Final Report Project Title: Beach Ball Sniper Team Name:
Contents
1. Team Responsibility Table Jeff Johnson Jin Woo Roh Research amp Presentation 50 50 CAD Design 25 75 Board Design 75 25 Analog Design 254 75 OpenCV Programming 7596 254 ATMEGA Programmin 50 50 ASSETS FLORIDA Page 1622 Order Components 30 50 Integrating 50 50 Debugging Testing 5086 509 Mechanical Design 50 50 Overall 509 50 saam sams apu opem spar rebate NE Gmm w Arco Pgsweq f compere ecclesia an inet Tee Presente Team ee Figure 9 Gantt chart Appendices UNIVERSITY OF FLORIDA Page 1722 VERSITY OF Page 18722 Figure 11 Digital Design PCB SS UNIVERSITY OF FLORIDA Page 19222 alog Board Schematic 9900099 o oo Figure 13 Analog Board PCB Figure 14 Actual Target Photo Figure 15 Whole Image Capture Figure 16 Red Balloon Targets Figure 17 Blue Balloon Targets Figure 18 Green Balloon Targets Page 21222 Figure 19 Target Tracking Figure 20 Target Tracking 2 Middle Figure 21 Target Tacking 3 Up amp U2. UNIVERSITY FLORIDA EEL 4914C Electrical Engineering Design Senior Design Page 122 Final Report Project Title Beach Ball Sniper August 4 2009 Team Name Jeff Johnson JinWoo Roh Mir igby ufl edu rohj ufl edu 813 388 0335 904 505 4756 Project Abstract This project deals with tracking balloons in real time and shooting it with a projectile This project will track the ball in a vertical and horizontal plane but will not consider the issue of depth therefore the firing mechanism will be able to rotate on two axes It also recognizes multiple colors of balloons and shoots each color individually This is accomplished using image processing and a pivoting device and the firing mechanism This project could be extended in the future to track more complex objects and could have applications in the military contracts or various other fields M amp FLORIDA Page 222 TABLE OF CONTENTS Project Abstract 1 Table of Contents 2 Table of Figure Introduction Project Features amp Objectives 4 Analysis of Competitive Products 56 Concept and Technology 79 Project Architecture 10 Software Flowchart Bill of Materials n User Manual 15 Division of Labor Gantt Chart 16 Appendices 1721 Reference DUE amp FLORIDA Page 322 LIST OF TABLES OF FIGURES Figure 1 NinJa Tilt Surveillance Camera Mount E Figure 2 SUPA TRAK MULTI PURPOSE AUTO TRACKING MOUNT 6 Figure 3 we
3. A Page 622 Stored Positions to GOTO gt Cruise and Image for Terrestial Positions Lightweight and Portable Simple and Easy to Use Auto Imaging and Aus Power outlets to Camera Spotting Scope Figure 2 SUPA TRAK MULTI PURPOSE AUTO TRACKING MOUNT Concept and Technology Our project is made of two main boards digital board and an analog board The digital board includes FTDI chip ATMEGA32 MOSFET Swtich isolator and fuse First USB webcam will collect the image data Then openCV will analyze the data and send commands to the atmega32 via USB conversion to TTL serial by the FTDI chip Once ATMEGA32 receives serial commends the micro controller will control two servo motors a firing MOSFET trigger and MOSFET The analog board is made of mainly three opamps a comparator push switch MOSFET switch and a voltage regulator It will keep monitoring the current going through the motors and compare the iom FLORIDA H Sei pn inc i dias ea enc ed pu Lese s sot a Aa i sr tolus i ese pasa wing il dtu eara Webcam TE PEINE Gan processing code the higher data transfer rate having obvious improvement This is being investigated Figure 3 webcam from logitech Laptop Both of our laptops should be able to execute the code maybe even a third com
4. NIVERSITY OF FLORIDA References Intelligent Machines Design Lab chup mil ufl edw S666 gt NINJA Pan n Tilt surveillance camera mount htip wwwxt0 com products x0 vk74a htm SUPA TRAK MULTI PURPOSE AUTO TRACKING MOUNT Figure http www trademe co nz Electronics photography Binoculars telescopes Telescopes auction 231390591 Image figure 2 paged webcam logitech 05 27 2009 chup cache gizmodo com assets resources 2007 03 quickcam_2 jpg gt Image figure 3 pages XPS M140 Dell 05 27 2009 lt lt fabsoluteraleigh com blog uploaded_images dell xps m140 775814 jpg gt Image figure 4 pages ATMEGA32 DIP ATMEL 05 27 2009 lt hup rocky digikey com weblibyAtmel Web 20Photos 313 40 DIPjpg gt Image figure 5 page6 piponazo Opencv 1 1pre ffmpeg en Linux 05 27 2009 lt plagatux ev uploads 2009 04 opencv_logo png gt Image figure 6 page6 GWServo S03N STD Motors GWD 05 27 2009 chuip Avww robotshop ca ews standard s03n std servo motor 1html gt
