H.O.S.S. AUTOMATED SENTRY FOR HUMANS VS ZOMBIES 10/31/2013

 Humans vs Zombies (HvZ) is a game of tag  Humans tag Zombies with nerf guns  Players wear orange bandanas to show team affiliation  Problem: defending an area from zombies without the constant attention of human players INTRODUCTION

 Stationary tripod mounted Blaster  Blaster can easily be installed/uninstalled for maintenance or non-autonomous use  Webcam Target Tracking  Laser-range finding CONCEPT

 Bump sensors will be mounted to the left, right, and top of the blaster’s barrel  More on the left and right side of the blaster harness  Another bump sensor will be placed inside the Nerf Gun to count the rounds fired, which will be displayed on an LCD numeric display. OBJECT AVOIDANCE

 Two webcam circuit boards are hot glued vertically to each other and angled to create a panaramic camera  OPENCV currently detects orange and it’s position  TO DO:  Motion detection to remove non-target orange objects  Multi object detection and cross checking  Merging both camera feeds into one image for (not 100% necessary) TARGET TRACKING

 Logitech webcam and OpenCV to track UV Laser  OpenCV: HSV convert -> Threshold -> Erode -> X Position  Not a Number values replaced by last known value LASER DISTANCE FINDING

 Distance Calculated by solving: tan(angle)*(cam-laser placement in ft)  Left hand Field of View of Cam is almost parallel to Laser  Pixels are converted to degrees  FoV = 8°, Pixels_x = 1600, Pixels/deg = 200 px/°  Laser Position -> Object Angle -> add to Fixed Angle LASER DISTANCE FINDING

 Laser range finder is inherently noisy for farther distances, especially if vibration is present.  However, there is a usable ‘sweet spot’ in the center of the camera  The laser needs to be repositioned and the camera rotated to take advantage at blaster’s range of 60ft CONCLUSIONS

 Reposition Laser/webcam  Port Program to Beagle Bone Black  Finish mounting tripod legs  Due to the design of the panning rod, robot can’t be assembled until legs are attached.  Hence no photos. Sorry FUTURE WORK

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