H.O.S

.S.

AUTOMATED SENTRY

FOR HUMANS VS ZOMBIES

10 /31 /2013

Stationary tripod mounted Blaster Blaster can easily be installed/uninstalled for

maintenance or non-autonomous use

Not Shown: Tripod Legs Fully assembled Vulcan (epoxy curing) Ammo belt feed

PLATFORM

Bump sensors are mounted to the left and right of the blaster’s barrel Coat hanger wire whiskers to be glued in place

Another bump sensor will be placed inside the Nerf Gun to count the rounds fi red, which will be displayed on an LCD numeric display. However, gluing it in place to the PVC strut has proven diffi cult (4 bonders have been tried). Function will likely be cut out

OBJECT AVOIDANCE

Two webcam circuit boards are hot glued vertically to each other and angled to create a panaramic camera The center region isnt a perfect match, there is some error

when tracking directly in frontOPENCV currently detects largest orange and it’s

position Working on passing the data to the beaglebone

TARGET TRACKING

Logitech webcam and OpenCV to track UV Laser OpenCV: HSV convert -> Threshold -> Erode -> X Position Not a Number values replaced by last known value

LASER DISTANCE FINDING

Distance Calculated by solving: tan(angle)*(cam-laser placement in ft)

Left hand Field of View of Cam is almost parallel to Laser Pixels are converted to degrees

FoV = 8°, Pixels_x = 1600, Pixels/deg = 200 px/° Laser Position -> Object Angle -> add to Fixed Angle

UV Filter is used to reduce noiseNeeds to be sanded with an emery cloth For final installation

LASER DISTANCE FINDING

-> Beagle Bone ->

WIRING

Outputs:LaserNerf MosfetServo Pan, Servo TiltStatus LEDs

Inputs:Laser Web camLeft/Right bumpersLaptop Position Data

-> Laptop ->Inputs:Webcam LeftWebcam Right

Output:Position to beaglebone

OpenCV is a tricky, tricky mistress who’ll eat your time like it’s nobodies business

CONCLUSIONS

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QUESTIONS