Page 1

Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

1

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕ This product or portions thereof is manufactured under license from Carnegie Mellon University. Copyright Carnegie Mellon University, 2000. All rights reserved.

¤Ø³ÊÁºÑµ·Ô ҧ෤¹Ô¤·ÕÊè Òí ¤Ñ­ 㪌âÁ´ÙšŌͧ·Ø¡·ÔÈ·Ò§«ÕÁÍÊ (Omnivision CMOS camera) Ã؋¹ OV6620 (http://www.ovt.com/ omnicmoss.htm) l 㪌äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ SX28AC ¤ÇÒÁàÃçÇÊ٧㹡ÒèѴ¡ÒÃÊÑ­­Ò³ÀҾ໚¹¢ŒÍÁÙÅ͹ءÃÁ à¾×èÍãˌäÁâ¤Ã ¤Í¹â·ÃÅàÅÍÏ¢¹Ò´àÅç¡ÊÒÁÒö·íÒ§Ò¹¡ÑºÊÑ­­Ò³ËÃ×ÍÃÙ»ÀҾ䴌 l µÔ´µ‹ÍẺ͹ءÃÁ·Ñ§é ã¹ÃдѺ·Õ·á Õ ÍÅ áÅеÒÁÁҵðҹ RS-232 ÊÒÁÒöàª×Íè Áµ‹Í¡Ñº¤ÍÁ¾ÔÇàµÍϼҋ ¹¾ÍÏµÍ ¹Ø¡ÃÁ䴌 àÅ×Í¡ºÍ´àõ㹡ÒÃÃѺʋ§¢ŒÍÁÙÅ͹ءÃÁ䴌 4 ¤‹Ò¤×Í 115200, 38400, 19200, 9600 ºÔµµ‹ÍÇÔ¹Ò·Õ l µÃǨ¨ÑºÀÒ¾ÊÕ䴌´Ç Œ ÂÍѵÃÒàÃçÇ 17 à¿ÃÁµ‹ÍÇÔ¹Ò·Õ l ÊÒÁÒö¤Œ¹ËҨشÈٹ¡ÅÒ§¢Í§ÀҾ䴌 l ãˌ¢Í Œ ÁÙŤ‹Òà©ÅÕÂè ÊÕá´§, à¢ÕÂÇ áÅйéÒí à§Ô¹ (Red-Green-Blue : RGB) à¾×Íè á¡áÂФÇÒÁᵡµ‹Ò§ä´Œ l ¶‹Ò·ʹ¢ŒÍÁÙŨشÀҾẺ亹ÒÃÕàÇÅÒ¨ÃÔ§¢Í§áµ‹ÅоÔà«Å·Õµ è ÃǨ¨Ñºä´Œã¹ÀÒ¾ l ÊÒÁÒö»ÃѺᵋ§¤Ø³ÊÁºÑµÀ Ô Ò¾¢Í§¡ÅŒÍ§ä´Œ l ÊÒÁÒö͋ҹ¢ŒÍÁÙÅ´Ôº¢Í§ÀÒ¾ÍÍ¡ÁÒ䴌 l ¤ÇÒÁÅÐàÍÕ´¢Í§ÀÒ¾·Õµ è ÃǨ¨Ñºä´Œ¤Í× 80x143 ¨Ø´ ÊÒÁÒöµÃǨ¨ÑºÊÕ䴌Í‹ҧÍѵâ¹ÁÑµÔ l ¢Ñº RC à«ÍÏâÇÁÍàµÍÏ䴌 1 µÑÇ ËÃ×Í㪌໚¹¾ÍϵÍÔ¹¾ØµàÍÒµ¾µ Ø ´Ô¨µÔ ÍÅà¾ÔÁè àµÔÁ 1 ª‹Í§ l

âÁ´ÙÅ iV-CAM ໚¹âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕ·¾Õè ²Ñ ¹Ò¨Ò¡ CMUCAM-1 ¢Í§ Carnegie Melon University ÊËÃÑ°ÍàÁÃÔ¡Ò ÀÒÂ㵌¡ÒÃÃѺÃͧÍ‹ҧ໚¹·Ò§¡Òèҡ Carnegie Melon University ᡋºÃÔÉ·Ñ ÍÔ¹â¹àǵտ àÍç¡à¾ÍÃÔàÁ¹µ ¨íÒ¡Ñ´ »ÃÐà·Èä·Â