5. bcam from logitech Figure 4 Dell XPS M140 laptop 8 Figure 5 Atmel Atmega32 DIP 8 Figure 6 OpenCV software logo 8 Figure 7 Servo from GWS 9 Figure 8 Block diagram of project 10 Figure 9 Gantt chart 16 Figure 10 Digital Board Schematic 17 Figure 11 Digital Design PCB 18 Figure 12 Analog Board Schematic 19 Figure 13 Analog Board 19 Figure 14 Actual Target Photo 20 Figure 15 Whole Image Capture Figure 16 Red Balloon Targets 20 Figure 17 Blue Balloon Targets Figure 18 Green Balloon Targets 20 Figure 19 Target Tracking Down 21 Figure 20 Target Tracking 2 Middle Figure 21 Target Tacking 3 Up 21 Introduction This project is inspired by the need to unman the front lines in the armed forces of our country Although this project doesn t deal with exact specifications that would be found in a defense contract the core of this project can easily be abstracted to such applications Our project has 3 options to choose from 1 Tracking a solid color moving object and shooting 2 Finding the different colored stationary balloons and shooting each target 3 Remote control to move the location of target manually Project Features amp Objective We will use OpenCV to do image processing to track a solid colored balloon this processing will take place on a laptop The camera is fixed in place so the firing mechanism will have a E FLORIDA Page 422 Analysis of Competitive Products Ther
6. e are no competitors such application on the market This sort of device does not exist commercially However This product could be extended for use by the military for such applications as shooting down incoming missiles or facial recognition software to identify persons of interests We can use part of our system as the Tracking Camera Mount we put a surveillance camera with servo motors the camera will track the people who come to the stores It will be very effective since using multiple cameras might not cover the whole area NINJA n Tilt surveillance camera mount 99 99 amp FLORIDA Page 522 The robotic NINJA Pan n Tilt Camera Mount camera not included allows you to sweep your XCam video 7 ol e camera left right up and down featuring 240 views 0000 0000 and up to 4 preset positions Remotely position camera to view whatever you want with included ScanPad Remote Figure 1 NinJa Pan n Tilt Surveillance Camera Mount SUPA TRAK MULTI PURPOSE AUTO TRACKING MOUNT 379 00 Tuc mount trom Sky Watcher Suitable for cameras and small telescopes Battery powered Handbos controller included This is a versatile mount which is quite unique in that g like it has been offered before E Single Arm Alt Azimuth Mount sos DC Servo Motor Assembly IR Encoder with Optical Wheel Astronomical Tracking AERIS FLORID
7. puter which had development done on it to insure portability Development of the OpenCV code will take place mostly on Jeff Johnson s lap top this is an existing item FLORIDA x Micro Processor For ease of development we will use an Atmel atmega32 which has a free C C compiler AYR studio which is a language we are familiar with The atmega32 has more utility than we need and more than enough memory for data and programming space and costs only 6 00 Figure 5 Amel DIP A Figure 6 OpenCV software logo Image processing software We chose to use OpenCV due to its ease of use and again being a collection of C libraries which is a language we are familiar with The libraries include many easy to use well tested and efficient functions for typical image processing needs UNIVERSITY OF FLORIDA Servos Page 972 Two 180 degree servos are used to actuate 1 he two axis rotating device we chose to use a GWServo S03N STD servos because it has enough torque for out application and already had them Servos are widely used in electronics projects because they are easy to interface to and only require one PWM signal and GND Figure 7 Servo from GWS Sending Display Images Web Cam Image Processing FTDI USB Cable Program GUI OpenCV js UNIVERSITY OF FLORIDA Vin Sudio Len amp igh Up amp Down RM C
8. un pee Is Power Behav Behavior Figure 8 Block diagram of project Flow chart amp Diagrams 1 Tracking a target js UNIVERSITY OF FLORIDA Page 1222 H UNIVERSITY OF FLORIDA w Bill of Materials 0 j UNIVERSITY PE LORIDA Page 14722 Airsoft Gun 15 xi 15 mm Electrical 815 81 Components Shipping ea Table 1 Cost and components for Beach Ball Sniper project User Manual Execute the program and turn on power Select one of three options i Tracking a solid color moving object and shooting ii Finding the different color of multiple balloons and shoot each target iii control to move the location of target manually If you selected the first option our machine will track a solid color balloon The balloon has to be at a stopped position by the time the airsoft gun shoots BB User fires the by pressing If you selected the second option you also need to select the color of balloons Red Green Blue Then it will ind all selected colored balloons and shoot once at each without hitting other FLORIDA colors Ifyou selected the third option you can set up the location of the airsoft gun It will move to indicated position and shoot if so indicated Page 15722 Division of labor Gantt Chart Responsibility Table
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