Published March 4, 2019 © MIT

Receptionist Drone with CV

Receptionist drone, have a flying assistant show you the way to the lobby. Powered by Sony Spresense.

AdvancedFull instructions provided5 hours1,387

Things used in this project

Hardware components

Sony Spresense boards (main & extension)

SparkFun LV-MaxSonar-EZ4

Single Turn Potentiometer- 10k ohms

Single 10k Potentiometer

SparkFun Big Red Dome Button

Single Normal Big Red Button

Delkin Industrial SLC microSD

(in this case 16 Gb but any memory works).

Speaker with integrated lithium Battery.

Tello Drone

Laptop or Raspberry Pi

Jumper wires (generic)

Software apps and online services

Arduino IDE

Python Spyder

Github TelloPy Library

Github Pyserial Library

Github Av Library

OpenCV

Github Numpy Library

Hand tools and fabrication machines

OpenBuilds Drill Taps

Soldering iron (generic)

Hot glue gun (generic)

Story

We have seen many applications for drones; races, shows, and several others. That is why i will develop the first receptionist drone in the world.

Always use technology to improve the world, if you are a black hat or gray hat hacker please abstain at this point......... or at least leave your respect to make me feel less guilty XP.

Table of contents:

Introduction
Materials
Spresense Hardware
Spresense Software
Videos demonstrated the operation:
Tello Important Features
Tello Software
System Connection Diagram
The Final Product
Comments
References

Introduction:

We will use the Spresense development board which will be able to interact with hotel users via Computer Vision. We know that there are robots receptionists and even robots with dinosaur forms that take orders in restaurants, but a drone that performs such work has been seldom seen.

Bellhop Drone.

Through an Spresense development board and one ultrasonic distance sensor, we will detect customers and the drone will show the way to the client to arrive to reception, to make his check-in or booking.

Spresense Hardware:

Connections Diagram.

We need to make the following hardware connections in order to develope this project.

Real Connections.

Spresense Software:

NOTE: All the files are in the Github repository or here at the bottom.

In order to program the Spresense development board, it is essential to follow the official SONY guide:

Official guide: https://developer.sony.com/develop/spresense/developer-tools/get-started-using-arduino-ide/set-up-the-arduino-ide

Since we are using the Arduino IDE, we will have to carry out this procedure to be able to flash the code you can find in the "Arduino Code" folder (at the bottom).

Format the SD card (Highly Recommended).
Plug the SD card in the Board.
Open the following example code of the Arduino IDE.

Arduino IDE, example.

Flash the code on the board and open the serial monitor.

Serial Monitor.

Select option 1 to mount the decoder to the SD.

Correct Installation.

Once this is done, you can flash the code in the "Arduino Code" folder on the board, named "PlayerFull".

We attached some videos of the operation of the system, but first check what the code does, enjoy it!

The MB1040 sensor will be used to detect when there is a customer near the device.

The MB1040 has an analog output which has to be converted to distance, the formula by performing the corresponding convertion is the following.

General Formula.

Conversion.

The part of the code that performs this conversion is the following, the distance is shown in meters.

distance=((sensorValue*0.00976*3)/0.3858);

The potentiometer will help us to modify the volume of the system easily.

Because the system works with digitally controlled volume, we will have to use an ADC system with a potentiometer to be able to modify the volume value analogically, this type of voltage control by a potentiometer is called a voltage divider.

Voltage Divider

With our voltage divider installed, we will read the value of the voltage in the central pin, which according to its position will oscillate between 0 and 5 volts.

In our analogRead(A0) we will obtain a value of 10 bits between 0 and 1024, but since these values are not valid for the setVolume command, we had to make a map transforming the read range to a range between -800 to - 100

 analog=analogRead(A0);
 analog = map(analog, 0, 1023, -800, -100);
 theAudio->setVolume(analog);

Once we have the value on the variable analog we set the volume in each cycle of void loop ()

The speaker will provide us the output of the message that will be played to the customers.

All the sound reproduction logic is done automatically thanks to the example code "Player" besides the audio file has to be called "Sound.mp3" and obviously be in mp3 format.