2

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

1. iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕ : ¼ÙªŒ Nj ÂÊíҤѭ㹡ÒÃÁͧàËç¹ÀÒ¾¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕ iV-CAM 㪌ÊÒí ËÃѺµÃǨ¨ÑºáÅÐáÊ´§ÊÕ â´Â»ÃÐÊÔ·¸ÔÀÒ¾ÊÙ§ÊØ ´ã¹¡Òà ·íÒ§Ò¹¨Ðà¡Ô´¢Öé¹àÁ×èÍÇѵ¶Ø·Õè·íÒ¡ÒõÃǨ¨Ñº¹Ñé¹ä´ŒÃѺáʧÊNjҧ·Õèà¾Õ§¾Í áÅÐÁÕ¤ÇÒÁᵡµ‹Ò§¡Ñº¾×é¹ ËÅѧÍ‹ҧªÑ´à¨¹ ¡µÑÇÍ‹ҧ âÁ´ÙÅ iV-CAM ÊÒÁÒöµÃǨ¨ÑºÀÒ¾¢Í§ÅÙ¡ºÍÅÊÕá´§º¹¾×¹é ÊÕ¢ÒÇ䴌 §‹Ò ᵋ¨ÐµÃǨ¨Ñºä´ŒÂÒ¡¢Ö¹é áÅÐäÁ‹ª´Ñ ¨¹àÁ×Íè ¾×¹é ËÅѧ໚¹ÊÕ¹Òéí µÒÅ âÁ´ÙÅ iV-CAM ¨Ö§ÊÒÁÒö¹íÒä» »ÃÐÂØ¡µãªŒã¹¡ÒõÃǨ¨Ñºàʌ¹ã¹ÃÐÂÐä¡Å, µÃǨÊͺ¾×é¹·ÕèÊÕ, ¤Œ¹ËÒÇѵ¶Ø·ÕèÁÕ¾×é¹ÊÕµÒÁ·Õè¡íÒ˹´ ໚¹µŒ¹ ¹Í¡¨Ò¡¹Ñ¹é âÁ´ÙÅ iV-CAM Âѧãˌ¢ÍŒ ÁÙŢͧÀÒ¾·Õµè ÃǨ¨Ñºä´Œ¹¹Ñé ໚¹¢ŒÍÁÙŢͧáÁ‹ÊáÕ Ê§ËÅÑ¡ ¤×Í ÊÕá´§ (Red : R), ÊÕà¢ÕÂÇ (Green : G) áÅÐÊÕ¹Òéí à§Ô¹ (Blue : B) â´ÂÊÒÁÒöãˌ¢ÍŒ ÁÙÅÅÐàÍÕ´ã¹áµ‹ ÅШشÀÒ¾ËÃ×;ԡà«Å (pixel) ¨Ö§ÊÒÁÒö¹íÒ¢ŒÍÁÙÅàËŋҹÑé¹ÁÒ»ÃСͺ¡Ñ¹à¾×èÍÊÌҧ¡Òè´¨íÒÃٻËҧ ¢Í§Çѵ¶Ø䴌 iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕª¹Ô´«ÕÁÍÊ ºÑÊ I2C

¢ŒÍÁÙÅ ÊÑ­­Ò³¤Çº¤ØÁ

ἧǧ¨Ã»ÃÐÁÇżÅáÅÐ µÔ´µ‹ÍÍØ»¡Ã³ÀÒ¹͡

ʋ§¢ŒÍÁÙÅ͹ءÃÁ ÃѺ¢ŒÍÁÙÅ͹ءÃÁ ¤ÍÁ¾ÔÇàµÍÏËÃ×Í äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ

ÃÙ»·Õè 1 ä´ÍÐá¡ÃÁ¡Ò÷íÒ§Ò¹¢Í§âÁ´ÙÅ iV-CAM

LED áÊ´§¡ÒõÃǨ¨ÑºÀÒ¾ (Tracking LED) RC à«ÍÏâÇÁÍàµÍÏ


iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

l

3

¨ÑÁê à»ÍÏ¡íÒ˹´ÍѵÃҺʹ

Njҧ µ‹Í Njҧ Njҧ

38,400 115,200

¨ÑÁê à»ÍÏàÅ×Í¡ âËÁ´ DEMO (»¡µÔ»Å‹ÍÂNjҧ) RX

5

TX

¡Òõ‹Í¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ µ‹Í¡Ñº¢Òʋ§¢ŒÍÁÙÅ͹ءÃÁ µ‹Í¡Ñº¢ÒÃѺ¢ŒÍÁÙÅ͹ءÃÁ

-

iV-CAM firmware

µ‹Í RC à«ÍÏâÇÁÍàµÍÏ 6V µ‹Íä¿àÅÕÂé § +6V ±5% àÅ×Í¡µ‹Í·Õãè ´·ÕËè ¹Ö§è

´ŒÒ¹ËÅѧ iV-CAM

RS-232

ON

(ÊÕàËÅ×ͧ) (ÊÕà¢ÕÂÇ)

-

ON

9,600 19,200

+

6V

TRACK

µ‹Í Njҧ

(ºÔµµ‹ÍÇÔ¹Ò·Õ)

+

+

´ŒÒ¹Ë¹ŒÒ iV-CAM

µ‹Í µ‹Í

DEMO

BD1 BD2 SLAVE

SERVO Vin

âÁ´ÙšŌͧ

*,

5V TX RX GND VISION

¨ÑÁê à»ÍÏàÅ×Í¡ âËÁ´ÊàÅ¿ (»¡µÔ»Å‹ÍÂNjҧ)

