N-SVR-1 Robot和N-SVS Robot 是由
設(shè)計(jì)開發(fā)的系列視覺機(jī)器人平臺(tái),。主要用于大專院校、科研院所有關(guān)視頻圖像處理方面的教學(xué),、科研和應(yīng)用?，F(xiàn)在授權(quán)億學(xué)通在大陸進(jìn)行全面銷售,。歡迎新老客戶咨詢、采購,。
1．描述Description:
SVS是一款多功能履帶式機(jī)器人,，基于開源軟件平臺(tái)，可通過WIFI進(jìn)行無線操控,，并可實(shí)時(shí)采集現(xiàn)場視頻,，同時(shí)還支持自主運(yùn)行以及集群管理模式。它使用的是雙目攝像頭,，可以實(shí)現(xiàn)立體成像,。其設(shè)計(jì)可廣泛應(yīng)用于各個(gè)相關(guān)行業(yè)的科研、教學(xué)以及新產(chǎn)品原型開發(fā)等領(lǐng)域當(dāng)中,。SVS是SRV-1的擴(kuò)展產(chǎn)品,，更多詳細(xì)信息可參閱SRV-1機(jī)器人。
2,、產(chǎn)品參數(shù)：
? 遵循GPL開放全部軟件源碼及硬件設(shè)計(jì)圖
? 機(jī)器人具有執(zhí)行自主運(yùn)行程序的能力
? 有廣泛的第三方軟件支持
? 可以通過軟件控制臺(tái)或網(wǎng)絡(luò)瀏覽器實(shí)現(xiàn)對(duì)機(jī)器人的遠(yuǎn)程遙控
? 主機(jī)軟件內(nèi)建網(wǎng)絡(luò)服務(wù)器并支持視頻存檔
? 機(jī)器人可以解釋執(zhí)行儲(chǔ)存在FLASH中或內(nèi)存中的C程序
? 無線遙控范圍:室內(nèi)100米室外1000米(視野空曠的地方)
? 機(jī)器人可以通過終端控制臺(tái)進(jìn)行快捷的控制與調(diào)試
? 實(shí)現(xiàn)上下或左右的全方位的視覺跟蹤,支持立體成像
? 支持GNU/Linux操作系統(tǒng)也同時(shí)支持直接在DSP上通過GNU bfin-elf-工具鏈開發(fā)bare-metal應(yīng)用
硬件參數(shù)：
? 處理器：500MHz的ADI Blackfin BF537, 32MB SDRAM, 4MB SPI Flash, JTAG
? 攝像頭：Omnivision OV7725, 30萬像素(160x128到640x480 分辨率)
? 串口無線通訊模塊：Lantronix Matchport 802.11b/g WiFi
? 云臺(tái)控制裝置:由舵機(jī)和固定裝置構(gòu)成(可選)
? 傳感器：2個(gè)激光點(diǎn)
? 驅(qū)動(dòng)：雙直流齒輪電動(dòng)機(jī)驅(qū)動(dòng)雙履帶
? 速度：20-40厘米每秒
? 框架：鋁制機(jī)械
? 規(guī)格：120mm長 x 100mm寬 x 150mm高
? 重量：約500克
? 電源：7.2V 2Ah鋰電池 使用時(shí)間大約4小時(shí)
? 充電器：100-240交流電50/60Hz
3,、產(chǎn)品圖片：
SVS立體攝像頭模塊：包含兩塊BF537核心控制板
4．產(chǎn)品視頻:
N-SRV-1視覺機(jī)器人 視頻追蹤功能演示（2）
N-SRV-1視覺機(jī)器人 手機(jī)客戶端軟件演示
N-SRV-1視覺機(jī)器人 集群功能演示
N-SRV-1視覺機(jī)器人 越野越障能力演示
5．產(chǎn)品資料:
參考資料，請?jiān)诰W(wǎng)站資料下載欄目打開：http://www.61mcu.com/?article-173.html
Stereo Vision System Specifications
- Two SRV-1 Blackfin camera modules separated by 10.75 cm (4.25"). Each camera module includes:
- 500MHz Analog Devices Blackfin BF537 Processor (1000 integer MIPS), 32MB SDRAM, 4MB SPI Flash, JTAG, external 32-pin i/o header w/ 2 UARTS, 4 timers (PWM/PPM), SPI, I2C, 16 GPIO
- Omnivision OV9655 1.3 megapixel sensor with AA format header and interchangeable lens - M12 P0.5 format - 3.6mm f2.0 (90-deg FOV) or optional 2.2mm f2.5 (120-deg FOV)
- Processor-to-processor communications via SPI bus (64MHz)
- Lantronix Matchport WLAN 802.11g radio w/onboard 3dB dipole antenna for Wifi communications
- On-board 3.3V high efficiency switching regulator (Recom R-783.3-1.0) for battery input (4.75 - 18.0 VDC)
- Headers for 8 servos (5V supply provided)
- Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA drive current per motor
- Two switching transistor drivers with 100mA drive current for lights and laser pointers
- Low battery detect circuit
- Headers for 8 servos (5V regulator provided)
- Extended pin headers for full access to S-32 expansion bus of both processors
- Board dimensions - 60 mm x 150 mm (2.5" x 6.0"), 140g (5 oz)
- 1" x 2" mounting hole pattern for compatibility with SRV-1 robot base (dual and quad motor versions)
- Total power draw - 300mA @ 7.4V (approx 2 watts)
- RoHS compliant
Default Firmware- GPL Open Source - download from http://www.surveyor.com/blackfin/#blackfin3