However, we have to play the audio every time a client comes close to the device, so we need restart this audio every so often.

 if (distance<2 && counter2==201)
 {
    // Start the audio if the distance is less than 2
   theAudio->startPlayer(AudioClass::Player0);
   puts("Play!"); 
   counter2=0;
 }
 if (counter2<200)
 {
   counter2++;
 }
 else if (counter2==200)
 {
 counter2++;
 theAudio->stopPlayer(AudioClass::Player0);
 myFile.close();
 myFile = theSD.open("Sound.mp3");
 puts("Reset Audio");
}

The audio starts to play if the distance with the client is less than 2 meters, in turn the audio will restart once our variable "counter2" reaches 200, approximately 20 seconds.

The button is used to activate the serial port to send the message that will call the Drone.

The Push Button libraries do not work on this board, so we made our own debounce algorithm to operate the button correctly.

 if (digitalRead(2)==LOW)
  {
    delay(10);
    if((digitalRead(2)==LOW))
    {
      puts("Calling Drone");
      delay(3000);
    }
  }

Send the value in meters of the MB1040 sensor by serial.

To be able to send anything through Serial, it is necessary to use the "puts" command, instead of the classic "Serial.println()", unlike this command to be able to print variables of "int" type in serial, it is necessary to convert the int variable into a char* array, this can not be done automatically unless the following function.

char* string2char(String command){
   if(command.length()!=0){
       char *p = const_cast<char*>(command.c_str());
       return p;
   }
}

Now with this function we can call it in the following way to be able to print variables "int" type by serial.

 if(counter==9)
 {
  sensorValue/=10;  
  distance=((sensorValue*0.00976*3)/0.3858); 
  counter=0;
  sensorValue=0;
  puts(string2char(String(distance))); //This is the correct way to call the function
 }

The connection to the raspberry or the pc will provide us the serial communication with Python to call the Drone.

To initialize the drone, we must send the following message by serial, this can be modified by the developer as desired.

 puts("Calling Drone");

Before we can call the drone with a serial command, we will have to know what is the COMXX port that the board has on our computer, this we will review with our ArduinoIDE.

Serial Port COM11.

In the case of having several active serial ports, check which are the active ports.

Multiple Ports.

Disconnect the Spresence and check which port has disappeared.

Missing Port.

In this case the Spresense is in COM11, this data will be used in our Python code to receive serial commands from this port, the Baudrate of the Spresense is 115200 bauds.

ser = serial.Serial("COM11", 115200)

So that the drone takes off just when we send the command and not before. We will have to put it in a while loop until it receives the message from the board by serial as shown below.

   while star==1:
       cc=str(ser.readline())
       if cc[2:][:-5]=="Calling Drone":
           print(cc[2:][:-5])
           star=2
           break

Videos demonstrated the operation:

Video 1: Detection, Volume and Speaker.

Video 2: Serial Distance and Drone Call.

Tello Important Considerations:

Check the propeller order, if the order of the propellers is not correct, the drone will not fly.

Correct Drone Propeller.

This drone is very unstable outdoors because wind affects it, I recommend for it only to be used for indoor applications.
I recommend using a protective cage so that the drone is 100% safe.

Drone Gauge.

If you use the protective cage the drone can not perform flips, if you try them, the drone will fall and hit itself hard.
Always check the battery level of the drone, if the battery is less than 10% the drone will not take off, also if it is flying and reaches 10% the drone will land.

Tello Software:

NOTE: All the files are in the Github repository or here at the bottom.

Libraries that you have to install before continuing.

The flight algorithm of the Drone is based on pure programming along with the libraries that were previously mentioned. The algorithm reviews at all times that there is a human face in front of it and looks for the way to focus and approach.

Face recognition is done using Face Detection using Haar Cascades, the Haar Cascade file used will be in the "haarcascade" folder, inside "Python Code", more information in the link below.

Link: https://docs.opencv.org/3.4.3/d7/d8b/tutorial_py_face_detection.html

It is important to mention that this code provides the method to check all the sensors of the drone, for example the height, the level of the battery, position, etc... However we added that the battery level has to be displayed in the OpenCV screen at all times:

def handler(event, sender, data, **args):
    global prev_flight_data
    global battery
    drone = sender
    if event is drone.EVENT_FLIGHT_DATA:
        if prev_flight_data != str(data):
            #print(data)
            datas=str(data)
            num = datas.find("BAT")
            battery=int(datas[num+4:-31])
            print("Battery:" + str(battery))
            prev_flight_data = str(data)
    else:
        print('event="%s" data=%s' % (event.getname(), str(data)))

Battery OpenCV.

