Goal-line technologyTeam INTERNATIONAL

Marko Bundalo

Ponphet Homchanh

David Wu

Ideen Taeb

Jason Mucilli

Why Goal-line technology ?

Improve officiating

Various sports

Increase sport fans interest

Top Level Overview

Remote controller

Launcher

Goal

Wire Wrapped board

Camera

PC Desktop

Speaker

Division of Labor

•Software•Digital Image

Processing•Camera

•Schematics •CPLD

•Microcontroller•Board Design

Marko & David Pohphet, Marko, Ideen Ideen & Jason

•Ping Pong gun •Controller•Hardware

•Goal

Functional Block Diagram

Computer

Image Processing

Camera

CPLD

Stepper Motor 2

Stepper Motor 1

Stepper Motor 3Controller

Trigger

RAM

ROMMicro

controller

Stepper

Driver

Stepper Driver

Stepper Driver

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)

Microcontroller Schematic

Wire Wrapped HC11K1 and Memory

CPLD Schematic

Motor control Optocoupler to isolate high

current from microcontroller

Bipolar micro stepping motor driver (+/- 2.5A)

Power Transistor & heat sink

Bipolar stepper motor (2A)

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

Power Source

ATX Power Supply (300W)

Output: 12V @ 18A 5V @ 26A 3.3V@ 30A

12V will be used to powerStepper motors each rate at2A (Total of 6A)

5V will be used to power Controller boards

Controller Control multiple functions of the paintball gun:

- horizontal/vertical movement of barrel

- launching the ball

- moving along straight/semicircle path around the goal

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’

Camera VGA Stealth Wire camera (30 fps)

320*240 resolution - 640*480

Firewire-IIDC Compatible-no drivers needed

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

Capturing Frames

Turn to B&W

Image subtract and edge

Filling and finding the center

Filtering

Dilate

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

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

Timeline Status EXPO

Fully functional launcher which can be controlled manually or automated

Goal line detection completed with user interface with display

Gantt ChartID Task Name

1 Image Processing Toolset Research

2 Camera Researching

3 Shooter Researching

4 UROP Writing

5 EEF Writing and Presentation

6 PDR Writing and Presentaton

7 More Research/Image Processing&Shooter

8 Labview install & VI's examples

9 Goal Construction

10 Schematics: Microcontroller

11 Microcontroller Wire Wrapping

12 Microcontroller: Test and Integration

13 Schematics: Motor Controller

14 Motor Controller Work

15 CDR writing and presentation

16 Shooter: 2 axis of control (step motor)

17 Launcher: Rail Work

18 Launcher: Micro controller Work

19 Test and Integration of Launcher

20 Detector: Image processing programming

21 Detector: Integrating with micro processor

22 Detector: GUI

23 Milestone 1: Goal or No Goal Detection complete

24 Addition: Detector - Coordinate

25 Addition: Detector - Speed, Launcher integration

26 Addition: Shooter - Automatic

27 Test and Integration

28 Milestone 2: Microcontroller & Launcher Fully integrated

29 PCB & Installing components

30 PCB Test and Integration

31 Documenations

32 Capstone Expo

Ideen/Jason

Ideen/Jason

David/Marko

Ideen/All

All

All

All

Ideen/Jason

Marko

Pon

Pon/All

Marko/Pon

David/Pon/Marko

All

David/Marko

David/Marko

Pon

Ideen/Jason

Ideen/Jason/Pon

Ideen/Jason/Pon

Ideen/Jason

Ideen/Jason/Pon

Ideen/Jason/Pon

David/Marko

All

Pon/Marko/David

Ideen/Pon

Ideen/Pon/Marko

All

All

12 15 18 21 24 27 30 2 5 8 11 14 17 20 23 26 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 30 3 6 9 12January February March April May

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

Unit cost Unit Total costComponent Item QtyImage Processing StealthFire Firewire

Camera$250 2 $500

Intelligence and control

8 Bit microcontroller

$20 1 $20

MC68HC11A3977-SED-T Motor Control IC

Sampled* 6

Labview/ Matlab Toolkit (software) $50 4 200Memory system -CPLD XC9572 $150 1 $150

RAM for data $50 1 $50 CY62256LLFlash for instructionAT29C512

$50 1 $50

Manual control Joystick controller $30 1 $30 Goal and net PVC pipe for goal

frame$50 1 $50

Ball launching system

Basic ball launching unit

$250 1 $250

Stepper motors for movement

$70 3 $210

Plexiglass (for base unit)

$50 1 $50

Steel track/rail (lateral movement)

$20 2 $40

Printed circuit board

2 revision of printed circuit board expected

$75 2 $150

Power System & communication system

Battery, transistors, Op amps, heat sink, diodes, A/D chip, RS232, optocouplers

$140 1 $140

$1,980

Estimated Part Costs

Questions / Comments

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