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HaViMo 2.0 - Vision Processing Module for Bioloid,
Robobuilder and MCUs with UART at TTL Level
HaViMo is an Integrated Image Processing / Vision Module solution for low
power microprocessors that gives the Robot the ability to detect multiple Colour BLOBs and navigate in familiar environments such as a Robocup
football field or a maze autonomously.
The Vision Module includes a dedicated image processor capable of identifying
up to 16 different colour areas (BLOBs) that are pre Calibrated by the user. For
each BLOB the module maintains different parameters such as:
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Colour ID
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Centre Coordinate
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Bounding box
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number of pixels, etc.
This enables relatively low end processor such as an Atmega128 to
receive simple digests of image interpretation and use them to direct the
robot towards targets such as a ball or perform complex tasks such as
autonomous soccer.
In HaViMo 2.0 several features have been added and improved:
the module has twice the frame rate of HaViMo 1.5, adds support for Roboplus
programming and adds support for other platforms by including an additional
Full Duplex TTL Serial Port 115kbps.
A new algorithm is also included (Image Gridding) for fast image pre
processing.
Key Features of HaViMo 2:
- Frame Rate 19 fps in HaViMo 2 (twice the Frame rate of its predecessor HaViMo 1.5)
- Supports for Bioloid and Dynamixel bus (like HaViMo 1.5)
- Support for Robobuilder
- Additional support for Full Duplex TTL Devices at 115kbps
This enables Robobuilder, Arduino, PIC and virtually any other host MCU to
communicate with HaViMo and implement self contained, efficient, image
processing.
- Support for Roboplus - You can use HaViMo with Roboplus and the
standard Robotis firmware
- BLOB Tracking Algorithms with multiple BLOB tracking
- New Image Processing Algorithm added (Image Gridding),
suitable as a pre-processing step for many other applications such as object
recognition and self localization
Feature List:
- Integrated Colour CMOS Camera
- Frame Resolution: 160*120 Pixels
- Colour Depth: 12 bits YCrCb
- *Frame Rate: 19 Fps
- Full Access to all CMOS Camera registers
- Colour-Based Image Processing
- Integrated Colour Look-up Table
- On-line Region-growing
- *On-line Gridding
- Raw image output in both calibration and implementation modes
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- Supported Hardware
- Half Duplex TTL at 1Mpbs (Bioloid and AX-xx compatible devices)
- *Full Duplex TTL at 115kbps (Robobuilder, Arduino and Virtually any
other Host MCU with UART is supported)
- Supported Software
- Direct C programming on ROBOTIS devices
- RoboPlus (ROBOTIS)
- *Robobuilder RBC protocol (although not compatible with ActionBuilder)
- *Direct C programming on RoboBuilder
- *Any other Host MCU that can operate 115kbps Full Duplex or 1Mpbs
Half Duplex by implementing the documented protocol.
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* New in HaViMo 2.0 |
Additional Resources and Software:
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HaViMo Documentation
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Calibration
Software
The revised HaViMo 2 Software supports Direct Calibration using the
Standard CM-5/CM-510/RBC firmware as well as USB2Dynamixel.
For more information about Calibration please check this
forum thread.
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HaViMo Forum
Your best resource for troubleshooting, tips and general help about using
HaViMo.
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HaViMo Wiki
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Sample Roboplus Task File for using HaViMo with Roboplus.
This sample looks for an object of Colour Index 1 (according to whatever you
calibrated as Colour 1) and uses the Output Values to drive a small 2 wheel
car.
Be sure to read the documentation (above) to understand how to completely
read all the parameters returned by HaViMo and adapt it to your own Robot
Project.
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