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
● Task Settings
Look for a certain shape
Aim at it
Measure distance with special range
finder
Adjust Shooting range
according to the distance
Shoot
● 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