Paintball Gun
IR Sensing and Tracking
Team Doki Doki:
Matt Freeman (EE)
James Kirby (ECE)
Juan Rivera (EE)
Capstone PDR Fall 2005
Presentation Outline
• Project Overview
• System Diagram
– Input subsystem
– Processing subsystem
– Output subsystem
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•
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Add-Ons
Use Cases
Schedule
Division of Labor
Budget
Risks/Contingency Plan
Capstone PDR Fall 2005
Project Overview
• Design a paintball gun auto-detection
and tracking system
• Implement both manual control and
automatic control based on IR sensing
• Stepper motors control gun movement
• Spartan-3 provides system control
Capstone PDR Fall 2005
System Diagram
IR Sensors
Data
ADC
Data
FPGA
Stepper
Motors
Actuator
User Interface
Configuration
Control
LCD
EPROM
Capstone PDR Fall 2005
Gun
System Input
IR Sensors
Data
ADC
Data
FPGA
Stepper
Motors
Actuator
User Interface
Configuration
Control
LCD
EPROM
Capstone PDR Fall 2005
Gun
IR Sensors
• All warm bodies emit IR radiation
– Detect infrared light emitted by humans
• Mount in an array on gun barrel
• Sample as many as possible to find the best
range and frequency detection
IR
IR
Capstone PDR Fall 2005
IR
IR
IR
IR
IR
IR
ADC
• IR sensors output an
analog signal
• Signal must be digital
for board input
• Likely use 8 bit
resolution
Capstone PDR Fall 2005
User Interface
• Use 8-bit NES controller to provide serial
input to board (via RS-232)
• Controls switching between manual and
automatic operation
• Controls manual operation itself
Capstone PDR Fall 2005
System Processing
IR Sensors
Data
ADC
Data
FPGA
Stepper
Motors
Actuator
User Interface
Configuration
Control
LCD
EPROM
Capstone PDR Fall 2005
Gun
FPGA
Spartan-3 Development Board
Capstone PDR Fall 2005
FPGA
Spartan-3 Development Board
Spartan-3 Chip
Capstone PDR Fall 2005
FPGA
Spartan-3 Development Board
Platform Flash
PROM
Capstone PDR Fall 2005
FPGA
Spartan-3 Development Board
RS-232 Serial
Port
Capstone PDR Fall 2005
FPGA
Spartan-3 Development Board
GPIO Ports
Capstone PDR Fall 2005
FPGA
Spartan-3 Development Board
VGA Port
Capstone PDR Fall 2005
Spartan-3 Chip
Soft Core Processor
Capstone PDR Fall 2005
What is MicroBlaze?
Soft Core Processor
• MicroBlaze is a soft
processor core from Xilinx
for use in FPGAs
• Based on a RISC
architecture of 32 bits
• Can connect to the On-Chip
Peripheral Bus for access to
different modules
Capstone PDR Fall 2005
MicroBlaze
Soft Core Processor Architecture
Capstone PDR Fall 2005
System Output
IR Sensors
Data
ADC
Data
FPGA
Stepper
Motors
Actuator
User Interface
Configuration
Control
LCD
EPROM
Capstone PDR Fall 2005
Gun
Stepper Motors
• Provide gun left/right and
up/down movement
• Will likely need additional
interface such as worm drive
• Find stepper motors that
allow a fine degree of control
• Allow the system to know
the position of sensor
Capstone PDR Fall 2005
Actuator
• Linear actuator physically pulls trigger
• Chosen over servo motor for faster
reaction
• May require some creative mounting
Capstone PDR Fall 2005
LCD
• Character LCD chosen for ease of use
• Initially display debugging info
• Eventually display user target range or other
information
• Not system-crucial
Capstone PDR Fall 2005
Paintball Gun
• Mounted on a Lazy Susan for left/right rotation
• Find approximate center of mass for pivot
position
– Worm drive will control up/down motion
• Will fire Styrofoam balls for indoor testing
Capstone PDR Fall 2005
Add-Ons
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Range finder
Character LCD
CMOS video camera with television display
Display IR signal on a monitor
Other modes of operation
– Demo mode
– Wall painting mode
– Dog/kids control mode
Capstone PDR Fall 2005
Use Cases
• Can be used directly as a “sentry” in
paintball arenas
– Scan for human players
• Potential home security application
• Could be extended to move through a
hospital and detect patient vitals via IR
– Store and later transfer to nurse station
Capstone PDR Fall 2005
Project Schedule
Capstone PDR Fall 2005
Division of Labor
• Matt – Spartan-3 Board Initialization and
System Integration
• James – Data Processing and Software
Design
• Juan – Structure and Hardware Design
and Implementation
Capstone PDR Fall 2005
Tentative Project Budget
Item
Stepper Motors (2)
Linear Actuator
IR Sensors
Color CMOS Camera
Mounting Hardware
Fiberglass Casing
FPGA/Embedded Controller
PCB
Printing/Binding Costs
Miscellaneous Electronics
Description
Control gun up/down and left/right movement
For trigger
Need several to create detector array
CM-2 from ElectronicKits.com
For gun, motors, actuator
Stationary housing
Xilinx Spartan-3
4-layer, allows for a revision
User and technical manual
Unforeseen parts and repairs
TOTAL:
Capstone PDR Fall 2005
Estimated Price
$100
$50
$100
$86
$100
$50
$125
$200
$150
$150
$1,111
Potential Risks
• Detecting human body emissions
– Targets may require reflectors
• Range/accuracy of IR detection
– Range of target may be limited
• Stepper motor accuracy/speed
– As finely tuned as time allows
Capstone PDR Fall 2005
Questions?
Capstone PDR Fall 2005