Febrian, Rizal (2015) APLIKASI OPENCV UNTUK KONTES ROBOT PEMADAMAPI INDONESIA BERBASIS RASPBERRY PI MODEL B. S1 thesis, Universitas Sultan Ageng Tirtayasa.
![[img]](https://eprints.untirta.ac.id/style/images/fileicons/text.png) |
Text
APLIKASI OPENCV UNTUK KONTES ROBOT PEMADAM API INDONESIA BERBASIS RASPBERRY PI MODEL B (FULL).pdf - Published Version Restricted to Registered users only Download (2MB) |
Abstract
KRPAI (Kontes Robot Pemadam ApiIndonesia)is a national roboticscontestthatconsists of two divisions(leggeddivisionand wheeled division). Problem oftenencountered robot team at the University of Sultan Ageng Tirtayasa on KRPAI isat sensor system. The flame sensor (UV TRON) or photodiode to detect the fire.PING ultrasonic sensor is used to detect the dog obstacle, furniture, and competitor’s robot. Meanwhile, light sensor LDR(Light Dependent Resistor) isused to detect the floor. Those sensors still has its disadvantages such as lessrespons, less accurate, and easily damaged.This research requires asystem thatcan fix thisproblem. Webcam in this study is used to capture images. RaspberryPi (mini computer) and OpenCV are used for image processing.Therefore, therobot candistinguishobject based on value of room's color and to locate object'sposition by its centroid value.The result shownasystem can detect, identify, anddetermine the position of objects in real-time at the optimal distance detection is90 cm.At thenormal mode without overclock(by displaying a GUI (GraphicalUser Interface)),system can process images the amount of1.056 fps.However,that displayed only text, the system can process images is2.921 fps and 4.542 fpswhen the system is in turbo overclock mode.
| Item Type: | Thesis (S1) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Contributors: |
|
|||||||||
| Additional Information: | KRPAI (Kontes Robot Pemadam Api Indonesia)merupakan perlombaan robotikatingkat nasional yang terdiridariduadivisi yaitu berkaki dan beroda.pada KRPAImasalah yang masih sering dihadapi tim robot Universitas Sultan Ageng Tirtayasaadalahpenggunaan sensor.Sensor-sensoryang digunakanyaituflame sensor(UVTRON) atauphotodiodauntuk mendeteksiapi. Sensor ultrasonik PINGdigunakanuntuk mendeteksi dog obstacle, furniture,dan robot lawan. Sedangkan sensorcahaya LDR (Light Dependent Resistor) digunakan untuk mendeteksi lantai.Sensor-sensor tersebutmasih memilikikelemahanyaitu kurangresponsif,kurangakurat, dan mudah rusak sehingga dibutuhkan sebuah sistem yang dapatmemperbaikikelemahan tersebut.Pada penelitian iniwebcamdigunakansebagaisensor penangkap gambar, Raspberry Pi (komputer mini)danOpenCV digunakansebagai pengolah citra agar robot dapat membedakan objek berdasarkanperbedaan nilai ruang warna dan mengetahui posisi objek dengan mencari nilaicentroid-nya. Sistem yang dibangun dapat mendeteksi, mengenali, danmengetahui posisi objek secararealtimepada jarak optimal pendeteksian sejauh90 cm, pada mode normal tanpaoverclockdengan menampilkan GUI (GraphicalUser Interface) sistem dapat memproses gambar sebanyak 1,056 fps, sedangkanyang ditampilkan hanya teks,sistem dapat memproses gambar sebanyak 2,921 fpsdan saat sistem pada modeoverclock turbo4,542 fps. | |||||||||
| Uncontrolled Keywords: | KRPAI,Raspberry Pi,Mini PC,OpenCV KRPAI,Raspberry Pi,Mini PC, OpenCV | |||||||||
| Subjects: | T Technology > T Technology (General) | |||||||||
| Divisions: | 03-Fakultas Teknik 03-Fakultas Teknik > 20201-Jurusan Teknik Elektro |
|||||||||
| Depositing User: | Perpustakaan Pusat | |||||||||
| Date Deposited: | 11 Apr 2022 21:42 | |||||||||
| Last Modified: | 11 Apr 2022 21:42 | |||||||||
| URI: | http://eprints.untirta.ac.id/id/eprint/12064 |
Actions (login required)
 |
View Item |