- Full-speed frame capture direct to SDRAM at 1280x1024, 640x480, 320x240 or 160x120 pixel resolutions
- JPEG (Motion JPEG) compression
- Basic image processing - histogram, pixel sampling, mean, frame difference, blob, scan, count, find
- Stereo correspondence and image rectification functions (in development)
- Motor control for PWM (H-bridge) and PPM (servo) interfaces
- Built-in interpreters for Small C or Lisp languages for autonomous operation
- Real-Time-Clock (milliseconds since reset), internal timer resolution to 10 nanoseconds
- Direct control of I2C and SPI devices
- In-Application-Programming (IAP) of flash memory
- XMODEM protocol for reliable file transfer
- Direct support for up to 4 Maxbotics ultrasound rangers per camera module
- Compiled with GNU Blackfin Toolchain (bfin-elf-gcc) - download fromhttp://www.surveyor.com/blackfin/#blackfin4
- Command Protocol Definition - SRV_protocol
Schematics and Drawings
Host Software Support
- SRV1Test.java - new test console source code
- compile with "javac SRV1Test.java" launch with "java SRV1Test"
- SRV1Test.jar - precompiled class files - launch with "java -cp SRV1Test.jar SRV1Test"
- command line options:
- -remote_addr (SRV-1 IP address - default is 169.254.0.10)
- -remote_port (SRV-1 port - default is 10001)
- -local_port (host computer port - default is 10001)
- -protocol (TCP or UDP - default is TCP)
- -archive (capture all frames to named directory)
- sample script for stereo feeds -
java SRV1Test -remote_addr 192.168.0.15 -remote_port 10001 -local_port 10001 &
java SRV1Test -remote_addr 192.168.0.15 -remote_port 10002 -local_port 10002 & - SRV1Test is described here -
http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#166
http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#167
- stereo.c - C-based cross-platform (Win, OS/X, Linux) console employing SDL libraries
- anaglyph stereo viewing
- archive to PPM, use scripts to encode to AVI, MPEG, e.g.
- for f in *ppm ; do convert -quality 100 $f `basename $f ppm`jpg ; done
- mencoder "mf://*.jpg" -mf fps=10 -o test.avi -ovc lavc -lavcopts vcodec=mjpeg:vbitrate=1000
- simple robot control with keypad arrows + space bar (halt)
- ability to image map commands with mouse clicks on the display window
- forum discussion - http://www.surveyor.com/cgi-bin/yabb2/YaBB.pl?num=1222462001
- SDL library downloads
- gcc command line
- Windows mingw32: mingw32-gcc -O2 -o stereo.exe stereo.c -I/mingw/include/sdl -L/mingw/lib -lmingw32 -lSDLmain -lSDL -lSDL_image -lSDL_net
- OS/X gcc: gcc -g -O2 -I/usr/local/include/SDL -D_GNU_SOURCE=1 -D_THREAD_SAFE -Wl,-framework -Wl,Cocoa -Wl,-bind_at_load -L/usr/local/lib -lSDLmain -lSDL -lSDL_net -lSDL_image -o stereo stereo.c
- Linux gcc: gcc -g -O2 -I/usr/include/SDL -L/usr/lib -lSDLmain -lSDL -lSDL_net -lSDL_image -o stereo stereo.c
- Tips for setting up SDL in Windows - http://lazyfoo.net/SDL_tutorials/lesson01/windows/index.php
- AForge.NET - open source C# framework with SRV-1 and SVS support
- DelphiSRV
- Sentience Stereo Vision Software Version 0.2
- RoboRealm
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