we used the estimatePoseSingleMarkers() function from opencv-contrib-python. The function can return the relative x, y, z axis between the ArUco marker and the drone. 
Our ideas is to make the drone turn 360 around to find the marker if it cannot see the marker when it is try to go back to the dock. When the drone can see the marker, the estimation is real time for the program to control the drone.

MOW, Wai Ho(@eewhmow)
January 19, 2022 3:23 pm

The assumption that the charging dock must be in line-of-sight of the drone does not always hold. The visual positioning can only solve the last meter problem accurately. Beyond that, you may need wifi positioning or other long-range less accurate positioning tech.

TANG, Wai Ching(@wctangah)
January 19, 2022 3:46 pm
Reply to  MOW, Wai Ho

Thank you for your suggestion, we will discuss about the method of long-range positioning. We will start working on it as soon as we finished the automatic charging, landing and mid-range positioning tasks.