Three axis auto stabilizing video camera platform
- 1. THREE-AXIS AUTO STABILIZING VIDEO CAMERA PLATFORM TRAINING AT : CENTRAL ELECTRONICS ENGINEERING RESEARCH INSTITUTE, PILANI PRESENTED BY EKLAVYA SHARMA 12EBKEE031
- 2. CONTENTS Objective Introduction Methodology & Implementation Prototype Auto Stabilizing Platform Components Flow Chart Kalman Filter Free Arduino Libraries Coding Implementation Testing And Results Conclusions
- 3. OBJECTIVE To demonstrate the techniques involved in balancing a platform. To work on precise movements and accurate control of platform using filtering process. To understand the working of MPU-6050. To communicate with the microcontroller. Establishing lines of communication. To establish the power supply to each electronic components.
- 4. INTRODUCTION Auto Stabilizing Platform consists of platform which is balanced by movement of three servo motors in opposite direction to the movement of the platform. The intent of the platform design is to maintain the platform at an initially selected angle while the support structure orientation changes.
- 6. METHODOLOGY & IMPLEMENTATION Auto Stabilizing Platform Design
- 7. PROTOTYPE
- 9. COMPONENTS 1. MPU-6050 (MEMS Accelerometer and MEMS Gyro) 2. Arduino Platform 3. Arduino IDE 4. DC Servo Motors (SG90) 5. Power Supply
- 10. MPU-6050 The InvenSense MPU-6050 sensor contains a MEMS accelerometer and a MEMS gyro in a single chip. The MPU-6050 is installed just below the top platform through which the tilt angle is being measured.
- 11. MPU-6050
- 12. ARDUINO PLATFORM The Arduino platform is an open source electronic prototyping system. Arduino is meant to be used as a physical computing platform. Arduino builds on this by adding simplicity to the hardware interface and an easy to use software package.
- 13. ARDUINO IDE The open-source Arduino Software. Used to create the programs, called “Sketches”. Modified C language compiler.
- 14. ARDUINO IDE
- 15. DC SERVO MOTORS There are three servo motors in the auto stabilizing platform which are used to balance each axes namely yaw, pitch and roll. Pulse Width Modulation
- 16. DC SERVO MOTOR
- 17. POWER SUPPLY The input voltage of an Arduino can vary from 7 -12 Volts. Full Wave Bridge Rectifier.
- 18. Full Wave Bridge Rectifier
- 19. FLOW CHART Read MPU- 6050 Convert Radian to Degrees Kalman Filter Transform Angle of Tilt to Servo Angle Transform Servo Angle to Servo Pulse Transmit the Angle Signal to Servo MAIN LOOP Initialize Servo Libraries Initialize MPU-6050 Initialize All Variables Assign Hardware Pins
- 20. KALMAN FILTER It is an algorithm which uses a series of measurements observed over time. The Kalman filter operates recursively on streams of noisy input data to produce a statistically optimal estimate of the underlying system state. We can only trust the gyroscope on a short term while you can only trust the accelerometer on a long term.
- 21. FREE ARDUINO LIBRARIES MPU-6050 library - Implements sensor fusion. Free Kalman Filter Library – Used to Combine Gyroscope and Accelerometer values.
- 22. CODING IMPLEMENTATION Keep the Gyroscope level Kalman Filtering Communication using standard I2C protocol Pulse-Width Modulation (for analog) Use serial data to communicate the speed and direction of the motors
- 23. TESTING AND RESULTS The testing is meant to determine the accuracy of the leveling capability of the platform when aligned parallel to the surface of the earth. The results of the testing proved that the platform design functioned as designed and intended.
- 24. Conclusion The platform was designed using inexpensive materials, Perspex and aluminum sheet metal, controlled by an open source Arduino microcontroller, MPU-6050, and three servos. There are many performance improvement opportunities that can be implemented with simple modifications to hardware and software.
- 25. THANK YOU