Night Watcher

University of Florida Department of Electrical and Computer Engineering EEL 5666C – IMDL Instructors: A. Antonio Arroyo, Eric M. Schwartz TAs: Andy Gray, Josh Weaver, Nick Cox, Daniel Frank

by Yanming Wang

Index

● Project goal

● Task Settings

● The Robot

●Results

●Future Work

Index

● Project goal

● Task Settings

● The Robot

●Results

●Future Work

Thermal Camera$1195

IP Camera with night vision

Night vision on

Night vision off

● Task Settings

Look for a certain shape

Aim at it

Measure distance with special range

finder

Adjust Shooting range

according to the distance

Shoot

● Task Settings● The Robot

IP Camera

Turret

Laser Pointer

Xbee

Sonar Rangefinder

IR Rangefinder

● The Robot

IR LED

Ordinary LED

● The Robot

Nerf Gun Shooting mechanism

● The Robot

Find circles and choose the largest one as target

Find laser dot based on color detection and calculate distance

● The Robot

d ： distance between rangefinder and the laser doth ： the vertical distance between laser pointer and camera NumP ： y direction pixel number between laser dot and the center of the frame, Rpp ： radian per pixelERR ： error when carrying out the calibration.

Special Sensor

● The Robot

d ： distance between rangefinder and the laser doth ： the vertical distance between laser pointer and camera NumP ： y direction pixel number between laser dot and the center of the frame, Rpp ： radian per pixelERR ： error when carrying out the calibration.

●ResultsSpecial Sensor

●Future Work

●Fix the shooting mechanism on the turret

●Reduce delay time while looking for targets

●Add color detection for day time use

●Add another servo to enable vertical movement of the gun

●Movement detection based on OpenCV

Questions?