ÍѵÃҺʹ

*,

µ‹Í¡Ñº¾Íϵ͹ءÃÁ ¢Í§¤ÍÁ¾ÔÇàµÍÏ â´Â㪌ÊÒ CX-4

ÃÙ»·Õè 2 áÊ´§Ê‹Ç¹»ÃСͺÊíҤѭ¢Í§âÁ´ÙÅ iV-CAM áÅСÒáíÒ˹´¤‹Ò·Ò§ÎÒÏ´áÇÏ âÁ´ÙÅ iV-CAM ໚¹à¤Ã×èͧÁ×ÍÊíҤѭ·Õ誋ÇÂÅ´ÀÒÃÐ㹡ÒûÃÐÁÇżÅÀÒ¾ÊբͧäÁâ¤Ã ¤Í¹â·ÃÅàÅÍÏËÃ×ͤÍÁ¾ÔÇàµÍÏŧ䴌Í‹ҧÁÒ¡ à¾ÃÒÐ㹡ÒûÃÐÁÇżÅÀÒ¾¹Ñé¹µŒÍ§ãªŒÍØ»¡Ã³·Õè ÊÒÁÒö»ÃÐÁǿތÍÁÙŨíҹǹÁҡ䴌ÀÒÂã¹àÇÅÒ·ÕèàÃçÇà¾Õ§¾Í ã¹ÃÙ»·Õè 1 áÊ´§ä´ÍÐá¡ÃÁ¡Òà ·íÒ§Ò¹¢Í§âÁ´ÙÅ iV-CAM ÍØ»¡Ã³ËÅÑ¡¤×Í âÁ´ÙŵÃǨѺÀÒ¾ÊÕ«§Öè ¤×Í âÁ´ÙšŌͧÃع‹ OV6620 ·Õãè ˌ ¼Å¢Í§¡ÒõÃǨ¨ÑºÀÒ¾áÅÐÊÕÍÍ¡ÁÒ໚¹¢ŒÍÁÙÅ´Ô¨ÔµÍÅÀÒÂ㵌¡ÒäǺ¤ØÁ¼‹Ò¹ÃкººÑÊ I2C ¢ŒÍÁÙÅ ¨Ò¡âÁ´ÙšŌͧ¨Ðʋ§ÁÒÂѧÍØ»¡Ã³»ÃÐÁÇżŠ«Ö觡ç¤×Í äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ SX28AC «Öè§à»š¹ äÁâ¤Ã¤Í¹â·ÃÅàÅÍϢͧ Ubicom ·ÕèÊÒÁÒö·íÒ§Ò¹´ŒÇ¤ÇÒÁ¶ÕèÊÙ§ ã¹âÁ´ÙÅ iV-CAM 㪌¤ÇÒÁ¶Õè ÊÑ­­Ò³¹Ò́¡ÒÊÙ§¶Ö§ 75MHz â´ÂµŒÍ§ÁÕ¡ÒúÃèØâ»Ãá¡ÃÁ¤Çº¤ØÁ¡Ò÷íÒ§Ò¹ËÃ×Í࿁ÏÁáÇÏ (firmware) ŧäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ SX28AC àÊÕ¡‹Í¹ ¢ŒÍÁÙÅ·Õè䴌¨Ò¡¡ÒõÃǨ¨Ñº¢Í§âÁ´ÙšŌͧ¨Ð䴌ÃѺ¡ÒûÃÐÁÇżÅáÅШѴ¡ÒâŒÍÁÙÅãËÁ‹ à¾×èÍʋ§ÍÍ¡ÁÒã¹ÅѡɳÐ͹ءÃÁ à¾×èÍʋ§µ‹Íä»ÂѧäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏËÃ×ͤÍÁ¾ÔÇàµÍϵ‹Íä» ¡ÒÃáÊ´§¼Å¡ÒõÃǨ¨Ñºã¹ÃٻẺ§‹Ò·ÕÊè ´Ø ¢Í§âÁ´ÙÅ iV-CAM ¤×Í áÊ´§¼Å¼‹Ò¹ LED µÃǨ¨Ñº ËÃ×Í Track LED


