Goal-line technology
Team 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
Marko & David
•Ping Pong gun
•Controller
•Hardware
•Goal
Pohphet, Marko, Ideen
Ideen & Jason
•Schematics
•CPLD
•Microcontroller
•Board Design
•Software
•Digital Image
Processing
•Camera
Functional Block Diagram
Camera
Computer
Image Processing
Trigger
RAM
Driver
Stepper
Motor 1
Stepper
Driver
Stepper
Motor 2
Stepper
Driver
Stepper
Motor 3
Stepper
Micro
ROM
controller
CPLD
Controller
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 power
Stepper motors each rate at
2A (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
Dilate
Filtering
Filling and finding the center
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 Chart
ID
Task Name
January
12 15 18 21 24 27 30 2 5
Ideen/Jason
1
Image Processing Toolset Research
2
Camera Researching
Ideen/Jason
3
Shooter Researching
David/Marko
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 w riting 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 w ith 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
February
8 11 14 17 20 23 26 1
4
March
7 10 13 16 19 22 25 28 31 3
6
April
9 12 15 18 21 24 27 30 3
6
9
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
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
Estimated Part Costs
Component
Image Proces s ing
Intelligence and
control
Labview/ Matlab
Memory s ys tem
Manual control
Goal and net
Ball launching
s ys tem
Printed circuit
board
Power Sys tem &
communication
s ys tem
Unit cos t
Unit
Item
Qty
StealthFire Firewire
$250
Camera
8 Bit
$20
microcontroller
MC68HC11
A3977-SED-T
Sampled*
Motor Control IC
Toolkit (s oftware)
$50
-CPLD XC9572
$150
RAM for data
$50
CY62256LL
Flas h for
$50
ins tructionAT29C5
12
Joys tick controller
$30
PVC pipe for goal
$50
frame
Bas ic ball
$250
launching unit
Stepper motors for
$70
movement
Plexiglas s (for bas e
$50
unit)
Steel track/rail
$20
(lateral movement)
2 revis ion of
$75
printed circuit
board expected
Battery,
$140
trans is tors , Op
amps , heat s ink,
diodes , A/D chip,
RS232,
optocouplers
Total cos t
2
$500
1
$20
6
4
1
1
200
$150
$50
1
$50
1
1
$30
$50
1
$250
3
$210
1
$50
2
$40
2
$150
1
$140
$1,980
Questions / Comments