The system works like a state machine, the case requires the command that makes the drone approach the client, with this type of system we avoid sending commands that are useless to the drone.

Lateral Fly Control Diagram (This is the diagram of how the drone moves if you are looking at it from the side):

Lateral Diagram

Frontal Fly Control Diagram (This is the diagram of how the drone moves if you are looking at it from the front):

Front Diagram.

System Connection Diagram:

This is our general connection diagram.

General Diagram.

The Final Product:

After all this process we have our receptionist drone!

EPIC Final Product Video.

Comments:

Faces are part of the inherent identity of people, and identifying individuals through their face has been a great inspiration to developers throughout the years. Face recognition capability is undoubtedly a key for drones to identify specific individuals or people in general.

We have several use cases that we might explore in the future with this technology:

The search of missing elders or children in the neighborhood, identifying dangeorus criminals, etc...

Face recognition on drones will be a vital part moving forward, in order to disrupt the UAV (unmanned aerial vehicle) technologies.

References:

All the information about the technology used, and direct references are in our wiki:

Wiki: https://github.com/altaga/Receptionist-Drone-with-CV/wiki

Top:

Table of Contents

Schematics

Code

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...

This file has been truncated, please download it to see its full contents.

# -*- coding: utf-8 -*-
"""
Created on Sat Dec 29 13:46:30 2018

@author: VAI
"""

import serial
import tellopy
import av
import cv2.cv2 as cv2  # for avoidance of pylint error
import numpy
import time
from time import sleep

prev_flight_data = None
font = cv2.FONT_HERSHEY_SIMPLEX
battery=100

def handler(event, sender, data, **args):
    global prev_flight_data
    global battery
    drone = sender
    if event is drone.EVENT_FLIGHT_DATA:
        if prev_flight_data != str(data):
            #print(data)
            datas=str(data)
            num = datas.find("BAT")
            battery=int(datas[num+4:-31])
            print("Battery:" + str(battery))
            prev_flight_data = str(data)
    else:
        print('event="%s" data=%s' % (event.getname(), str(data)))

cascPath2 = "haarcascade/haarcascade_smile.xml"
cascPath = "haarcascade/haarcascade_frontalface_default.xml"
cascPathStop="haarcascade/Stopsign_HAAR_19Stages.xml"
faceCascade = cv2.CascadeClassifier(cascPath)
signalCascade = cv2.CascadeClassifier(cascPath2)
ser = serial.Serial("COM11", 115200)
star=1

def main():
    global star
    global cascPath
    posx=0
    counter=0
    drone = tellopy.Tello()
    counter1=0
    step=200 #Seed Value, Dont Care :3
    step1=200
    stop=0
    flag1=True
    
    while star==1:
        cc=str(ser.readline())
        if cc[2:][:-5]=="Calling Drone":
            print(cc[2:][:-5])
            star=2
            break

    try:
        #Start Protocol
        drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
        drone.connect()
        drone.wait_for_connection(60.0)
        container = av.open(drone.get_video_stream())
        frame_skip = 300
        xdis=200
        ydis=150
        drone.takeoff()
        sleep(5)
        drone.up(18)
        sleep(5)
        drone.up(0)
        sleep(1)
        countface=0
        # End Start Protocol
        
        
        while True:
            for frame in container.decode(video=0):
                if 0 < frame_skip:
                    frame_skip = frame_skip - 1
                    continue
                start_time = time.time()
                image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
                #imagep= cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_BGR2GRAY)
                
                
                faces = faceCascade.detectMultiScale(
                image,
                scaleFactor=1.7,
                minNeighbors=5,
                minSize=(30, 30),
                flags=cv2.CASCADE_SCALE_IMAGE
                )
                
                
                if (len(faces) == 0):
                    countface=0
                    if(step!=0):    
                        if(step==1):
                            drone.backward(0)
                        elif(step==3):
                            drone.up(0)
                        elif(step==4):
                            drone.down(0)
                        elif(step==5):
                            drone.left(0)
                        elif(step==6):
                            drone.right(0)
                        elif(step==7):
                            drone.up(0)
                            drone.right(0)
                        elif(step==8):
                            drone.up(0)
                            drone.left(0)
                        elif(step==9):
                            drone.down(0)
                            drone.right(0)
                        elif(step==10):
                            drone.down(0)
                            drone.left(0)
                        elif(step==11):
                            drone.forward(0)
                        else:
                            ... #Nothing
                    step=0
                    counter1+=1
                    if counter1>=10 and flag1==True:
                        flag1=False
                        if posx < 430:
                            drone.counter_clockwise(0)
                        else:
                            drone.clockwise(0)
                else:
                    flag1=True
                    counter1=0
                    for (x, y, w, h) in faces:
                        cv2.rectangle(image, (x, y), (x+w, y+h), (0, 255, 0), 2)
                        place = image[y:y+h, x:x+w]
                        