4

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

¹Í¡¨Ò¡¹Ñé¹âÁ´ÙÅ iV-CAM ÂѧÊÒÁÒö¤Çº¤ØÁà«ÍÏâÇÁÍàµÍÏ䴌 1 µÑÇ àÁ×è͵ԴµÑé§à«ÍÏâÇ ÁÍàµÍÏࢌҡѺ¡Åä¡à¤Å×͹‹ äËÇ áÅйíÒâÁ´ÙÅ iV-CAM ÁÒµÔ´µÑ§é ËÇÁ´ŒÇ ¡ç¨Ð·íÒãˌ¼ãٌ ªŒ§Ò¹ÊÒÁÒö »ÃѺµíÒá˹‹§¡ÒõÃǨ¨ÑºÀÒ¾áÅÐÊբͧâÁ´ÙšŌͧ䴌Í‹ҧÊдǡ¢Öé¹ áÅÐÅ´¨íҹǹÊÒÂÊÑ­­Ò³ ¤Çº¤ØÁ¨Ò¡äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏŧ䴌 à¾ÃÒÐäÁ‹µŒÍ§ãªŒ¢Ò¾Íϵà¾ÔèÁàµÔÁ㹡ÒäǺ¤ØÁà«ÍÏâÇ ÁÍàµÍÏ âÁ´ÙÅ iV-CAM 䴌Á¡Õ ÒèѴ¢ÒÊÑ­­Ò³ÊíÒËÃѺµÔ´µ‹Í¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏáÅФÍÁ¾ÔÇàµÍÏᵡµ‹Ò§¡Ñ¹àÅ硹ŒÍ â´ÂÃдѺÊÑ­­Ò³·Õãè ªŒµ´Ô µ‹Í¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍϨÐ໚¹áºº·Õ·áÕ ÍÅ ¨Ö§ÊÒÁÒöµ‹Í¡Ñº¢Ò¾Íϵ¢Í§äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ䴌â´ÂµÃ§ ã¹¢³Ð·Õàè Á×Íè µÔ´µ‹Í¡Ñº¤ÍÁ¾ÔÇàµÍÏ ¨ÐµŒÍ§µ‹Í¡Ñº¾Íϵ͹ءÃÁ (¡Ã³Õ¤ÍÁ¾ÔÇàµÍÏÁÕ੾ÒоÍϵ USB µŒÍ§ãªŒÍØ»¡Ã³á»Å§ÊÑ­­Ò³ ¾Íϵ USB ໚¹¾Íϵ͹ءÃÁÁÒª‹ÇÂ) ÃдѺÊÑ­­Ò³·ÕèµÔ´µ‹Í໚¹ä»µÒÁÁҵðҹ RS-232 ¨Ö§µŒÍ§ ¼‹Ò¹Ç§¨Ãá»Å§ÃдѺÊÑ­­Ò³àÊÕ¡‹Í¹ ¹Í¡¨Ò¡¹Ñ¹é à¾×Íè ãˌâÁ´ÙÅ iV-CAM ÊÒÁÒöµÔ´µ‹Í¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ·ÁÕè ¤Õ ÇÒÁàÃçÇäÁ‹Ê§Ù ¹Ñ¡ä´Œ ¨Ö§¡íÒ˹´ãˌÊÒÁÒöàÅ×Í¡ÍѵÃÒàÃçÇ㹡Òö‹Ò·ʹ¢ŒÍÁÙÅËÃ×ÍÍѵÃҺʹËÃ×ͺʹàõ䴌µ§Ñé ᵋ 4 ÃдѺ¤×Í 9,600 - 19,200 - 38,400 áÅÐ 115,200 ºÔµµ‹ÍÇÔ¹Ò·Õ ã¹¡ÒõԴµ‹Í¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ â´Â·ÑèÇä»ÁÑ¡àÅ×͡㪌ºÍ´àõ 9,600 ºÔµµ‹ÍÇÔ¹Ò·Õ ã¹¢³Ð·Õè¡ÒõԴµ‹Í¡Ñº¤ÍÁ¾ÔÇàµÍÏÁÑ¡àÅ×Í¡ºÍ´ àõ·Õè 9,600 áÅÐ 115,200 ºÔµµ‹ÍÇÔ¹Ò·Õ ¹Í¡¨Ò¡¡ÒÃàÅ×Í¡ºÍ´àõã¹Â‹Ò¹¡ÇŒÒ§áÅŒÇ âÁ´ÙÅ iV-CAM ÂѧÁÕâËÁ´¡Ò÷íÒ§Ò¹·ÕèàÃÕÂ¡Ç‹Ò âËÁ´â¾Å (poll mode) ·ÕèÁÕ¡ÒõÃǨÊͺ¤ÇÒÁ¾ÃŒÍÁ㹡ÒÃÃѺʋ§¢ŒÍÁÙÅᵋÅÐá¾ç¡à¡çµ¡ÑºäÁâ¤Ã ¤Í¹â·ÃÅàÅÍÏ¡‹Í¹ ËÃ×ÍàÅ×͡㪌¡ÒÃà¾ÔèÁ¤‹Ò˹‹Ç§àÇÅÒã¹áµ‹ÅÐÃËÑÊÍÑ¡¢ÃÐã¹âËÁ´¡Ò÷íÒ§Ò¹·Õè àÃÕÂ¡Ç‹Ò âËÁ´´Õàŏ (delay mode) ¨Ö§·íÒãˌäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ·ÁÕè ¤Õ ÇÒÁàÃçǵèÒí ÊÒÁÒö㪌§Ò¹¡Ñº âÁ´ÙÅ iV-CAM 䴌໚¹Í‹ҧ´Õ ᵋ¹Ñè¹ËÁÒ¶֧ ¡ÒÃÂÍÁÃѺ¤ÇÒÁàÃçÇ㹡ÒûÃÐÁÇżÅÀÒ¾·ÕèŴŧ µèÒí ¡Ç‹Ò 17 à¿ÃÁµ‹ÍÇԹҷմnj  ã¹ÃÙ»·Õè 2 áÊ´§Ê‹Ç¹»ÃСͺáÅСÒáíÒ˹´¤‹Ò·Ò§ÎÒÏ´áÇÏ·ÊÕè Òí ¤Ñ­¢Í§âÁ´ÙÅ iV-CAM

2. àµÃÕÂÁ¡Òá‹Í¹ãªŒ§Ò¹ ¡ÒÃàµÃÕÂÁ¡Ò÷ÕÊè Òí ¤Ñ­·ÕÊè ´Ø ¤×Í ËÒáËŋ§¨‹ÒÂä¿àÅÕÂé § ÃдѺáç´Ñ¹ä¿àÅÕÂé §·Õàè ËÁÒÐÊÁÊíÒËÃѺ âÁ´ÙÅ iVCAM ¤×Í +6V ·Ñ§é ¹Õàé ¾×Íè 㪌àÅÕÂé §à«ÍÏâÇÁÍàµÍϴnj  â´Âã¹âÁ´ÙÅ iV-CAM ÁÕǧ¨Ã¤Çº¤ØÁ áç´Ñ¹ä¿àÅÕÂé §¤§·Õ·è Õè +5V ÍÂÙÀ‹ ÒÂã¹ à¾×Íè 㪌àÅÕÂé §âÁ´ÙšŌͧáÅÐäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ»ÃÐÁÇżŠÃÇÁ¶Ö§ÍØ»¡Ã³Í¹×è æ ´ŒÇÂ


