Maestro A2100-B Manual do Utilizador descarregar pdf (Página 3)

show a video of the blimp while too much panning will lead

to see a balsa wood gondola which does the ﬂyer no good

when trying to survey the ground.

1) Camera: In order to put the surveillance in MASS a

camera system was needed. The system included a camera

and a stabilization system. The camera module that was used

for the MASS was the SONY SC2000 CCD 540 TVL MINI.

This camera met all the speciﬁcations that were needed

and had numerous examples of how it worked online. Two

other cameras were possible options before this camera was

chosen. The GoPro Hero Three Black Edition and 1/3” Sony

CCD 480 were other options. The 1/3” Sony CCD had a

good amount of features as well and was the ﬁrst camera

purchased. After four weeks of ﬁghting with the international

website all hope was lost on this camera and a change to

domestic cameras become a necessity. Thus this lead to

choosing the SC2000. The SC2000 met the three criteria that

were most important: cheap, light and fast shipping.

The camera measures at a minuscule 30mmX10mmX10mm

which is approximately the size of a quarter. Weights a

slight 32 grams and seeing as this is a blimp and weight

is at a premium this was a major win. It would also ship

from a domestic warehouse courtesy of Amazon and would

be in within a few days. The camera has a 540 horizontal

resolution which sounded on the lower end of clarity, however

after some comparing video quality with other cameras it

matched up very well. It will deﬁnitely be strong enough

to identify people and items from several hundred feet up

in the air. The camera came ready-made to be hooked up

to a transmitter or a wall plug in. It came with a set of

RCA cables that typically go straight into a TV monitor and

it came with a wire connection which is to plug directly

into a transmitter which was the original plan for the

project. The camera uses a 12 Volt power source which is

by far the largest voltage consumed on the blimp as well

as a 150 mA of current. Due to these larger values the

camera uses its own power source of four three volt lithium

batteries in series. The camera also had a very minimal

delay coming straight from the transmitter/receiver combo to

the laptop. The camera will be set up on a stabilization system.

2) Stabilization System: The stabilization system is a very

simple set up made of two open metal boxes that have

grooves set up on the ﬂaps that slide together in order to give

movement. The following picture will help clarify the exact

description of how the stabilization system looks. It is held in

by several self-tapping screws. Figure 2 shows an example of

what the stabilization system will look like.

Fig. 2: Camera System Stablization System

3) Servos: As can be seen the camera stabilization system

also has two mini servos attached to it. The two mini servos

are 9g rated and run on 5.5 volts. One servo controls the

rotational movement of the camera or the panning motion

while the upper servo controls the verticality of tilting

of the camera. The camera system was designed to be

super lightweight but still dependable enough that if some

rain or windy weather came through the camera would survive.

The servos will be controlled by the microcontroller by

the use of pulse width modulation signals. Depending on the

input from the user the servo will pan or tilt at a determined

amount of degrees. For instance a push to the left will rotate

the pan servo 3 degrees. The servos will be powered by a

Li-Poly 11.1 Volt 2200 maH battery. The battery has two

output voltages, one will go to the motors and one will go to

the servos. The second output consists of a voltage, a ground

and a control cord. The output voltage will be 5 volts which

corresponds perfectly to the voltage needed for the servos.

4) Video Receiver Encoder: Finding a convertor was the

most difﬁcult part. After numerous hours searching a video

capture card was the answer. Originally the Elgato was going

to be used to for the conversion but it only recorded in

mpeg4 format. The OpenCV program was not able to read

this format so instead EZCAP was bought. EZCAP along

with VLC made it possible to stream video into a program

called direct show. This will all be discussed in the GUI

section later. The EZCAP uses ULEAD software to show

and edit video which would not work with the software that

was needed. Like what was stated before VLC was used

to stream into Direct Show which is compatible with the

OpenCV software. The transmitter uses a 5 volt power source

with 1000 mA current draw which will be powered by the

battery on the blimp. The receiver will be on the ground so

directly plugged into an electrical receptacle will be ﬁne. The

EZCAP will just be plugged into the laptop and no powering

is necessary.

D. Groundstation

The purpose of the ground station is to act as a base station

for all communication to the blimp and to the controlling

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