G al-line tech nl gy
Team INTERNATIONAL
Marko Bundalo
Ponphet Homchanh
David Wu
Ideen Taeb
Jason Mucilli
Pr ject Descripti n
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FIFA (federation internationale de football association)
Referee errors
Improvements
Other sports (tennis, football,
hockey, etc.)
Pr ject G als
Mandatory Features
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Implement beside/above the goal camera that is
linked to a computer
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Uploading pictures generated from camera to the
computer
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Detection system will give response whether the
goal was scored or not
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Building a launcher (ping pong) that will move in
semicircle/straight path around the goal
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Shooting from the gun toward specific target by
moving it horizontally/vertically
Extra Features
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Detect different shapes of objects (foot, hand,
ball, etc..)
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Feedback ability from detector to the speaker
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Detect what coordinates the ball has entered
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Accurate control - targeting
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Measure the speed of a ball
Hardware Implementati n
Camera #1
Computer
Image Processing
Trigger
Camera #2
RAM
Driver
Stepper
Motor 1
Stepper
Driver
Stepper
Motor 2
Stepper
Driver
Stepper
Motor 3
Stepper
Micro
ROM
controller
FPGA
Controller
Micr c ntr ller
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Software brains on M68HC11K1
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8 bit opcodes
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16 bit addressing
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Four 8-bit PWM outputs
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Expandable memory
FPGA
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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
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Provide gun left/right and up/down
movement
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Additional Parts such as camera might
be added
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Stepper motors with driver chip will be
used to provide bi-directional movement
C ntr ller
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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
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Velocity: 4.47~31.3 m/s
Weight: Launcher – 5 lbs
Turret Mount ~ 10 lbs
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Material: Wood, Acrylic, Bolts
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Motors: 3x DC stepper motor
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Width/Height/Depth => 16’/40’/12’
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Gear Ratio: 1:8 ~ 1:10
Setting up the camera
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Personal Computer
1-2 VGA cameras (30-60 fps)
USB/Firewire interface
Digital Image Pr cessing
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This part will be done using 1-2 cameras
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The cameras will send frames to computer and
Matlab will process these frames.
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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
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Using Image Processing Toolbox, these frames
will be processed in real time
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The frames will be turned into black and white.
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The ball will be segmented out of the picture
using image subtraction
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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
Marko & David
Pohphet & Team
Ideen & Jason
•Mechanics
•Ping Pong gun
•Controller
•Hardware
•FPGA
•Microcontroller
•Board Design
•Goal
•Digital Image
Processing
•Camera(s)
Estimated Part C sts
Device
Description
Cost
Unit
Total
Cameras
Launcher kit
RAM and ROM
Game Controller
12 V car battery
68HC12K1
Microcontroller
Stepper Motors
Linear Actuator
Aluminum & Glass plates
Gears
Track/wheels
Wood frame & goal net
IR sensors
Ping Pong Launcher
Xilinx FPGA Board
Miscellaneous
Goal detection
Launching the ball
Memory and processing
Controlling the device
Supplying power
16 bit processor
$250
$300
$100
$20
$60
$40
3
1
2
2
1
1
$750
$300
$200
$40
$60
$40
Movement of the gun
For trigger
Launcher base
Launcher movement
Launcher Lateral movement
Goal
Create detector array
Launching the ball
HDL programmable board
Tools, screws, glue etc.
GRAND TOTAL
$70
$50
$50
$50
$70
$50
$100
$300
$150
$30
3
1
3
4
1
1
1
1
1
1
$2,700
$210
$50
$150
$200
$70
$50
$100
$300
$150
$30
Return f Investment
Development
cost
Production
cost
(1000 units)
Sales
Price
Man
power
(5x$20x300)
$30,000
$100K
Material
cost
$2500
(unit x $500)
$500K
(unit x $1000)
$1M
Total
$32,500
$600K
$1M
Profit
$360K
Gantt Chart
P ssible Risks & Pr blems
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PRECISION whether the ball passed the goal line or
not / Speed of ball vs frame rate
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Real time response/Fast processing
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Multi-camera processing capability
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Smooth changing directions of the gun shot
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Ball speed control
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Dependent upon previous project especially
programming
Questi ns / C mments