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

5

áËŋ§¨‹ÒÂä¿àÅÕ駷ÕèàËÁÒÐÊÁ¤×Í áºµàµÍÃÕè +6 ¶Ö§ +9V ¨Ò¡áºµàµÍÃÕ袹Ҵ AA ¨íҹǹ 4 ¡ŒÍ¹ËÃ×ÍẺ¡ŒÍ¹ÊÕàè ËÅÕÂè Á +9V ¡ç䴌 â´ÂâÁ´ÙÅ iV-CAM µŒÍ§¡ÒáÃÐáÊä¿¿‡Ò㹡Ò÷íÒ§Ò¹ 200mA ¡Ã³ÕàÅ×͡㪌¢¹Ò´ AA ¤ÇÃàÅ×͡㪌ẵàµÍÃÕáè ººÍÑŤÒ䬏 (alcaline) ËÃ×ÍẺÍÍ¡«Ôäô (oxyride) à¾×èÍãˌÊÒÁÒö㪌§Ò¹ä´Œ¹Ò¹ ¡Ã³Õ㪌¡ºÑ ẵàµÍÃÕ¢è ¹Ò´ AA Ẻ»ÃШØ䴌µÍŒ §ãªŒ¨Òí ¹Ç¹¢Í§áºµàµÍÃÕàè ¾ÔÁè ¢Ö¹é ໚¹ 5 ¡ŒÍ¹ à¾×Íè ãˌ䴌áç´Ñ¹ +6V (1.2V x 5 ¡ŒÍ¹) Ëҡ㪌áËŋ§¨‹ÒÂ俵çÀÒ¹͡¨Ò¡ÍÐá´»àµÍÏËÃ×Íà¤Ã×Íè §¨‹ÒÂä¿ ¤ÇÃàÅ×Í¡áç´Ñ¹àÍÒµ¾µØ +6 ¶Ö§ +9V ᵋ¶ÒŒ ËÒ¡µŒÍ§ãªŒ¡ºÑ RC à«ÍÏâÇÁÍàµÍϴnj  µŒÍ§àÅ×͡㪌 +6V ෋ҹѹé

3. ¡Ò÷´ÊͺâÁ´ÙÅ iV-CAM ¡Ò÷´ÊͺâÁ´ÙÅ iV-CAM ·Õ觋ÒÂáÅÐÊдǡ·ÕèÊØ´¤×Í ¡Ò÷´Êͺ¼‹Ò¹¤ÍÁ¾ÔÇàµÍÏ â´ÂÁÕ «Í¿µáÇÏ·ãÕè ªŒ 2 µÑǤ×Í RS-232 Terminal áÅÐ CMUCAM2GUI â´ÂµÑÇáá㪌㹡Ò÷´Êͺ¡Òà µÔ´µ‹Íà¾×Íè ͋ҹ¤‹ÒáÅÐÊÑ§è §Ò¹ ʋǹµÑÇ·ÕÊè ͧ㪌㹡ÒûÃѺ¤ÇÒÁ¤ÁªÑ´ËÃ×Íâ¿¡ÑʢͧâÁ´ÙšŌͧ·Õãè ªŒ ã¹ iV-CAM ÁÕ¢¹Ñé µÍ¹â´ÂÊÃØ»´Ñ§¹Õé (1) µÔ´µÑ§é â»Ãá¡ÃÁ RS-232 Terminal â´Â´ÑºàºÔŤÅÔ¡·Õäè ¿Å RS-232 TerminalSetup.exe 㹫մÃÕ ÍÁ·Õ¨è ´Ñ ÁҾÌÍÁ¡ÑºâÁ´ÙÅ iV-CAM ¤ÅÔ¡»ØÁ† µÍºÃѺ仨¹¡ÃÐ·Ñ§è ¡ÒõԴµÑ§é ÊÁºÙó (2) àÅ×Í¡»ØÁ† Startà Programà RS-232 Terminal ¨Ð»ÃÒ¡¯Ë¹ŒÒµ‹Ò§ËÅÑ¡¢Í§â»Ãá¡ÃÁ ¶ŒÒ»ØÁ† Disconnect áÊ´§ ÍÂً ãˌ¡´»ØÁ† ໚¹ Connect à¾×Íè ¡íÒ˹´¤‹Òµ‹Ò§æ 㹡ÒÃÊ×Íè ÊÒâŒÍÁÙÅ


6

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

(3) ä»·Õàè Á¹Ù Setting à Serial port à¾×Íè àÅ×Í¡¾Íϵ͹ءÃÁ·Õãè ªŒµÍ‹ ¡ÑºâÁ´ÙÅ iV-CAM ¨Ò¡¹Ñé¹àÅ×Í¡ºÍ´àõ·ÕèàÁ¹Ù¤íÒÊÑè§à´ÕÂǡѹ Setting à Baud rate (bps) ໚¹ 115200 àÅ×Í¡¨íҹǹºÔµ ¢ŒÍÁÙŨҡàÁ¹Ù Setting à Data ໚¹ 8 ºÔµ áÅÐàÅ×Í¡¡ÒõÃǨÊͺºÔµ¾ÒÃÔµ¨Õé Ò¡àÁ¹Ù Setting à Parity àÅ×Í¡äÁ‹ÁºÕ µÔ ¾ÒÃÔµÕé (None) ¨Ò¡¹Ñ¹é ¡´»ØÁ† Connect à¾×Íè ¡íÒ˹´ãˌâ»Ãá¡ÃÁàª×Íè Áµ‹Í¡Ñº¾Íϵ͹ءÃÁ ÊÒÁÒö»ÃѺᵋ§ÃٻẺµÑÇÍÑ¡ÉÃËÃ×Í¢¹Ò´ä´ŒµÒÁµŒÍ§¡Òà â´ÂࢌÒä»·Õàè Á¹Ù Setting àTerminal (4) ¹íÒ¨ÑÁê à»ÍÏ BD2 áÅÐ BD2 ÍÍ¡ à¾×Íè àÅ×Í¡ºÍ´àõ໚¹ 115,200 ºÔµµ‹ÍÇÔ¹Ò·Õ ÃÇÁ ·Ñ§é ¨ÑÁê à»ÍÏ·µÕè Òí á˹‹§ DEMO áÅÐ SLAVE áÊ´§¢ŒÍ¤ÇÒÁ

