Single Player Foosball Table with an Autonomous Opponent

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Single Player Foosball Table with an Autonomous
Opponent

• Michael Aeberhard
• Shane Connelly
• Evan Tarr
• Nardis Walker

Final Presentation December 10th, 2007
ECE 4007 Senior Design Team FIFA Dr. James Hamblen
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Project Overview

• Successfully implemented an autonomous foosball
  table
• Total parts cost 710
• Player assumes one side, a computer controls the
  other side
• Tracking through computer vision
• Control players with servos

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System Overview
Webcam
Unworthy Human Opponent
USB 1.1
Image Processing Computer
RS-232
Servo Controller Board
UART and PWM
Servo Assemblies
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Image Processing

• Use webcam for image input
• SPC-900NC chosen, but specs were falsified
• USB 1.1 allowed maximum 30 FPS
• Java Media Framework for image processing
• Localization and prediction performed in real
  time
• Processing kept in lockstep with frame
  acquisition
• Both ball and opponent players tracked

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Servo Controller Board

• Servo controller board communicates with PC and
  the servos
• AX-12 digital and HS-81 PWM servos
• RS-232 UART communications with PC
• Separate microcontrollers for each PWM servo
• Designed a manufacturable PCB

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Servo Controller Board
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Servo Controller PCB
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PC-Controller Communication

• UART data communication between PC and
  microcontroller at 115.2 kBit/s
• Java CommAPI used for PC serial communication
• Custom communication protocol

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Mechanical Assembly
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Mechanical Assembly
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Prototype Results

• Prototype successfully implemented basic foosball
  gameplay elements
• Trajectory prediction
• Continuous blocking alignment
• Offense/midfield lift up to create a clear shot
  at proper time
• Players attempt to kick when the ball is near

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Demonstration Video
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Technical Specifications
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Milestones
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Future Improvements

• Redesign with CMOS camera and FPGA
• Reduce camera latency
• Improved software efficiency
• Better mechanical design
• Larger gears for faster lateral movement
• Some sort of belt-driven or pulley system
• Stronger, more reliable servos or motors
  (requires larger budget)
• Improved AI and prediction algorithms
• More gameplay features
• External digital scoreboard
• Variable difficulty settings