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Goal-line technology Team INTERNATIONAL Marko Bundalo Ponphet Homchanh

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Presentation on theme: "Goal-line technology Team INTERNATIONAL Marko Bundalo Ponphet Homchanh"— Presentation transcript:

1 Goal-line technology Team INTERNATIONAL Marko Bundalo Ponphet Homchanh
David Wu Ideen Taeb Jason Mucilli

2 Why Goal-line technology ?
Improve officiating Various sports Increase sport fans interest

3 Top Level Overview Remote controller Launcher Goal Wire Wrapped board
Camera PC Desktop Speaker

4 Division of Labor Schematics CPLD Microcontroller Board Design
Marko & David Pohphet, Marko, Ideen Ideen & Jason Ping Pong gun Controller Hardware Goal Schematics CPLD Microcontroller Board Design Software Digital Image Processing Camera

5 Functional Block Diagram
Camera Computer Image Processing Trigger RAM Stepper Motor 1 Stepper Driver Micro controller ROM Stepper Motor 2 Stepper Driver CPLD Stepper Motor 3 Stepper Driver Controller

6 Microcontroller Motorola HC11K1 16 bit address 8 bit data
Four 8-bit PWM outputs Memory map on the left R/W both data and address on falling edge of E clock (2 MHz)

7 Microcontroller Schematic

8 Wire Wrapped HC11K1 and Memory

9 CPLD Schematic

10 Motor control Optocoupler to isolate high current from microcontroller
Bipolar micro stepping motor driver (+/- 2.5A) Power Transistor & heat sink Bipolar stepper motor (2A)

11 Motor Drivers 2.5 A, 35V Output Rating
3.0 ~ 5.5V Logic Supply Voltage Range Thermal Shutdown Circuitry Crossover Current Protection 44 pin PLCC

12 Power Source ATX Power Supply (300W) Output: 12V @ 18A 5V @ 26A
12V will be used to power Stepper motors each rate at 2A (Total of 6A) 5V will be used to power Controller boards

13 Controller Control multiple functions of the paintball gun:
- horizontal/vertical movement of barrel - launching the ball - moving along straight/semicircle path around the goal

14 Launcher Assembly SPECIFICATIONS Velocity: 10~70 miles/hr
86 balls capacity Weight: Launcher – 5 lbs Turret Mount ~ 5 lbs Max/Min => 63/13 balls/min Material: Acrylic, Bolts, Bearing Rotating Wheels Control Speed, Frequency, Power Motors: 3x DC stepper motor Width/Height/Depth => 16’/25’/12’

15 Camera VGA Stealth Wire camera (30 fps) 320*240 resolution - 640*480 Firewire-IIDC Compatible-no drivers needed

16 Image Processing Magic
Capture the frames Turn them to black and white Edge Filtering Find the center Compare the centers to find out if it is the goal or not

17 Image subtract and edge
Capturing Frames Turn to B&W Image subtract and edge

18 Filling and finding the center
Dilate Filtering Filling and finding the center

19 Timeline Status Milestone 1 The microcontroller with Flash and ROM CPLD Read frames from camera and do some basic processing Two Stepper motors that will horizontally and vertically point launcher to specific target

20 Timeline Status Milestone 2 Third stepper motor that will move the launcher on semicircle path around the goal Complete integration with launcher and microcontroller Goal line detection completely working Testing all modules Manual controller to be able to shoot

21 Timeline Status EXPO Fully functional launcher which can be controlled manually or automated Goal line detection completed with user interface with display

22 Gantt Chart

23 Possible Risks & Problems
PRECISION whether the ball passed the goal line or not Speed of ball versus frame rate Real time response/Fast processing Multi-camera processing capability Smooth changing directions of the gun shot Ball speed control

24 Estimated Part Costs

25 Questions / Comments ?

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