                        #Save last X position in Memory
                        if(countface > 3):
                            posx=(x+(w/2))
                        else:
                            countface+=1
                        
                        signal = signalCascade.detectMultiScale(    
                        image[y:y+h, x:x+w],
                        scaleFactor= 3.5,
                        minNeighbors=20,
                        minSize=(20, 20),
                        flags=cv2.CASCADE_SCALE_IMAGE)
                        
                        for (x, y, w, h) in signal:
                            cv2.rectangle(place, (x, y), (x+w, y+h), (255, 255, 0), 2)
                           
                            if (counter==10):
                                ...
                                #raise ValueError('Close Connection')
                                #break
                            elif (len(signal) != 0):
                                counter+=1
                            else:
                                counter=0
            
                        if(w*h > 60000 and step!=1):
                            if(step==0):
                                drone.clockwise(0)
                            elif(step==1):
                                ...
                                #drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                                drone.counter_clockwise(10)
                                cascPath=cascPathStop
                                stop=1
                            step=1
                            
                        elif(w*h > 40000 and step!=2):
                            
                            if(step!=2):
                                if(step==0):
                                    drone.counter_clockwise(0)
                                    drone.clockwise(0)
                                elif(step==1):
                                    drone.backward(0)
                                elif(step==3):
                                    drone.up(0)
                                elif(step==4):
                                    drone.down(0)
                                elif(step==5):
                                    drone.left(0)
                                elif(step==6):
                                    drone.right(0)
                                elif(step==7):
                                    drone.down(0)
                                    drone.right(0)
                                elif(step==8):
                                    drone.down(0)
                                    drone.left(0)
                                elif(step==9):
                                    drone.up(0)
                                    drone.right(0)
                                elif(step==10):
                                    drone.up(0)
                                    drone.left(0)
                                elif(step==11):
                                    drone.forward(0)
                                else:
                                    if(stop==1):
                                        raise ValueError('Close Connection')
                                        break
        
                            if(y<ydis and step1!=1 and x>xdis and (960-x-w)>xdis):
                                step1=1
                                drone.up(12)
                                print("Up Stable")
                            elif((720-y-h)<ydis and step1!=2 and x>xdis and (960-x-w)>xdis):
                                step1=2
                                drone.down(12)
                                print("Down Stable")
                            elif(x<xdis and step1!=3 and (720-y-h)>ydis and y>ydis):
                                step1=3
                                drone.left(12)
                                print("Left Stable")
                            elif((960-x-w)<xdis and step1!=4 and (720-y-h)>ydis and y>ydis):
                                step1=4
                                drone.right(12)
                                print("Right Stable")
                            elif(y<ydis and step1!=5 and x>xdis and (960-x-w)<xdis):
                                step1=5
                                drone.right(12)
                                drone.up(12)
                                print("Right Up Stable")
                            elif((720-y-h)<ydis and step1!=6 and x>xdis and (960-x-w)<xdis):
                                step1=6
                                drone.right(12)
                                drone.down(12)
                                print("Right Down Stable")
                            elif(y<ydis and step1!=7 and x<xdis and (960-x-w)>xdis):
                                step1=7
                                drone.left(12)
                                drone.up(12)
                                print("Left Up Stable")
                            elif((720-y-h)<ydis and step1!=8 and x<xdis and (960-x-w)>xdis):
                                step1=8
                                drone.left(12)
                                drone.down(12)
                                print("Left Down Stable")
                            elif(step1!=9 and (720-y-h)>ydis and y>ydis and x>xdis and (960-x-w)>xdis):
                                if(step1==1):
                                    drone.up(0)
                                elif(step1==2):
                                    drone.down(0)
                                elif(step1==3):
                                    drone.left(0)
                                elif(step1==4):
                                    drone.right(0)
                                elif(step1==5):
                                    drone.up(0)
                                    drone.right(0)
                                elif(step1==6):
                                    drone.right(0)
                                    drone.down(0)
                                elif(step1==7):
                                    drone.left(0)
                                    drone.up(0)
                                elif(step1==8):
                                    drone.left(0)
                                    drone.down(0)
                                else:
                                    ... #Nothing
                                step1=9
                                print("Stable")
                            else:
                                ... #Nothing
                            step=2
                        elif(y<ydis and step!=3 and x>xdis and (960-x-w)>xdis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=3
                            drone.up(12)
                            print("Up")
                            
