Some more Video's of Cisco95 in action

Cisco95 moving and detecting faces

Cisco95 camera movement using tower pro micro servo camera mount

Future Goals:

My next goal is to combine the Gstreamer and OpenCV and make them work parallel to each other. I also want to make the robot autonomous.

Cisco95 moving with live stream and Connecting Rpi to laptop

The above clip shows the Cisco95 moving by following the commands and also giving the live feed on my laptop.

I connected my Rpi to my laptop using the remote desktop connection on my laptop. I used my Iphone's hotspot while connecting my pi and i am gonna keep using my hotspot when ever i use my pi connected to my laptop so that the IP address of my pi doesn't change ever time i login in different WiFi settings.

Steps to connect my Rpi to laptop:

1. Turn on your pi, your laptop and your personal Hotspot in your Iphone.
2. Connect your pi and laptop to your Hotspot by selecting your iphone from the WiFi settings on your laptop and your pi.
3. Enter the password when asked.
4. when all the desired devices are connected to personal Hotspot, type the following command in your pi terminal for the IP address:

Your IP address should be in the spot where there is a number highlighted with yellow highlighter.

5. Go to your Laptop, open the remote desktop connection and connect your pi to your laptop by typing your pi's IP address where it asks for computer and click connect.

6. Turn off the pi and turn it back on and see if the IP address is still the same. It should be the same anytime you connect your pi to your personal Hotspot.

Motors

I made the robot turn a 360 for starters: one motor moving forward and the other one moving backward.

I used a python code to make the robot go forward, reverse, left and right using specific keys on the keyboard. I also combined the distance finder code with the motors code to make the robot sense the distance every time i press a key for it to move.

Cisco moving forward, reverse and right:

Circuit design from Fritzing:

Building the robot

I built a compartment on top of the rover which stores the battery, breadboard and motor drive controller board. I used a cardboard box and made wholes on the top and sides for the wires to pass through. I screwed the cardboard box to the rover on the bottom.

Use Of Ultra Sonic Range Finder

I used the Ultra Sonic Range Finder to help the robot detect the obstacle.
I connected the sensor to my Rpi using the bread board, 2 resistors (1k) and some male to female jumper wires. I also wrote the below code that detects the obstacle and outputs the distance from the sensor to the obstacle.

Circuit design from fritzing:

The below is the circuit design i used:

The above code gives the following output:

Using Gstreamer and OpenCV

After the installations i just typed the following command in the terminal which gives the live stream on the monitor using Gstreamer:

raspivid -n -w 960 -h 540 -b 4500000 -fps 8 -vf -hf -t 0 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! omxh264dec ! videoconvert ! ximagesink

I wrote a python program using the OpenCV which detects the face and takes a picture of it. I included the above command in the python file to give the live stream and use it for facial detection.

Gstreamer and OpenCV Installations

I installed Gstreamer and OpenCV in my raspberry pi for the video surveillance and facial detection:

I got the code for OpenCV from:
http://askubuntu.com/questions/537268/installing-opencv-in-ubuntu-14-04

The following link have a data for the xml file:
https://raw.githubusercontent.com/shantnu/webcam-face detect/master/haarcascade_frontalface_default.xml

For Gstreamer installation:
sudo apt-get install gstreamer1.0

For OpenCV installation:

version="$(wget -q -O - http://sourceforge.net/projects/opencvlibrary/files/opencv-unix | egrep -m1 -o '\"[0-9](\.[0-9])+' | cut -c2-)"

echo "Installing OpenCV" $version
mkdir OpenCV
cd OpenCV

echo "Removing any pre-installed ffmpeg and x264"
sudo apt-get -qq remove ffmpeg x264 libx264-dev

echo "Installing Dependenices"
sudo apt-get -qq install libopencv-dev build-essential checkinstall cmake pkg-config yasm libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libtbb-dev libqt4-dev libgtk2.0-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils ffmpeg

echo "Downloading OpenCV" $version
wget -O OpenCV-$version.zip http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/$version/opencv-"$version".zip/download

echo "Installing OpenCV" $version
unzip OpenCV-$version.zip
cd opencv-$version
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..
make -j2
sudo checkinstall
sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig
echo "OpenCV" $version "ready to be used"