G al-line tech nl gyTeam INTERNATIONAL

Marko Bundalo

Ponphet Homchanh

David Wu

Ideen Taeb

Jason Mucilli

Pr ject Descripti n

FIFA (federation internationale de football association)

Referee errors Improvements Other sports (tennis, football,

hockey, etc.)

Pr ject G als Mandatory Features Implement beside/above the goal camera that is

linked to a computer

Uploading pictures generated from camera to the computer

Detection system will give response whether the goal was scored or not

Building a launcher (ping pong) that will move in semicircle/straight path around the goal

Shooting from the gun toward specific target by moving it horizontally/vertically

Extra Features Detect different shapes of objects (foot, hand,

ball, etc..)

Feedback ability from detector to the speaker

Detect what coordinates the ball has entered

Accurate control - targeting

Measure the speed of a ball

Hardware Implementati n

Computer

Image Processing

Camera #1

FPGA

Camera #2

Stepper Motor 2

Stepper Motor 1

Stepper Motor 3Controller

Trigger

RAM

ROMMicro

controller

Stepper

Driver

Stepper Driver

Stepper Driver

Micr c ntr ller Software brains on M68HC11K1

8 bit opcodes

16 bit addressing

Four 8-bit PWM outputs

Expandable memory

FPGA verview Chip selection Addressing selection of RAM/ROM Xilinx Spartan-3 FPGA with twelve 18-bit

multiplexers, 216Kbits of block RAM, 500MHz internal clock speeds

On-board 2Mbit Platform Flash (XCF02S) 8 slide switches, 4 pushbuttons, 9 LEDs, 4-digit

seven-segment display Serial port, VGA port, and PS/2 mouse/keyboard

port Three 40-pin expansion connectors 1Mbyte on-board 10ns SRAM Works with JTAG3 programming cable

M t rs and Mechanics

Provide gun left/right and up/down movement

Additional Parts such as camera might be added

Stepper motors with driver chip will be used to provide bi-directional movement

C ntr ller Control multiple functions of the paintball gun:

- horizontal/vertical movement of barrel

- launching the ball

- moving along straight/semicircle path around the goal

Turret Assembly

SPECIFICATIONS Velocity: 4.47~31.3 m/s

Weight: Launcher – 5 lbs Turret Mount ~ 10 lbs

Material: Wood, Acrylic, Bolts

Motors: 3x DC stepper motor

Width/Height/Depth => 16’/40’/12’

Gear Ratio: 1:8 ~ 1:10

Setting up the camera Personal Computer 1-2 VGA cameras (30-60 fps) USB/Firewire interface

Digital Image Pr cessing

This part will be done using 1-2 cameras

The cameras will send frames to computer and Matlab will process these frames.

Using Image Processing Toolbox, these frames will be processed in real time and IPT tool will determine if the ball has passed the line or not.

Image Prepr cessing

Using Image Processing Toolbox, these frames will be processed in real time

The frames will be turned into black and white.

The ball will be segmented out of the picture using image subtraction

The center of ball will be found using regionprops command. Then decision will be made based on coordinates of the center.

Divisi n f Lab r

•Goal•Digital Image

Processing•Camera(s)

•FPGA•Microcontroller•Board Design

Marko & David Pohphet & Team Ideen & Jason

•Mechanics•Ping Pong gun

•Controller•Hardware

Estimated Part C sts

Device Description Cost Unit TotalCameras Goal detection $250 3 $750

Launcher kit Launching the ball $300 1 $300 RAM and ROM Memory and processing $100 2 $200 Game Controller Controlling the device $20 2 $40 12 V car battery Supplying power $60 1 $60

68HC12K1 Microcontroller

16 bit processor $40 1 $40

Stepper Motors Movement of the gun $70 3 $210 Linear Actuator For trigger $50 1 $50

Aluminum & Glass plates Launcher base $50 3 $150 Gears Launcher movement $50 4 $200

Track/wheels Launcher Lateral movement $70 1 $70 Wood frame & goal net Goal $50 1 $50

IR sensors Create detector array $100 1 $100 Ping Pong Launcher Launching the ball $300 1 $300 Xilinx FPGA Board HDL programmable board $150 1 $150

Miscellaneous Tools, screws, glue etc. $30 1 $30 GRAND TOTAL $2,700

Return f Investment

Development

cost

Production cost

(1000 units)

Sales

Price

Profit

Man

power

(5x$20x300)

$30,000

$100K

Material cost

$2500 (unit x $500)

$500K

(unit x $1000)

$1M

Total $32,500 $600K $1M $360K

Gantt Chart

P ssible Risks & Pr blems PRECISION whether the ball passed the goal line or

not / Speed of ball vs frame rate

Real time response/Fast processing

Multi-camera processing capability

Smooth changing directions of the gun shot

Ball speed control

Dependent upon previous project especially programming

Questi ns / C mments

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