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Computer Vision Control of Vectron® Blackhawk Flying Saucer - PowerPoint PPT Presentation


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Computer Vision Control of Vectron® Blackhawk Flying Saucer. Louis Lesch ECE 539 Computer Vision II. Overview. Vectron® Blackhawk Flying Saucer Flying toy Inherently unstable Human controlled Cool if automatically controlled. Problems with Hovering. If human controlled Mentally taxing

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Presentation Transcript
overview
Overview
  • Vectron® Blackhawk Flying Saucer
  • Flying toy
  • Inherently unstable
  • Human controlled
  • Cool if automatically controlled
problems with hovering
Problems with Hovering
  • If human controlled
    • Mentally taxing
    • Requires experience
    • No time for other mission objectives
  • If computer controlled
    • Onboard circuitry is heavy
    • Requires bigger / more powerful vehicle for same mission objectives
solution to control
Solution to Control
  • Soccerbot Plus
  • Integrated Computer Vision Camera
  • Integrated Servo Controllers
joining soccerbot to saucer
Joining Soccerbot to Saucer
  • Soccerbot captures image of scene
  • Searches for sphere on saucer
  • Drives servos connected to joysticks
  • corrects position and depth of sphere
  • Possibly angle of attack (explained later)
plan of action completed work
Plan of Action-Completed Work
  • Concentrate on hardware first
    • √Attaching ball to saucer
    • √ Building fixture for controller / soccerbot / servos / illumination source
    • √ Getting downloading software to work
  • Problems
    • Ball or Balloon too heavy / too much moment of inertia
    • Getting the craft steady before takeoff
plan of action remaining work
Plan of Action-Remaining Work
  • Concentrate on software next
    • Scanning for ball based on soccer competition software
    • Making appropriate flight corrections
  • Problems
    • Soccer competition software very hard to understand – few comments, hard to compile
    • Had to rely on Chris Yeager’s work
conclusion
Conclusion
  • Difficult project in limited time
  • Success measured in time aloft per trial
  • Lingering question of fast enough program cycle time, servo lag acceptable
  • Most of mechanical problems overcome
  • Recent revelations may lead to successful completion of software
  • Questions?
  • Demonstration of manual flight