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HaViMo 2.0 - Vision Processing Module for Bioloid and other
MCUs
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.
Differences Between HaViMo 1.5 and HaViMo 2:
- Support for Roboplus - You can use HaViMo with Roboplus and the
standard Robotis firmware
- Double the Frame Rate (16fps in HaViMo 2 and only 8 fps in HaViMo 1.5)
- HaViMo 2.0 supports Bioloid and Dynamixel protocol (like HaViMo 1.5) but
in addition includes a Full Duplex TTL port to connect to MCUs running at
115kbps.
This enables Robobuilder as well as virtually any other host MCU to
communicate with HaViMo and implement self contained, efficient, image
processing (for example Arduino, PIC, Embedded Linux boards).
- A new Image Processing Algorithm was 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 and Virtually any other Host
MCU such as Arduino, PIC and embedded boards)
- Supported Software
- RoboPlus (ROBOTIS)
- Direct C programming on ROBOTIS devices
- *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 / Exclusive of HaViMo 2.0 |
Additional Resources and Software
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HaViMo Documentation
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HaViMo Wiki
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HaViMo Forum -
You can find lots of useful information about HaViMo here
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Sample Roboplus Task File for using HaViMo with Roboplus.
This sample looks for an object of Color Index 1 (according to whatever you
callibrated 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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Calibration
Software for use with USB2Dynamixel
Please note HaViMo 2 Modules can only be calibrated using a
USB2Dynamixel Adaptor.
HaViMo 2.0 modules are not compatible with the method of using
Calibration firmware.
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