Subject:
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RE: Surveillance Robot
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 25 Nov 1998 21:46:44 GMT
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Original-From:
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David Colomer <dcolomer@AVOIDSPAMopenbank.es>
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Viewed:
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2066 times
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My idea is based on the capability to scan the horizont level (windowed in a
frame of +/-10°) to determine obstacles (so the ability to calculate a
path), friendly items and foes (cats, dogs or any other pet into the area
that can be anoied with a beep). The idea is to have the bot moving and
analysing almost in real time.
The most difficult part is to keep in sync the "look-at" vector for the cam
and the "look-at" vector of the bot. This makes the guiadance sistem to take
the decision where to turn and how many degrees. Angle sensors are needed to
control both vectors, and an acurate way to turn. I asked Lego for
steb-by-step motors, but it looks like there are any.
Do you know any mechanism to convert a 9V-motor into a "step-by-step" motor
to control the spin of the camera?
Thanks
David
-----Mensaje original-----
De: Jim Thomson [mailto:95jmt2@eng.cam.ac.uk]
Enviado el: Miércoles 25 de Noviembre de 1998 04:39 PM
Para: Lego-robotics
Asunto: Re: Surveillance Robot
I'm an Engineering student at Cambridge University. My final year project
is 'Design and Construction of a Visually Guided Mobile Robot'. I bought
the mindstorms kit to prototype with, but I've found it's range is good
enough, so I'm using it unaltered.
The aim is to have a surveillance camera (currently a Connectix Quickcam - a
paralell port camera) surveying an area of floor with the robot in it. A
ball will then be put into the playing area and the robot should fetch the
ball and bring it back. My project is inteneded as an investigation into
what can be done with a view to introducing a computer vision practical
module to the teaching course. This is great because it gives me a very
good excuse to try other things along the way.
I'm using Visual C++ for my project - and the Microsoft Vision Software
Developers Kit to interface with the camera.
I've got a demo at the moment (for a presentation I'm doing tommorow - must
get on and actually write the presentation) which has a camera mounted on a
turntable. The software takes two pictures, then uses image differencing to
detect where most motion has occured. It the either turns left, right, or
stays where it is. It then repeats this sequence.
If it senses motion straight ahead three times in a row, it launches a ping
pong ball (quite fast).
The demo is just to demontrate that I've got the camera and lego interfacing
with the computer, but I'm hoping to get onto some more complicated computer
vision stuff soon. - If there's a demand I could put the source code on the
web, as far as I can tell (having tried it with two different cameras the
quickcam and an intel USB camera) the code is reasonably portable, but it
does require some tweaking depending on the frame rate of the camera and
speed of turntable.
Oh well, I'd best get on with writing this presentation now - any comments
appreciated.
Jim
Web Page : http://www2.eng.cam.ac.uk/~95jmt2/ - It doesn't have anything to
do with lego on it yet.
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Message is in Reply To:
 | | Re: Surveillance Robot
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| I'm an Engineering student at Cambridge University. My final year project is 'Design and Construction of a Visually Guided Mobile Robot'. I bought the mindstorms kit to prototype with, but I've found it's range is good enough, so I'm using it (...) (26 years ago, 25-Nov-98, to lugnet.robotics)
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