Computer Vision Control of Vectron® Blackhawk Flying Saucer

1. Computer Vision Control of Vectron® Blackhawk Flying Saucer Louis Lesch ECE 539 Computer Vision II

2. Overview • Vectron® Blackhawk Flying Saucer • Flying toy • Inherently unstable • Human controlled • Cool if automatically controlled

3. Problems with Hovering • If human controlled • Mentally taxing • Requires experience • No time for other mission objectives • If computer controlled • Onboard circuitry is heavy • Requires bigger / more powerful vehicle for same mission objectives

4. Solution to Control • Soccerbot Plus • Integrated Computer Vision Camera • Integrated Servo Controllers

5. Joining Soccerbot to Saucer • Soccerbot captures image of scene • Searches for sphere on saucer • Drives servos connected to joysticks • corrects position and depth of sphere • Possibly angle of attack (explained later)

6. Plan of Action-Completed Work • Concentrate on hardware first • √Attaching ball to saucer • √ Building fixture for controller / soccerbot / servos / illumination source • √ Getting downloading software to work • Problems • Ball or Balloon too heavy / too much moment of inertia • Getting the craft steady before takeoff

7. Plan of Action-Remaining Work • Concentrate on software next • Scanning for ball based on soccer competition software • Making appropriate flight corrections • Problems • Soccer competition software very hard to understand – few comments, hard to compile • Had to rely on Chris Yeager’s work

8. Conclusion • Difficult project in limited time • Success measured in time aloft per trial • Lingering question of fast enough program cycle time, servo lag acceptable • Most of mechanical problems overcome • Recent revelations may lead to successful completion of software • Questions? • Demonstration of manual flight