                        elif((720-y-h)<ydis and step!=4 and x>xdis and (960-x-w)>xdis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                ...
                                #drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=4
                            drone.down(12)
                            print("Down")
                            
                        elif(x<xdis and step!=5 and (720-y-h)>ydis and y>ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                ...
                                #drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            print(step)
                            step=5
                            drone.left(12)
                            print("Left")
                        elif((960-x-w)<xdis and step!=6 and (720-y-h)>ydis and y>ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                ...
                                #drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=6
                            drone.right(12)
                            print("Right")
                        elif((960-x-w)<xdis and step!=7 and (720-y-h)<ydis and y>ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                ...
                                #drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                ...
                                #drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=7
                            drone.down(12)
                            drone.right(12)
                            print("Right Down")
                        elif(x<xdis and step!=8 and (720-y-h)<ydis and y>ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                ...
                                #drone.down(0)
                            elif(step==5):
                                ...
                                #drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=8
                            drone.down(12)
                            drone.left(12)
                            print("Left Down")
                        elif((960-x-w)<xdis and step!=9 and (720-y-h)>ydis and y<ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                ...
                                #drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                ...
                                #drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                ...
                                #drone.up(0)
                                #drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=9
                            drone.up(12)
                            drone.right(12)
                            print("Right Up")
                        elif(x<xdis and step!=10 and (720-y-h)>ydis and y<ydis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                ...
                                #drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                ...
                                #drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                ...
                                #drone.up(0)
                                #drone.left(0)
                            elif(step==11):
                                drone.forward(0)
                            else:
                                ... #Nothing
                            step=10
                            drone.up(12)
                            drone.left(12)
                            print("Left Up")
                        elif (step!=11 and (720-y-h)>ydis and y>ydis and x>xdis and (960-x-w)>xdis):
                            if(step==0):
                                drone.counter_clockwise(0)
                                drone.clockwise(0)
                            elif(step==1):
                                drone.backward(0)
                            elif(step==3):
                                drone.up(0)
                            elif(step==4):
                                drone.down(0)
                            elif(step==5):
                                drone.left(0)
                            elif(step==6):
                                drone.right(0)
                            elif(step==7):
                                drone.down(0)
                                drone.right(0)
                            elif(step==8):
                                drone.down(0)
                                drone.left(0)
                            elif(step==9):
                                drone.up(0)
                                drone.right(0)
                            elif(step==10):
                                drone.up(0)
                                drone.left(0)
                            elif(step==11):
                                ...
                                #drone.forward(0)
                            else:
                                ... #Nothing
                            step=11
                            drone.forward(12)
                            print("Adelante")
                        else:
                                ... #Nothing

                        
    # Display the resulting frame
                cv2.putText(image,"Battery %:"+str(battery),(10,30), font, 1,(255,255,255),2,cv2.LINE_AA)
                cv2.imshow('Original', image)
                               
                if cv2.waitKey(1) & 0xFF == ord('q'):
                    raise ValueError('Close Connection')
                    break
                elif frame.time_base < 1.0/60:
                    time_base = 1.0/60
                else:
                    time_base = frame.time_base
                frame_skip = int((time.time() - start_time)/time_base)
                
    except:
        drone.forward(0)
        drone.backward(0)
        drone.right(0)
        drone.left(0)
        drone.down(0)
        drone.up(0)
        drone.counter_clockwise(100)
        drone.land()
        sleep(5)
        drone.quit()
        cv2.destroyAllWindows()
        exit()
    

if __name__ == '__main__':
    main()

