1. Goal-line technology Team INTERNATIONAL Marko Bundalo Ponphet Homchanh
David Wu
Ideen Taeb
Jason Mucilli

2. Why Goal-line technology ?
Improve officiating
Various sports
Increase sport fans interest

3. Top Level Overview Remote controller Launcher Goal Wire Wrapped board
Camera
PC Desktop
Speaker

4. Division of Labor Schematics CPLD Microcontroller Board Design
Marko & David
Pohphet, Marko, Ideen
Ideen & Jason
Ping Pong gun
Controller
Hardware
Goal
Schematics
CPLD
Microcontroller
Board Design
Software
Digital Image
Processing
Camera

5. 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

6. 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)

7. Microcontroller Schematic

8. Wire Wrapped HC11K1 and Memory

9. CPLD Schematic

10. Motor control Optocoupler to isolate high current from microcontroller
Bipolar micro stepping motor driver (+/- 2.5A)
Power Transistor & heat sink
Bipolar stepper motor (2A)

11. 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

12. Power Source ATX Power Supply (300W) Output: 12V @ 18A 5V @ 26A
12V will be used to power
Stepper motors each rate at
2A (Total of 6A)
5V will be used to power Controller boards

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

14. 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’

15. Camera
VGA Stealth Wire camera (30 fps)
320*240 resolution - 640*480
Firewire-IIDC Compatible-no drivers needed

16. 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

17. Image subtract and edge
Capturing Frames
Turn to B&W
Image subtract and edge

18. Filling and finding the center
Dilate
Filtering
Filling and finding the center

19. 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

20. 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

21. Timeline Status
EXPO
Fully functional launcher which can be controlled manually or automated
Goal line detection completed with user interface with display

22. Gantt Chart

23. 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

24. Estimated Part Costs

25. Questions / Comments ?