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Goal-line technology. Team INTERNATIONAL Marko Bundalo Ponphet Homchanh David Wu Ideen Taeb Jason Mucilli. Why Goal-line technology ?. Improve officiating

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goal line technology

Goal-line technology

Team INTERNATIONAL

Marko Bundalo

Ponphet Homchanh

David Wu

Ideen Taeb

Jason Mucilli

why goal line technology
Why Goal-line technology?

Improve officiating

Various sports

Increase sport fans interest

top level overview
Top Level Overview

Remote controller

Launcher

Goal

Wire Wrapped board

Camera

PC Desktop

Speaker

division of labor
Division of Labor

Pohphet, Marko, Ideen

Marko & David

Ideen & Jason

  • Schematics
  • CPLD
  • Microcontroller
  • Board Design
  • Software
  • Digital Image

Processing

  • Camera
  • Ping Pong gun
  • Controller
  • Hardware
  • Goal
functional block diagram
Functional Block Diagram

Camera

Computer

Image Processing

Trigger

RAM

Stepper Motor 1

Stepper

Driver

Micro

controller

ROM

Stepper Motor 2

Stepper Driver

CPLD

Stepper Motor 3

Stepper Driver

Controller

microcontroller
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)

motor control
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
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
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
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
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
Camera

VGA Stealth Wire camera (30 fps)

320*240 resolution - 640*480

Firewire-IIDC Compatible-no drivers needed

image processing magic
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

slide17

Capturing Frames

Turn to B&W

Image subtract and edge

slide18

Dilate

Filtering

Filling and finding the center

timeline status
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 status20
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 status21
Timeline Status

EXPO

Fully functional launcher which can be controlled manually or automated

Goal line detection completed with user interface with display

possible risks problems
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