<?xml version="1.0"?>
<opencv_storage>
<cascade>
  <stageType>BOOST</stageType>
  <featureType>LBP</featureType>
  <height>24</height>
  <width>24</width>
  <stageParams>
    <boostType>GAB</boostType>
    <minHitRate>9.9750000238418579e-01</minHitRate>
    <maxFalseAlarm>5.0000000000000000e-01</maxFalseAlarm>
    <weightTrimRate>9.4999999999999996e-01</weightTrimRate>
    <maxDepth>1</maxDepth>
    <maxWeakCount>100</maxWeakCount></stageParams>
  <featureParams>
    <maxCatCount>256</maxCatCount>
    <featSize>1</featSize></featureParams>
  <stageNum>19</stageNum>
  <stages>
    <!-- stage 0 -->
    <_>
      <maxWeakCount>3</maxWeakCount>
      <stageThreshold>-1.0509959459304810e+00</stageThreshold>
      <weakClassifiers>
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          <leafValues>
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    <!-- stage 1 -->
    <_>
      <maxWeakCount>3</maxWeakCount>
      <stageThreshold>-1.1038533449172974e+00</stageThreshold>
      <weakClassifiers>
        <_>
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        <_>
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        <_>
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          <leafValues>
            -7.4104481935501099e-01 5.8605659008026123e-01</leafValues></_></weakClassifiers></_>
    <!-- stage 2 -->
    <_>
      <maxWeakCount>4</maxWeakCount>
      <stageThreshold>-1.7067917585372925e+00</stageThreshold>
      <weakClassifiers>
        <_>
          <internalNodes>
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        <_>
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          <internalNodes>
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          <leafValues>
            -7.3579114675521851e-01 4.5858564972877502e-01</leafValues></_></weakClassifiers></_>
    <!-- stage 3 -->
    <_>
      <maxWeakCount>5</maxWeakCount>
      <stageThreshold>-1.1071876287460327e+00</stageThreshold>
      <weakClassifiers>
        <_>
          <internalNodes>
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This file has been truncated, please download it to see its full contents.

<?xml version="1.0"?>
<!--
    Stump-based 24x24 discrete(?) adaboost frontal face detector.
    Created by Rainer Lienhart.

////////////////////////////////////////////////////////////////////////////////////////

  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.

  By downloading, copying, installing or using the software you agree to this license.
  If you do not agree to this license, do not download, install,
  copy or use the software.


                        Intel License Agreement
                For Open Source Computer Vision Library

 Copyright (C) 2000, Intel Corporation, all rights reserved.
 Third party copyrights are property of their respective owners.

 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:

   * Redistribution's of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.

   * Redistribution's in binary form must reproduce the above copyright notice,
     this list of conditions and the following disclaimer in the documentation
     and/or other materials provided with the distribution.

   * The name of Intel Corporation may not be used to endorse or promote products
     derived from this software without specific prior written permission.

 This software is provided by the copyright holders and contributors "as is" and
 any express or implied warranties, including, but not limited to, the implied
 warranties of merchantability and fitness for a particular purpose are disclaimed.
 In no event shall the Intel Corporation or contributors be liable for any direct,
 indirect, incidental, special, exemplary, or consequential damages
 (including, but not limited to, procurement of substitute goods or services;
 loss of use, data, or profits; or business interruption) however caused
 and on any theory of liability, whether in contract, strict liability,
 or tort (including negligence or otherwise) arising in any way out of
 the use of this software, even if advised of the possibility of such damage.
-->
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This file has been truncated, please download it to see its full contents.

<?xml version="1.0"?>
<!--
  Smile detector
  Contributed by Oscar Deniz Suarez
  More information can be found at http://visilab.etsii.uclm.es/personas/oscar/oscar.html

//////////////////////////////////////////////////////////////////////////
| Contributors License Agreement
| IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|   By downloading, copying, installing or using the software you agree
|   to this license.
|   If you do not agree to this license, do not download, install,
|   copy or use the software.
|
| Copyright (c) 2011, Modesto Castrillon-Santana (IUSIANI, Universidad de
| Las Palmas de Gran Canaria, Spain).
|  All rights reserved.
|
| Redistribution and use in source and binary forms, with or without
| modification, are permitted provided that the following conditions are
| met:
|
|    * Redistributions of source code must retain the above copyright
|       notice, this list of conditions and the following disclaimer.
|    * Redistributions in binary form must reproduce the above
|      copyright notice, this list of conditions and the following
|      disclaimer in the documentation and/or other materials provided
|      with the distribution.
|    * The name of Contributor may not used to endorse or promote products
|      derived from this software without specific prior written permission.
|
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
| A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
| CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
| EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
| PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
| PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
| LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
| NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
| SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.  Back to
| Top
//////////////////////////////////////////////////////////////////////////

-->
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This file has been truncated, please download it to see its full contents.

