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

4
Solution to Control

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

5
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)

6
Plan of Action

• Concentrate on hardware first
• Attaching ball to saucer
• Building fixture for controller / soccerbot /
  servos / illumination source
• Getting downloading software to work
• Concentrate on software next
• Scanning for ball based on soccer competition
  software
• Making appropriate flight corrections

7
Conclusion

• Difficult project in limited time
• Success measured in time aloft per trial
• First known attempt at control by this method
• Demonstrate what is angle of attack on CAD
  Program
• Questions?