(5) ແ´ÊÇÔµª¨Ò‹ Âä¿àÅÕÂé §ãˌᡋâÁ´ÙÅ iV-CAM ·ÕËè ¹ŒÒµ‹Ò§àÍÒµ¾µØ ¢Í§ RS-232 Terminal CMUcam V1.12 :

(6) ¨Ò¡¹Ñé¹·´Êͺ¾ÔÁ¾¤íÒÊÑè§ RS ·Õè˹ŒÒµ‹Ò§ÍÔ¹¾Øµ¢Í§ RS-232 Terminal áŌǡ´ Enter à¾×Íè ·´Êͺ¡ÒÃÃÕ૵âÁ´ÙÅ iV-CAM ¨Ð»ÃÒ¡¯¢ŒÍ¤ÇÒÁ :ACK CMUCAM1.12

(7) ¾ÔÁ¾¤Òí Êѧè GV ·ÕËè ¹ŒÒµ‹Ò§ÍÔ¹¾Øµ¢Í§ RS-232 Terminal áŌǡ´ Enter ໚¹¡ÒÃʋ§ ¤íÒÊÑè§à¾×èÍ͋ҹ¤‹Ò¢Í§àÅ¢àÇÍϪÑè¹ ¨Ð»ÃÒ¡®¢ŒÍ¤ÇÒÁ :ACK CMUCAM1.12


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

7

(8) àÁ×Íè 䴌µÒÁ¹Õáé Ê´§Ç‹Ò âÁ´ÙÅ iV-CAM µÔ´µ‹Í¡Ñº¾Íϵ͹ءÃÁ¢Í§¤ÍÁ¾ÔÇàµÍÏ䴌 ã¹¢Ñ鹵͹µ‹Íä»à»š¹¡ÒûÃѺ¤ÇÒÁ¤ÁªÑ´¢Í§àŹʏ·Õè㪌㹡ÒõÃǨ¨ÑºÀÒ¾ â´Â㪌â»Ãá¡ÃÁ CMUcam2GUI.jar «Ö§è ºÃèØÍÂÙ㋠¹â¿Åà´ÍÏ CMUcam2GUI 㹫մÃÕ ÍÁ·Õ¨è ´Ñ ÁҾÌÍÁ¡ÑºâÁ´ÙÅ iV-CAM ãˌ¤Ñ´ÅÍ¡â¿Åà´ÍϹÕéŧã¹ÎÒÏ´´ÔÊ¡ ᵋà¹×èͧ¨Ò¡ CMUcam2GUI ¾Ñ²¹Ò´ŒÇÂâ»Ãá¡ÃÁÀÒÉÒ¨ÒÇÒ ´Ñ§¹Ñé¹ã¹¡ÒÃແ´ãªŒ§Ò¹¤ÍÁ¾ÔÇàµÍϵÑǹÑé¹æ ¨ÐµŒÍ§ÁÕâ»Ãá¡ÃÁ㹡Å؋Á JAVA Runtime ËÒ¡äÁ‹ÁÕ ÊÒÁÒö·íÒ¡ÒõԴµÑ§é ¨Ò¡ä¿Å jre-1_5_0_04-windows-i586-p.exe «Ö§è ºÃèØÍÂÙ㋠¹«Õ´ÃÕ ÍÁ«Ö§è ÁҾÌÍÁ¡Ñº âÁ´ÙÅ iV-CAM â´Â·íÒ¡ÒôѺàºÔŤÅÔ¡ä¿Å´§Ñ ¡Å‹ÒÇ ¨Ò¡¹Ñ¹é ¤ÅÔ¡µÍºµ¡Å§ã¹áµ‹ÅÐ¢Ñ¹é ¢Í§¡ÒõÃǨ Êͺ ¨¹¡ÃзÑ觡ÒõԴµÑé§àÊÃç¨ÊÔé¹Å§ (9) ࢌÒä»ã¹â¿Åà´ÍÏ CMUcamGUI à Stand_alone àÅ×Í¡ä¿Å CMUcam2GUI.jar ´ŒÇ¡ÒäÅÔ¡àÁÒʏ¢ÇÒ áŌÇàÅ×͡ແ´ä¿Å¹´Õé nj  Java(TM)2 Platform Standard Edition Binary ´Ñ§ÃÙ»

(10) ˹ŒÒµ‹Ò§àÅ×Í¡¾Íϵ͹ءÃÁ¢Í§â»Ãá¡ÃÁ CMUCAM2GUI ¨Ð»ÃÒ¡¯¢Ö¹é


8

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

(11) àÅ×Í¡¾Íϵ͹ءÃÁ (Serial port) ·Õ赌ͧ¡Òà ÊÑ¡¤Ãً˹Öè§ Ë¹ŒÒµ‹Ò§¢Í§â»Ãá¡ÃÁ CMUcam2GUI ¨Ð»ÃÒ¡¯¢Ö¹é ·Õªè ͋ § Console ¨ÐáÊ´§¢ŒÍ¤ÇÒÁ CMUcam Version 1 type 6 ready áÊ´§Ç‹Ò µÑÇâÁ´ÙÅ iV-CAM («Ö§è ¡ç¤Í× CMUcam1 ·Õäè ´ŒÃºÑ ÊÔ·¸Ô¼ì ÅԵ㹻ÃÐà·Èä·Â) µÔ´µ‹Í¡Ñºâ»Ãá¡ÃÁ CAMcam2GUI 䴌áŌÇ