#include <SDHCI.h>
#include <Audio.h>

SDClass theSD;
AudioClass *theAudio;

File myFile;

bool ErrEnd = false;
float sensorValue = 0;              
float distance = 3;
int analog = 0;
int counter=0;
int counter2=201;
bool flag= false;

static void audio_attention_cb(const ErrorAttentionParam *atprm)
{
  puts("Attention!");
  
  if (atprm->error_code >= AS_ATTENTION_CODE_WARNING)
    {
      ErrEnd = true;
   }
}

char* string2char(String command){
    if(command.length()!=0){
        char *p = const_cast<char*>(command.c_str());
        return p;
    }
}

void setup()
{
  pinMode(2,INPUT);
  digitalWrite(2,HIGH);
  theAudio = AudioClass::getInstance();
  theAudio->begin(audio_attention_cb);
  puts("initialization Audio Library");
  theAudio->setRenderingClockMode(AS_CLKMODE_NORMAL);
  theAudio->setPlayerMode(AS_SETPLAYER_OUTPUTDEVICE_SPHP, AS_SP_DRV_MODE_LINEOUT);
  err_t err = theAudio->initPlayer(AudioClass::Player0, AS_CODECTYPE_MP3, "/mnt/sd0/BIN", AS_SAMPLINGRATE_AUTO, AS_CHANNEL_STEREO);

  if (err != AUDIOLIB_ECODE_OK)
    {
      printf("Player0 initialize error\n");
      exit(1);
    }
    
  myFile = theSD.open("Sound.mp3");

  if (!myFile)
    {
      printf("File open error\n");
      exit(1);
    }
    
  printf("Open! %d\n",myFile);

  err = theAudio->writeFrames(AudioClass::Player0, myFile);

  if ((err != AUDIOLIB_ECODE_OK) && (err != AUDIOLIB_ECODE_FILEEND))
    {
      printf("File Read Error! =%d\n",err);
      myFile.close();
      exit(1);
    }
    
  theAudio->setVolume(-160);
}

void loop()
{
  if (digitalRead(2)==LOW)
  {
    delay(10);
    if((digitalRead(2)==LOW))
    {
      puts("Calling Drone");
      delay(3000);
    }
  }
    

  if (distance<2 && counter2==201)
  {
    theAudio->startPlayer(AudioClass::Player0);
    puts("Play!"); 
    counter2=0;
  }
  if (counter2<200)
  {
    counter2++;
  }
  else if (counter2==200)
  {
  counter2++;
  theAudio->stopPlayer(AudioClass::Player0);
  myFile.close();
  myFile = theSD.open("Sound.mp3");
  puts("Reset Audio");
  }
  
  sensorValue += analogRead(A1);
  
  if(counter==9)
  {
   sensorValue/=10;  
   distance=((sensorValue*0.00976*3)/0.3858); 
   counter=0;
   sensorValue=0;
   puts(string2char(String(distance)));
  }
  
  counter++;
  analog=analogRead(A0);
  analog = map(analog, 0, 1023, -800, -100);
  theAudio->setVolume(analog);

  int err = theAudio->writeFrames(AudioClass::Player0, myFile);

  if (err == AUDIOLIB_ECODE_FILEEND)
    {
      printf("Main player File End!\n");
    }

  if (err)
    {
      printf("Main player error code: %d\n", err);
      goto stop_player;
    }

  if (ErrEnd)
    {
      printf("Error End\n");
      goto stop_player;
    }
  usleep(40000);
  return;

stop_player:
  sleep(1);
  theAudio->stopPlayer(AudioClass::Player0);
  myFile.close();
  exit(1);
}

#include <stdio.h>
#include <sys/stat.h>
#include <unistd.h>

// Include each file generated by bin2c
#include "MP3DEC.h"

#define DSP_MOUNTPT_SDCARD   "/mnt/sd0/BIN"
#define DSP_MOUNTPT_SPIFLASH "/mnt/spif/BIN"

