dafit/nimmerverse-sensory-network
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
c24681d13e9a65d91b3b1b300df8f7c2d57bf607
nimmerverse-sensory-network/architecture/organs/IR-Position-Array.md
dafit d895fd9103 feat: Add IR-Position-Array organ spec + update Organ-Index v1.2 
New organ: IR Position Array (8x ESP32-S3 AI CAMs as indoor GPS).
Updated Organ-Index with 4 new organs: Position-Time Beacon,
IR Position Array, Crafting Eye, Godseye.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
2026-01-30 08:29:48 +01:00

264 lines
9.2 KiB
Markdown
Raw Blame History

This file contains ambiguous Unicode characters
This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.
# IR Position Array Organ
**Room-scale organism tracking via IR beacon triangulation.**
> *"The organisms can't see their own backs. They know themselves through each other."*
---
## Overview
The IR Position Array is **infrastructure** — fixed cameras that run 24/7, tracking all organisms via their IR beacons. This is the nimmerverse's indoor GPS.
---
## Hardware Specification
| Component | Spec | Quantity | Status |
|-----------|------|----------|--------|
| **Camera** | ESP32-S3 AI CAM (night vision) | 8× | Received 2026-01-05 |
| **IR Sensitivity** | Native (night vision LEDs + sensor) | - | Built-in |
| **Resolution** | OV2640/OV5640 | - | TBD confirm |
| **Power** | 5V wired (ceiling PSU) | - | Planned |
| **Enclosure** | 3D printed custom case | 8× | To design |
### Upgrade from Original Spec
| Original (Nimmerswarm-Interface) | Actual |
|----------------------------------|--------|
| 4× PS3 Eye (IR filter removed) | 8× ESP32-S3 AI CAM (native IR) |
| USB hub / extension | WiFi streaming (no USB!) |
| ~80 CHF cameras | Already purchased |
**8 cameras > 4 cameras = better coverage, more triangulation angles, redundancy.**
---
## Architecture
```
CEILING (8× fixed cameras, star power from central PSU)
┌─────────────────────────────────────────────────────┐
│ │
│ [📷1] [📷2] [📷3] │
│ ╲ │ ╱ │
│ ╲ ┌────────────┴────────────┐ ╱ │
│ ╲ │ │ ╱ │
│ [📷4]──╲──│ ⚡ CEILING PSU │─╱──[📷5] │
│ ╲ │ (center, 5V hub) │╱ │
│ ╲└─────────────────────────┘ │
│ ╲ │ ╱ │
│ ╲──────────┼──────────╱ │
│ │ │
│ [📷6] │ [📷7] │
│ │ │
│ [📷8] │
│ │
│ 🤖────📍 IR beacon │
│ organism │
│ │
└───🚪───────────────────────────────────────────────┘
(0,0) origin
```
---
## Dual-Spectrum Design
From [[../interfaces/Nimmerswarm-Interface]]:
| Spectrum | Channel | Purpose |
|----------|---------|---------|
| **Infrared** | IR Position Array | WHERE organism is (24/7, day/night) |
| **Visible** | 3x3 LED Matrix | WHAT organism is doing (state broadcast) |
**Zero crosstalk. Two independent data streams.**
---
## Processing Pipeline
```
8× ESP32-S3 AI CAM
│
│ WiFi/MJPEG streams
▼
┌─────────────────────────────────┐
│ PROCESSING NODE │
│ (The Womb / RTX 6000 Max-Q) │
│ │
│ • Receive 8 camera streams │
│ • Detect IR beacon blobs │
│ • Multi-camera triangulation │
│ • Structure from Motion (SFM) │
│ • Output: (x, y, z) @ 30fps │
└─────────────────────────────────┘
│
│ NATS publish
▼
┌─────────────────────────────────┐
│ nats://nimmerverse/position/ │
│ │
│ { │
│ organism_id: "crawler_001", │
│ x: 1.234, │
│ y: -2.567, │
│ z: 0.05, │
│ confidence: 0.95, │
│ timestamp: 1704499200.123 │
│ } │
└─────────────────────────────────┘
│
▼
PHOEBE (ground truth storage)
```
---
## Algorithm: Low-Cost-Mocap
Standing on shoulders of [Low-Cost-Mocap](https://github.com/jyjblrd/Low-Cost-Mocap) by @jyjblrd:
| Component | Their Solution | Our Adaptation |
|-----------|----------------|----------------|
| Multi-camera triangulation | OpenCV SFM bundle adjustment | Same |
| Camera calibration | `camera_params.json` | Same process |
| 3D reconstruction | Epipolar geometry | Same math |
| Markers | Visual markers on drones | IR LEDs on organisms |
