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4.3 Tennis Ball Launcher

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4.3 Tennis Ball Launcher Automated Tennis Senior Design II Group 14 Khoa Hoang (CS) Michael Rathbun (EE) Kyle Willnow (CpE) Aviel Yashar (EE) 1. Executive Summary............................................................................................1 2. Project Description.........................................................................................2 2.1 Project Motivation.........................................................................................3 2.2 Project Goals and Objectives.....................................................................3 2.3 Project Requirements and Specifications................................................4 2.3.1 Camera System.........................................................................................4 2.3.1.1 Functionality...........................................................................................4 2.3.1.2 Standards................................................................................................5 2.3.2 Tennis Ball Launcher.................................................................................5 2.3.2.1 Functionality...........................................................................................5 2.3.2.2 Form Factor.............................................................................................6 2.3.2.3 Standards................................................................................................6 2.4 Sponsor Considerations..............................................................................6 2.5 Project Block Diagram.................................................................................7 3. Project Background........................................................................................8 3.1 Related Projects............................................................................................8 3.1.1 Camera Systems.......................................................................................8 3.1.1.1 Hawk-Eye................................................................................................9 3.1.1.2 Cyclops..................................................................................................10 3.1.2 Tennis Ball Launcher...............................................................................11 3.1.2.1 Tennis Partner TOSS Tennis Training Machine PB-2TG0024........11 3.1.2.2 PetSafe Automatic Ball Launcher.....................................................12 3.1.2.3 Kadtronix Tennis Ball Machine with Feed Control.........................13 3.1.2.4 Makeblock Tennis Ball Launcher Kit.................................................14 3.2 Product Constraints....................................................................................15 3.2.1 Image Processing Constraints..............................................................16 3.2.1.1 Image Processing Economic Constraints........................................16 3.2.1.2 Image Processing Environmental Constraints...............................16 3.2.1.3 Image Processing Social Constraints...............................................17 3.2.1.4 Image Processing Political Constraints...........................................17 3.2.1.5 Image Processing Ethical Constraints.............................................17 3.2.1.6 Image Processing Health and Safety Constraints.........................17 3.2.1.7 Image Processing Manufacturability Constraints.........................17 3.2.1.8 Image Processing Sustainability Constraints.................................18 3.2.1.9 Image Processing Maintainability Constraints...............................18 3.2.2 Tennis Ball Launcher Constraints................................................................18 3.2.2.1 Tennis Ball Launcher Economic Constraints..................................19 3.2.2.2 Tennis Ball Launcher Environmental...............................................19 3.2.2.3 Tennis Ball Launcher Social Constraints.........................................19 3.2.2.4 Tennis Ball Launcher Political Constraints......................................19 3.2.2.7 Tennis Ball Launcher Manufacturability Constraints................................20 3.2.2.8 Tennis Ball Launcher Sustainability Constraints.......................................20 3.2.2.9 Tennis Ball Launcher Maintainability Constraints.....................................21 3.3 Tennis Ball Launcher Relevant Standards.............................................21 3.3.1 Camera System Standards...................................................................21 3.3.1.2 Communications Standards..............................................................21 3.3.1.2.1 Bluetooth................................................................................................22 3.3.1.3 Bus Standard........................................................................................22 3.3.1.3.1 Universal Serial Bus (USB) Standard...........................................22 3.3.1.3.2 IEEE 1394 (FireWire) Standard......................................................25 3.3.1.3.3 Ethernet Standard............................................................................26 3.3.1.4 Video Standards...................................................................................27 3.3.1.4.1 Video Graphics Array (VGA)...........................................................27 3.3.1.4.2 Video Compression Standards......................................................28 3.3.2. Tennis Ball Launcher Standards..........................................................28 3.3.2.1 Electrical Safety Standards...............................................................28 3.3.2.2 Federal Communications Commission Regulations.....................29 3.3.2.3 Communications Standards..............................................................29 3.3.2.3.1 UART Standard..................................................................................30 3.3.2.5 Electromagnetic Interference and Electromagnetic Compatibility Standards..................................................................................31 3.4 Research.......................................................................................................31 3.4.1 Camera System.......................................................................................31 3.4.1.1 Image Quality (Resolution, Frame Rate).........................................32 3.4.1.2 Camera Synchronization....................................................................34 3.4.1.3 Interface................................................................................................36 3.4.1.4 Image Sensor.......................................................................................36 3.4.1.5 Lens........................................................................................................37 3.4.1.6 Camera Selection................................................................................40 3.4.2 Software....................................................................................................40 3.4.2.1 Code Language....................................................................................41 3.4.2.2 Computer Vision..................................................................................41 3.4.2.2.1 OpenCV..............................................................................................41 3.4.2.2.2 cvBlobLib...........................................................................................41 3.4.2.2.3 Graphics Processing Unit (GPU) Acceleration......................................42 3.4.2.3 Platform.................................................................................................42 3.4.2.3.1 PC........................................................................................................42 3.4.2.3.2 Android...............................................................................................43 3.4.3 Tennis Ball Launcher..............................................................................45 3.4.3.1 Mechanical Structures........................................................................46 3.4.3.1.1 Lifting mechanisms.........................................................................46 3.4.3.1.1.1 Conveyor Belt................................................................................46 3.4.3.1.1.2 Ball Pump.......................................................................................47 3.4.3.1.1.3 Robotic Arm...................................................................................48 3.4.3.1.1.4 Archimedes Screw........................................................................49 3.4.3.1.2 Launching mechanisms..................................................................50 3.4.3.1.2.1 Loaded Spring...............................................................................50 3.4.3.1.2.2 Compressed Air.............................................................................50 3.4.3.1.2.3 Spinning Wheel.............................................................................51 3.4.3.1.2.4 Catapult..........................................................................................51 3.4.3.2 Sensors..................................................................................................52 3.4.3.2.1 Proximity............................................................................................52 3.4.3.2.1.1 Ultrasonic.......................................................................................52
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