Goal-line technology

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Goal-line technology

• Team INTERNATIONAL
• Marko Bundalo
• Ponphet Homchanh
• David Wu
• Ideen Taeb
• Jason Mucilli

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Why Goal-line technology ?

• Improve officiating
• Various sports
• Increase sport fans interest

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Top Level Overview
Remote controller Launcher Goal Wire Wrapped
board Camera PC Desktop Speaker
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Division of Labor

Pohphet, Marko, Ideen
Marko David
Ideen Jason

• Software
• Digital Image
• Processing
• Camera

• Schematics
• CPLD
• Microcontroller
• Board Design

• Ping Pong gun
• Controller
• Hardware
• Goal

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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
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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)

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Microcontroller Schematic
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Wire Wrapped HC11K1 and Memory
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CPLD Schematic
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Motor control

• Optocoupler to isolate high current from
  microcontroller
• Bipolar micro stepping motor driver (/- 2.5A)
• Power Transistor heat sink
• Bipolar stepper motor (2A)

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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

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Power Source

• ATX Power Supply (300W)
• Output 12V _at_ 18A
• 5V _at_ 26A
• 3.3V_at_ 30A
• 12V will be used to power
• Stepper motors each rate at
• 2A (Total of 6A)
• 5V will be used to power Controller boards

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Controller

• Control multiple functions of the paintball
  gun
• - horizontal/vertical movement of
  barrel
• - launching the ball
• - moving along straight/semicircle path
  around the goal

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Launcher Assembly
SPECIFICATIONS Velocity 1070 miles/hr 86
balls capacity Weight Launcher 5 lbs
Turret Mount 5 lbs Max/Min gt 63/13
balls/min Material Acrylic, Bolts, Bearing
Rotating Wheels Control Speed, Frequency,
Power Motors 3x DC stepper motor
Width/Height/Depth gt 16/25/12
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Camera

• VGA Stealth Wire camera (30 fps)
• 320240 resolution - 640480
• Firewire-IIDC Compatible-no drivers needed

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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

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Capturing Frames
Turn to BW
Image subtract and edge
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Dilate
Filtering
Filling and finding the center
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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

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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

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Timeline Status

• EXPO
• Fully functional launcher which can be controlled
  manually or automated
• Goal line detection completed with user interface
  with display

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Gantt Chart
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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

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Estimated Part Costs
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Questions / Comments

• ?