| Communication | ESP32 wireless | NATS messaging |
**Original use:** Indoor drone swarms
**Our use:** Organism positioning in nimmerhovel
*Respect to the fellow ape who did the groundwork.*
---
## Camera Placement Strategy
### Nimmerhovel Dimensions
- **X:** 4.5m (along wall from kitchen door)
- **Y:** 3.75m (into room toward windows)
- **Z:** 2.04m (floor to sloped ceiling)
- **Origin:** (0,0,0) at kitchen door corner
### 8-Camera Coverage
| Camera | Position (approx) | Orientation | Coverage |
|--------|-------------------|-------------|----------|
| CAM-1 | Corner (0, 0, ~2.0m) | Down 45°, into room | Origin quadrant |
| CAM-2 | Corner (4.5, 0, ~2.0m) | Down 45°, into room | Right-front |
| CAM-3 | Corner (0, -3.75, ~2.0m) | Down 45°, toward door | Left-back |
| CAM-4 | Corner (4.5, -3.75, ~2.0m) | Down 45°, toward door | Right-back |
| CAM-5-8 | Mid-walls / center | TBD | Fill gaps |
**8 cameras = no blind spots, multiple angles on every point.**
### Mounting
- **Ceiling mount** via 3D printed enclosure with mounting tabs
- **Angle:** ~45° down from ceiling plane
- **Power:** Star topology from ceiling PSU (center)
- **Cable runs:** Max ~3m from PSU to any camera
---
## Lifeforce Economics
| Metric | Value | Rationale |
|--------|-------|-----------|
| **Type** | Generator | Provides ground truth |
| **Rate** | +0.5 LF per position fix | Training data value |
| **Cost** | ~0.1 LF per frame (infra) | Always-on baseline |
| **Net** | Positive (generates value) | Core infrastructure |
**Every position fix = verified training data for organism navigation.**
---
## IR Beacon Specification
On each organism:
| Component | Spec |
|-----------|------|
| **LED Type** | IR LED (850nm or 940nm) |
| **Pattern** | Unique pulse code per organism |
| **Power** | From organism Akku |
| **Visibility** | Detectable by all 8 cameras |
```
ORGANISM
┌─────────────────────┐
│ │
│ ┌───────────────┐ │
│ │ 3x3 VISIBLE │ │ ← State broadcast (RGB)
│ │ LED Matrix │ │
│ │ 🔴⚫🟢 │ │
│ └───────────────┘ │
│ │
│ 📍 IR LED │ ← Position beacon (invisible)
│ │
│ [🔋 Akku] │ ← Mobile power
│ │
└─────────────────────┘
```
---
## Integration Points
| System | Interface |
|--------|-----------|
| **NATS** | `nats://nimmerverse/position/stream` |
| **Phoebe** | `organism_positions` table |
| **S2 Cells** | Position → S2 cell ID at L1 (1cm) resolution |
| **Virtual Garden** | Ground truth for prediction verification |
| **Vision Organ** | Separate stream (visible spectrum state recognition) |
---
## Dependencies
| Dependency | Status | Notes |
|------------|--------|-------|
| 8× ESP32-S3 AI CAM | Received | Hardware ready |
| Ceiling PSU | Planned | Power distribution |
| 3D printed enclosures | To design | Camera mounting |
| Printer station | Blocked | Waiting on Baumarkt materials |
| NATS messaging | Planned | Transport layer |
| The Womb (RTX 6000) | Waiting | Processing node |
---
## Calibration Procedure
1. **Camera intrinsics** — Checkerboard calibration per camera
2. **Extrinsics** — Multi-camera pose estimation (bundle adjustment)
3. **Origin alignment** — Align to GPS beacon at (0, 0, 2.0m)
4. **Verification** — Known position test with ruler measurements
---
## Status
| Phase | Status |
|-------|--------|
| Hardware acquisition | Complete |
| Enclosure design | Not started |
| Enclosure printing | Blocked (printer station) |
| Physical mounting | Not started |
| Camera calibration | Not started |
| Software pipeline | Not started |
| Integration test | Not started |
---
**Created**: 2026-01-05
**Version**: 1.0
**Based on**: [[../interfaces/Nimmerswarm-Interface]] (Dual-Spectrum Architecture section)
**Philosophy**: "They know themselves through each other."
*The eyes that never blink. The infrastructure that makes position truth.*
Reference in New Issue View Git Blame Copy Permalink