Transcript Automated Football Launcher: Methods for Completing Autonomous Football Passes using Motion Tracking Carmine Milone, Joe Milone, Alex Heydari, George Yue, and Joe Fyneface Georgia.

Automated Football Launcher:
Methods for Completing Autonomous Football
Passes using Motion Tracking
Carmine Milone, Joe Milone, Alex Heydari, George Yue, and Joe Fyneface
Georgia Institute of Technology
School of Electrical and Computer Engineering
March 17, 2010
Project Overview
• Continuously track a moving object using webcams to deliver a football accurately
• Apply technology for football teams in order
to reduce work load for trainers
• Estimated development costs at $80,000;
initial cost of a prototype system will be
approximately $1,500
Automated Football Launcher Components
Logitech Orbit
Web-cam
Phidgets
Motor Control
Board
Two 12V DC
Motors
Compressed
Air Launcher
Phidgets Relay
Board
Pan/Tilting
Platform
Design Objectives
• Continuously track a moving object using webcams in real-time
• Analyze the path of the object to determine
the launching angle and direction
• Utilize a motor control algorithm to attain a
specified trajectory
• Launch a football triggered by a relay board
Summarized Design Flow chart
Identify object
Launch the
football
Rotate/Tilt
launching
platform
Find position
Calculate
route/trajectory
Current Status
• Web-cam tracking program completed
• Motor control and relay board code written
and tested
• Compressed air launcher and platform are
under construction
Logitech Orbit Web-cam
• Resolution: up to 1600 by 1200 pixels
– Currently using 640x480 resolution for better
performance
• Color depth: 24-bit true color
• Frame rate: 30 FPS
– 15 to 20 FPS when detection algorithm is running
• Interface: USB 2.0
Phidgets HC Motor Control Board
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Controls up to two DC motors
Updates data 50 times/second
Can provide up to 18A
Utilizes USB connection
Motor Specifications
• Type: DC Gear motor
• Voltage: 12V
• Current: 14A-19A
– Currently programmed to utilize 7A
• Controlled using Phidgets HC Motor control
board
Pan/Tilting Platform
Phidgets Relay and I/O Board
• Relay board:
– 2 relays for switching AC/DC
– Up to 240VAC at 10A
– Up to 100VDC at 5A
– Will open/close air valve
• I/O board
– 8 analog inputs
– 8 digital inputs / outputs
Compressed Air Launcher
• 6 in. diameter PVC pipe
– Can be interchanged with a 3 in. diameter PVC
pipe
• 135 psi
• 3 gallon air tank
• Controlled with Sprinkler valve
Technical Approach
• Calculate the offset between the center of
the web-cam's frame and the object’s position
• Translate the offset into a motor control
launch angle and direction
• Predict the object’s final position and launch
the football timely to the specified location
Web-cam Tracking Algorithm
Tracking using Blob Detection
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Web-cam searches for a specific color
Code written in C# using .NET framework
Utilizes DirectShow library
Accesses pixel data directly from memory
Web-cam Tracking Demo
http://www.youtube.com/watch?v=162fvelALGU
Motor Control
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Coded in C#
Tracking determines degrees of rotation/tilt
Use small movements as a unit of translation
Keep velocity constant
Trajectory Algorithm
• Use kinematics to determine angles of the
platform
θ
H
Alternatives
• Linx RF modules were developed and tested for tracking
– RSSI / Triangulation tracking methods were designed
• Did not work as intended due to destructive interference
• Lower frequency RF modules are being considered
Challenges / Problems
• Building the compressed air launcher and platform
• Implement a web-cam algorithm to detect objects over 30
yards away from the launcher
– Lighting constraints
• Lack of commercial football launcher
• Develop RF modules for tracking
Marketing
• Estimated System cost
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Logitech Web-cam: $100
DC Motors and control board: $200
Moderately powered computer: $500
Air compressor launching system/platform: $700
Total: approximately $1500
Schedule
• 03/29/2010: Finish building platform
• 04/07/2010: Complete compressed air
launcher
• 04/16/2010: Integrate all components
• 04/30/2010: Complete system testing
• 05/06/2010: Final Demonstration
Future Work
• Consider more complicated tracking methods
such as RF frequency modulation
• Integrate with the Jugs Football Thrower
• Create a hopper system to automatically feed
and reload multiple footballs
Project Summary
• Two candidate methods to track an object
have been compared and evaluated
• Optical tracking has shown promising results
while RF needs more development
• Optical tracking performs reasonably well if
the object is within 30 yards
Any questions, suggestions, or
comments?