(12) ¹íÒÂÒ§»´àŹʏ¢Í§âÁ´ÙÅ iV-CAM ÍÍ¡ ¤ÅÔ¡»ØÁ† Grab Frame ÃÍÊÑ¡¤Ãً ã¹ÃÐËNjҧ ÃͨеŒÍ§¨Ñ´ãˌâÁ´ÙšŌͧÍÂÙ¹‹ §Ôè æ ÀÒ¾·Õâè Á´ÙšŌͧµÃǨ¨Ñºä´Œ¨ÐáÊ´§·Õ´è Ҍ ¹«ŒÒ¢ͧ˹ŒÒµ‹Ò§¢Í§ â»Ãá¡ÃÁ â´ÂÀÒ¾·Õäè ´Œ¨Ð¡ÅѺ«ŒÒ¢ÇÒÍÂً ãˌ¤ÅÔ¡·Õàè Á¹Ù Image àÅ×Í¡ Flip Horizontal ÀÒ¾¡ç¨Ð¡ÅѺ ´ŒÒ¹ÁÒÍÂً·Ò§¢ÇҢͧ˹ŒÒµ‹Ò§¢Í§â»Ãá¡ÃÁ àËç¹à»š¹ÀÒ¾µÒÁ»¡µÔ


iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

l

9

(13) ËÒ¡ÀÒ¾·Õäè ´ŒäÁ‹¤ÁªÑ´ ãˌ·Òí ¡ÒÃËÁع¡Ãк͡àŹʏà¾×Íè »ÃѺ⿡ÑÊ â´Â¡ÒÃËÁع µŒÍ§ËÁعÍ‹ҧªŒÒæ ËÅѧ¨Ò¡ËÁعã¹áµ‹ÅФÃѧé ãˌ·Òí ¡ÒõÃǨÊͺÀÒ¾ â´Â¡ÒäÅÔ¡»ØÁ† Grab Frame ·íÒઋ¹¹Õ¨é ¹¡Ç‹ÒÀÒ¾·Õäè ´Œ¨Ð¤ÁªÑ´ ·ÔÈ·Ò§¡ÒÃËÁعÍÒ¨ËÁع«ŒÒÂËÃ×Í¢ÇÒ¡ç䴌 ¨ÐµŒÍ§ÊѧࡵáÅеÃǨ Êͺàͧ¨Ò¡ÀÒ¾·Õµè ÃǨ¨Ñºä´Œ àÁ×Íè »ÃѺ䴌¤ÇÒÁ¤ÁªÑ´ÊÙ§ÊØ´áÅŒÇ ÊÒÁÒö¹íÒâÁ´ÙÅ iV-CAM ä»ãªŒ§Ò¹ ¨Ø´à»‡ÒËÁÒÂ

µÔ´µÑé§ iV-CAM ãˌµ§Ñé ©Ò¡µÃ§¡ÑºÇѵ¶Ø ·Õµè ͌ §¡ÒõÃǨ¨Ñº

»ÃѺ⿡ÑÊ*

Çѵ¶Ø໇ÒËÁÒÂ

* ¡ÒûÃѺ⿡ÑʵŒÍ§»ÃѺªŒÒæ àÁ×èÍ»ÃѺ˹Ö觤ÃÑé§ ãˌ¨ºÑ ÀÒ¾áŌǵÃǨÊͺ·Õè˹ŒÒ¨ÍáÊ´§¼Å¢Í§ â»Ãá¡ÃÁ¡‹Í¹Ç‹Ò ªÑ´¾ÍËÃ×ÍäÁ‹

à¾Õ§෋ҹÕâé Á´ÙÅ iV-CAM ¡ç¾ÃŒÍÁÊíÒËÃѺ¡ÒÃ㪌§Ò¹

4. ¡Ò÷íÒ§Ò¹ã¹âËÁ´ Demo ¼ÙŒãªŒ§Ò¹ÂѧÊÒÁÒö·´Êͺ¡Ò÷íÒ§Ò¹¢Í§âÁ´ÙÅ iV-CAM ã¹àªÔ§ÎÒÏ´áÇÏ䴌ÍÕ¡·Ò§Ë¹Öè§ â´Â¡Òõ‹Í¨ÑÁê à»ÍÏ㹵íÒá˹‹§ DEMO à¾×Íè ¡íÒ˹´ãˌâÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´µÑÇÍ‹ҧËÃ×Í DEMO. áÅе‹Í RC à«ÍÏâÇÁÍàµÍÏࢌҷժè ͋ § SERVO â´ÂµŒÍ§µ‹ÍÊÒÂÊÑ­­Ò³ãˌ¶¡Ù µŒÍ§´ŒÇ ÊÒÂÊÕá´§ ÊÒÂÊÑ­­Ò³¢Í§ à«ÍÏâÇÁÍàµÍÏ ÊÒÂÊÕàËÅ×ͧ ËÃ×Í¢ÒÇ