#define _FILEELEM(elem) { \
  .name = #elem, \
  .addr = elem##_start, \
  .size = &elem##_size, \
}

struct fileinfo_s {
  const char *name;
  const unsigned char *addr;
  const size_t *size;
};

struct fileinfo_s dsplist[] =
{
  // Add each file here
  _FILEELEM(MP3DEC),
};

void setup()
{
  unsigned int i;
  int ret;
  FILE *fp;
  char dirpath[64] = {0};
  char filepath[64] = {0};
  enum {INTO_SD, INTO_FLASH} where;

  Serial.begin(115200);
  while (!Serial) {
    ; // wait for serial port to connect.
  }

  // Display Menu
  Serial.println("Select where to install MP3DEC?");
  Serial.println(" [1]: SD Card (Insert SD Card on the extension board)");
  Serial.println(" [2]: SPI-Flash");

  // User Menu Selection
  int c;
  while (true) {
    Serial.println("");
    Serial.print("Please input number. [1-2] ? ");
    while (!Serial.available());
    c = Serial.read();
    while (Serial.available()) {
      Serial.read(); // Discard inputs except for 1st character
    }

    if (c == '1') {
      Serial.println("1 -> SD Card");
      where = INTO_SD;
      break;
    } else if (c == '2') {
      Serial.println("2 -> SPI-Flash");
      where = INTO_FLASH;
      break;
    } else {
      if ((c != '\n') && (c != '\r'))
        Serial.write(c);
    }
  }

  // If install to SD Card, check whether the SD Card is inserted.
  if (where == INTO_SD) {
    struct stat buf;

    strncpy(dirpath, DSP_MOUNTPT_SDCARD, sizeof(dirpath));
    for (;;) {
      ret = stat("/mnt/sd0", &buf);
      if (ret) {
        Serial.println("Please insert formatted SD Card.");
        sleep(1);
      } else {
        break;
      }
    }
  } else if (where == INTO_FLASH) {
    strncpy(dirpath, DSP_MOUNTPT_SPIFLASH, sizeof(dirpath));
  }

  mkdir(dirpath, 0777);

  for (i = 0; i < sizeof(dsplist) / sizeof(dsplist[0]); i++)
    {
      snprintf(filepath, sizeof(filepath), "%s/%s",
               dirpath, dsplist[i].name);

      Serial.print("Install: ");
      Serial.print(filepath);

      unlink(filepath);

      fp = fopen(filepath, "wb");

      ret = fwrite(dsplist[i].addr, *dsplist[i].size, 1, fp);

      Serial.println((ret) ? " Done." : " Fail.");

      fclose(fp);
    }

  Serial.println("Finished.");
}

void loop()
{
  // nothing happens after setup finishes.
}

Credits

Andre Hernandez

5 projects • 11 followers

I am a consultant for Deloitte in the IT department. I have always had passion for drone design and development.

Receptionist Drone with CV

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction:

Spresense Hardware:

Spresense Software:

We attached some videos of the operation of the system, but first check what the code does, enjoy it!

Videos demonstrated the operation:

Tello Important Considerations:

Tello Software:

System Connection Diagram:

The Final Product:

Comments:

References:

Custom parts and enclosures

Soundfile

Schematics

Circuit Diagram

Real Connections.

Propeller Correct Order.

Lateral Fly Control Diagram

Frontal Fly Control Diagram

General connection diagram.

Code

MP3DEC

MP3DEC

OpenCV Drone Control

Stopsign_HAAR_19Stages.xml

haarcascade_frontalface_default.xml

haarcascade_smile.xml

PlayerFull

Mp3 Decoder

Github

Credits

Andre Hernandez

Comments

Embed the widget on your own site

Receptionist Drone with CV

Receptionist Drone with CV

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction:

Spresense Hardware:

Spresense Software:

We attached some videos of the operation of the system, but first check what the code does, enjoy it!

Videos demonstrated the operation:

Tello Important Considerations:

Tello Software:

System Connection Diagram:

The Final Product:

Comments:

References:

Custom parts and enclosures

Soundfile

Schematics

Circuit Diagram

Real Connections.

Propeller Correct Order.

Lateral Fly Control Diagram

Frontal Fly Control Diagram

General connection diagram.

Code

MP3DEC

MP3DEC

OpenCV Drone Control

Stopsign_HAAR_19Stages.xml

haarcascade_frontalface_default.xml

haarcascade_smile.xml

PlayerFull

Mp3 Decoder

Github

Credits

Andre Hernandez

Comments

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