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Automated Projectile Launching Automated Projectile Launching RobotRobot
Team:Prateek AgarwalGaurang ManchandaSharda SinhaPrateek Sharma
Key Technologies
• Color recognition and distance computation through MATLAB.
•Serial Communication
• DC Motor projectile Thrower
BLOCK DIAGRAM
CIRCUIT DIAGRAM
•The image is captured using Webcam.
• It is acquired in YUY Color Space using ‘Image acquisition toolbox’.
•YUY is then converted to RGB.
• If the resolution of image captured is 352x288 , the a 352x288x3 matrix is formed separating the Red ,Green and Blue components.
Capturing an Image In MATLAB
ALGORITHM
1. Capture the image
2. Compare the RGB values of each pixel with the threshold to determine if the pixel is Red.
3. If number of red pixels detected < noise pixelsNo Red Object Found
Elsea. Find the centre of object. b. Calculate the distance between the camera and the target object.
c. Distance is proportional to the no of red pixels detected. d.Range of throwing mechanism
The angle theta is varied by varying the delay time via Matlab
Types of Images Used:
RGB Binary
256 x 256 x 3 matrix1= red component
0= other components
Determining the centre of objectCentre (3,3)
Eg: Suppose in a 5x5 matrix, the above shown pixels are detected red, the centre of object is calculated as:
1.X coordinate= sum of x coordinates of each red pixel/ no of red pixels. Here (2+3+4+2+3+4+2+3+4)/9=3
2. Y coordinate= sum of y coordinates of each red pixel/ no of red pixels. Here (2+3+4+2+3+4+2+3+4)/9=3
Commands for using
Serial communication
Serial CommunicationSerial Communication
Serial Port
Serial Port
Rear View
RS232 Line Type & Logic Level RS232 Voltage TTL Voltage to/from MAX232
Data Transmission (Rx/Tx) Logic 0 +3 V to +25 V 0 V
Data Transmission (Rx/Tx) Logic 1 -3 V to -25 V 5 V
Control Signals (RTS/CTS/DTR/DSR) Logic 0 -3 V to -25 V 5 V
Control Signals (RTS/CTS/DTR/DSR) Logic 1 +3 V to +25 V 0 V
Setting The Baud Rate
• Set the Timer in Mode 2
• 8 bit auto reload mode
• TMOD = 20H
Throwing Arm Control
• Throwing angle of the Throwing Arm will be changed by controlling the DC Motor.
• By providing appropriate delay, we will get different value of angles of the throwing arm.
• For different angles the throwing arm will give different ranges of the projectile.
• By the above procedure we can create a table for different angles and corresponding ranges of the projectile.
Table for Range Variation with angle
DELAY(sec)ANGLE(degree) RANGE(inch)
0.035 20-35 15-40
0.055 35-45 40-55
0.075 45-55 >=60
• Automatic Missile Launchers. Eg: Scud Missile
•Microsoft Kinect
• Biometrics.
• Quality control of processed food.
•Civil Defense Systems.
•Leisure Gaming Gadgets.
Application
References1. Muhammad Ali Mazidi, Janice Gillispie Mazidi, Rolin D. McKinlay,Second
Edition,’The 8051 Microcontroller and Embedded Systems’ , Pearson Education2. Batlle, J.; Pacheco, L.; ‘Colour image processing’ Automation, Quality and Testing,
Robotics, 2008. AQTR 2008. IEEE International Conference on Volume: 1 Publication Year: 2008, Page(s): 66 – 70
3. Mathworks Matlab Image Processing demos, http://www.mathworks.com/products/image/demos.jsp
4. Mathworks Matlab Serial communication function list h http://www.mathworks.it/help/toolbox/instrument/f6-1005829.html
5. Elementary guide on color based computer vision http://techfest.org/competitions/ibots/freekick/resources/FreeKick28Tutorial29.
6. A self-targeting missile system using computer visionKit Axelrod (305153692), Ben Itzstein (305128329), and Michael West (305159240)MTRX 4700 Experimental Robotics Major Project, University of Sydney
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