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Goal-line technology

Goal-line technology. Team INTERNATIONAL Marko Bundalo Ponphet Homchanh David Wu Ideen Taeb Jason Mucilli. Why Goal-line technology ?. Improve officiating

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Goal-line technology

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

  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 3.3V@ 30A 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. Capturing Frames Turn to B&W Image subtract and edge

  18. 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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