Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire...
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Transcript of Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire...
![Page 1: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/1.jpg)
IMDL Fall 2011Mark KampferRobocop
![Page 2: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/2.jpg)
Robocop
![Page 3: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/3.jpg)
Concept
Avoid obstacles with two front mounted IR sensors
Search for color using IP camera and OpenCV
Fire ping pong ball at target using pneumatic launcher
![Page 4: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/4.jpg)
Concept
![Page 5: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/5.jpg)
Sensors
Foscam FI8918W Wireless/Wired Pan & Tilt IP/Network Camera
2 Bump sensors
2 Sharp IR sensors for obstacle avoidance
XBee 1mW Chip Antenna
![Page 6: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/6.jpg)
Other Hardware
99:1 Metal Gearmotor 25Dx54L mm HP
GWS S689-2BB/MG/JR Giant Servo
RELAY GEN PURPOSE SPDT 16A 5V
2N2222 transistor
Sprinkler solenoid valve
![Page 7: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/7.jpg)
Solenoid Valve
27 volt solenoid sprinkler valve
Triggered by relay circuit attached to board
Allows air through rest of launcher
![Page 8: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/8.jpg)
IP camera
Wireless router
XBee 1mW Chip Antenna
OpenCV blob detection
Send pos. data to board
![Page 9: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/9.jpg)
IP Camera
![Page 10: Avoid obstacles with two front mounted IR sensors Search for color using IP camera and OpenCV Fire ping pong ball at target using pneumatic launcher.](https://reader035.fdocuments.in/reader035/viewer/2022081821/56649e615503460f94b5c295/html5/thumbnails/10.jpg)
Recent Updates
Changed IR obstacle avoidance threshold
Rebuilt air chamber
Set color tracking to different color (not blue)
Bigger American flag