Automated Football Launcher: Methods for Completing Autonomous Football Passes using Motion Tracking Carmine Milone, Joe Milone, Alex Heydari, George Yue, and Joe Fyneface Georgia Institute of Technology School of Electrical and Computer Engineering March 17, 2010 Project Overview • Continuously track a moving object using web- cams to deliver a football accurately • Apply technology for football teams in order to reduce work load for trainers • Estimated development costs at $80,000; initial cost of a prototype system will be approximately $1,500 Automated Football Launcher Components Phidgets Logitech Orbit Two 12V DC Motor Control Web-cam Motors Board Compressed Phidgets Relay Pan/Tilting Air Launcher Board Platform Design Objectives • Continuously track a moving object using web- cams in real-time • Analyze the path of the object to determine the launching angle and direction • Utilize a motor control algorithm to attain a specified trajectory • Launch a football triggered by a relay board Summarized Design Flow chart Current Status • Web-cam tracking program completed • Motor control and relay board code written and tested • Compressed air launcher and platform are under construction Logitech Orbit Web-cam • Resolution: up to 1600 by 1200 pixels – Currently using 640x480 resolution for better performance • Color depth: 24-bit true color • Frame rate: 30 FPS – 15 to 20 FPS when detection algorithm is running • Interface: USB 2.0 Phidgets HC Motor Control Board • Controls up to two DC motors • Updates data 50 times/second • Can provide up to 18A • Utilizes USB connection Motor Specifications • Type: DC Gear motor • Voltage: 12V • Current: 14A-19A – Currently programmed to utilize 7A • Controlled using Phidgets HC Motor control board Pan/Tilting Platform Phidgets Relay and I/O Board • Relay board: – 2 relays for switching AC/DC – Up to 240VAC at 10A – Up to 100VDC at 5A – Will open/close air valve • I/O board – 8 analog inputs – 8 digital inputs / outputs Compressed Air Launcher • 6 in. diameter PVC pipe – Can be interchanged with a 3 in. diameter PVC pipe • 135 psi • 3 gallon air tank • Controlled with Sprinkler valve Technical Approach • Calculate the offset between the center of the web-cam's frame and the object’s position • Translate the offset into a motor control launch angle and direction • Predict the object’s final position and launch the football timely to the specified location Web-cam Tracking Algorithm Tracking using Blob Detection • Web-cam searches for a specific color • Code written in C# using .NET framework • Utilizes DirectShow library • Accesses pixel data directly from memory Web-cam Tracking Demo http://www.youtube.com/watch?v=162fvelALGU Motor Control • Coded in C# • Tracking determines degrees of rotation/tilt • Use small movements as a unit of translation • Keep velocity constant Trajectory Algorithm • Use kinematics to determine angles of the platform θ H Alternatives • Linx RF modules were developed and tested for tracking – RSSI / Triangulation tracking methods were designed • Did not work as intended due to destructive interference • Lower frequency RF modules are being considered Challenges / Problems • Building the compressed air launcher and platform • Implement a web-cam algorithm to detect objects over 30 yards away from the launcher – Lighting constraints • Lack of commercial football launcher • Develop RF modules for tracking Marketing • Estimated System cost – Logitech Web-cam: $100 – DC Motors and control board: $200 – Moderately powered computer: $500 – Air compressor launching system/platform: $700 Total: approximately $1500 Schedule • 03/29/2010: Finish building platform • 04/07/2010: Complete compressed air launcher • 04/16/2010: Integrate all components • 04/30/2010: Complete system testing • 05/06/2010: Final Demonstration Future Work • Consider more complicated tracking methods such as RF frequency modulation • Integrate with the Jugs Football Thrower • Create a hopper system to automatically feed and reload multiple footballs Project Summary • Two candidate methods to track an object have been compared and evaluated • Optical tracking has shown promising results while RF needs more development • Optical tracking performs reasonably well if the object is within 30 yards Any questions, suggestions, or comments?
Pages to are hidden for
"pdr"Please download to view full document