Computer Vision Control of Vectron

1
Computer Vision Control of Vectron Blackhawk
Flying Saucer

• Louis Lesch
• ECE 539
• Computer Vision II

2
Overview

• Vectron Blackhawk Flying Saucer
• Flying toy
• Inherently unstable
• Human controlled
• Cool if automatically controlled

3
Problems with Hovering

• If human controlled
• Mentally taxing
• Requires experience
• No time for other mission objectives
• If computer controlled
• Onboard circuitry is heavy
• Requires bigger / more powerful vehicle for same
  mission objectives

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Solution to Control

• Soccerbot Plus
• Integrated Computer Vision Camera
• Integrated Servo Controllers

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Joining Soccerbot to Saucer

• Soccerbot captures image of scene
• Searches for sphere on saucer
• Drives servos connected to joysticks
• corrects position and depth of sphere
• Possibly angle of attack (explained later)

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Plan of Action-Completed Work

• Concentrate on hardware first
• v Attaching ball to saucer
• v Building fixture for controller / soccerbot /
  servos / illumination source
• v Getting downloading software to work
• Problems
• Ball or Balloon too heavy / too much moment of
  inertia
• Getting the craft steady before takeoff

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Plan of Action-Remaining Work

• Concentrate on software next
• Scanning for ball based on soccer competition
  software
• Making appropriate flight corrections
• Problems
• Soccer competition software very hard to
  understand few comments, hard to compile
• Had to rely on Chris Yeagers work

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Conclusion

• Difficult project in limited time
• Success measured in time aloft per trial
• Lingering question of fast enough program cycle
  time, servo lag acceptable
• Most of mechanical problems overcome
• Recent revelations may lead to successful
  completion of software
• Questions?
• Demonstration of manual flight