Computer Vision Control of
Vectron® Blackhawk Flying
Saucer
Louis Lesch
ECE 539
Computer Vision II
Overview
• Vectron® Blackhawk
Flying Saucer
• Flying toy
• Inherently unstable
• Human controlled
• Cool if automatically
controlled
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
Solution to Control
• Soccerbot Plus
• Integrated Computer
Vision Camera
• Integrated Servo
Controllers
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)
Plan of Action-Completed Work
• Concentrate on hardware first
– √ Attaching ball to saucer
– √ Building fixture for controller / soccerbot /
servos / illumination source
– √ Getting downloading software to work
• Problems
– Ball or Balloon too heavy / too much moment
of inertia
– Getting the craft steady before takeoff
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 Yeager’s work
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