The paintball sentry project involves three distinct specialities of Software Engineering plus Mechanical Engineering. This first prototype (as depicted on the picture above).
The paintball sentry project involves three distinct specialities of Software Engineering plus Mechanical Engineering. This first prototype (as depicted on the
picture above).
Same software but with enhanced hardware, with the intention to reduce power consumption. Its now using RB-Phi-67 stepped motor controller that communicates via USB, servos and one RB-Soy-09, un controleur RB-Phi-79 controller for the trigger controller. These components will be powered by a 12V 50Ah battery that weights only 14kg. A new industrial tripod will be used for the tests and finally an IBM Lenovo x230 will be used to host the turret software. See the report from Matio Parent of Polytech Clermont-Ferrand.
This part of the project is done using C++ and QT providing artificial vision algorithms to follow the targets on the field. A state machine will be embedded to help control targetting decisions (e.g. TLD-Predator filter) for accurate aiming and shooting, and will use neural network technology to allow the software to learn the field characteristics and human shapes for better precision on different batllefields. Included are the rencent enhancements: - Video capture function - Machine Learning based TLD-Predator filter - Improved multithread - Dynamic display of vision filters - IP camera connection
Look here for actual application of these concepts. This version was not put to production. A new concept (version 3.0) was developed by Mathieu Gagnon, Francis Lagacé, Yassir Saoudi and François Tremblay:
This new design also proposes new motors:
As well as a new controller and battery: RoboClaw 2x30A compatible with Arduino, Rasberry Pi and Linux:
This part of the project requires a management software for the sentry. This software can be used to choose campaing modes, calibrate and record/rplay missions. A Lenovo Laptop has to execute these softwares and also interface with the hardware card that manages the servos mechanisms that move the paintball gun (x, y) and shoot on the moving targets powered by a 12volts marine battery that is better suited for a paintball field environment. A first version of this software has been built and there is still plenty of work to do in this area !
This third sub-project requires low level programming of the three servos for the movements (X,Y, Shoot) of the sentry using the inputs from the vision software: - Servos (X,Y) control; - Trigger control; - Calibration; - Managing the incoming commands; - Sending confirmations; - Managing the priorities of the commands/confirmations; - Diagnostics (recovery after failures)