ÊÒÂÊÕ´íÒ

+

S

SERVO

-


10

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

ã¹âËÁ´¹Õ¨é СíÒ˹´ãˌâÁ´ÙšŌͧàÃÕ¡¤íÒÊѧè Track Window (¨Ð䴌¡Å‹ÒǶ֧ÀÒÂËÅѧ) áÅРʋ§ÊÑ­­Ò³ PWM ÍÍ¡ä»·Ò§ª‹Í§àÍÒµ¾µØ SERVO à¾×Íè ¹íÒ仢Ѻà«ÍÏâÇÁÍàµÍÏ ¢Ñ¹é µÍ¹¡Ò÷íÒ§Ò¹ ã¹âËÁ´ Demo ÁÕ´§Ñ ¹Õé (1) µ‹Í¨ÑÁê à»ÍÏ DEMO (2) µ‹Íà«ÍÏâÇÁÍàµÍÏ (3) ແ´ÊÇÔµªà¾×Íè ¨‹ÒÂä¿á¡‹âÁ´ÙÅ iV-CAM (4) ¤íÒÊѧè RS ¨Ð¶Ù¡Ê‹§ä»ÃÕ૵âÁ´ÙšŌͧ (5) ˹‹Ç§àÇÅÒ 5 ÇÔ¹Ò·Õ à¾×Íè ãˌâÁ´ÙšŌͧ»ÃѺ¤‹Ò¾ÒÃÒÁÔàµÍϵҋ §æ â´ÂÍѵâ¹ÁÑµÔ (6) à¢Õ¹¢ŒÍÁÙÅ CR 18 32 19 32 ä»ÂѧÃÕ¨ÊÔ àµÍϢͧâÁ´ÙšŌͧ à¾×Íè àÅ×Í¡âËÁ´ÊÕẺ YCrCb áÅл´¡ÒûÃѺ¡ÒâÂÒÂÍѵâ¹ÁÑµÔ (auto gain off) (7) ¡ÃзíÒ¤íÒÊÑè§ TW ËÃ×Í Track Window ¹íÒÇѵ¶Ø·Õ赌ͧ¡ÒõÃǨ¨ÑºÁÒÇÒ§änj˹ŒÒ âÁ´ÙÅ iV- CAM àÁ×Íè µÃǨ¨ÑºÀҾ䴌 LED ÊÕàËÅ×ͧ㹵íÒá˹‹§ Track ¨ÐµÔ´¤ÃÙˋ ¹Ö§è áÅŒÇ´Ñºä» (8) à«ÍÏâÇÁÍàµÍϨж١¢Ñºãˌ᡹ÁÒÍÂÙ㋠¹µíÒá˹‹§¡Ö§è ¡ÅÒ§áŌÇËÂØ´ ᵋ¶ÒŒ Ëҡ᡹ ¢Í§à«ÍÏâÇÁÍàµÍÏÍÂً㹵íÒá˹‹§¡Ö觡ÅÒ§ÍÂًáÅŒÇ ¨ÐäÁ‹àË繡Ò÷íÒ§Ò¹ã¹Ê‹Ç¹¹Õé Í‹ҧäáçµÒÁ ¼Ù㌠ªŒ§Ò¹ÊÒÁÒö¤Çº¤ØÁà«ÍÏâÇÁÍàµÍÏãˌÁ¡Õ ÒÃËÁعà¾×Íè µÔ´µÒÁÇѵ¶Ø·µÕè ͌ §¡Òà µÃǨ¨Ñºä´Œ â´Âà¢Õ¹¤íÒÊѧè MM ä»ÂѧâÁ´ÙÅ iV-CAM «Ö§è ¨Ð䴌¡Å‹ÒǶ֧µ‹Íä»

5. ÃٻẺ¢ŒÍÁÙÅàÍÒµ¾µØ ¢Í§âÁ´ÙÅ iV-CAM ¡‹Í¹Í¸ÔºÒ¶֧¤íÒÊÑ觢ͧâÁ´ÙÅ iV-CAM ¨ÐµŒÍ§·íÒ¤ÇÒÁࢌÒ㨡ѺÃٻẺ¢Í§¢ŒÍÁÙÅ·ÕèâÁ´ÙÅ iV-CAM 㪌㹡ÒõԴµ‹Í¡Ñº¤ÍÁ¾ÔÇàµÍÏáÅÐäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ â´Â¢ŒÍÁÙÅàÍÒµ¾µØ ¹Ñ¹é ໚¹ÃËÑÊ áÍÊ¡Õé (ASCII) ÁÕÃÒÂÅÐàÍÕ´´Ñ§¹Õé

5.1 ACK ໚¹¢ŒÍ¤ÇÒÁµÍºÃѺ·ÕèâÁ´ÙÅ iV-CAM ʋ§¡ÅѺÁÒÂѧ¤ÍÁ¾ÔÇàµÍÏËÃ×ÍäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ à¾×Íè ᨌ§ãˌ·ÃÒºÇ‹Ò âÁ´ÙÅ iV-CAM ÃѺÃÙˌ Ã×Í䴌·Òí §Ò¹µÒÁ¤íÒÊÑ§è ·ÕÊè §‹ ÁÒ¡‹Í¹Ë¹ŒÒ ÃÇÁ¶Ö§Âѧ㪌áÊ´§ Ç‹Ò âÁ´ÙÅ iV-CAM ¡Ñº¤ÍÁ¾ÔÇàµÍÏËÃ×ÍäÁâ¤Ã¤Í¹â·ÃÅàÅÍÃÂ§Ñ ÊÒÁÒöµÔ´µ‹Í¡Ñ¹ä´Œ


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

11

5.2 NCK ໚¹¢ŒÍ¤ÇÒÁµÍºÃѺ·Õâè Á´ÙÅ iV-CAM ʋ§¡ÅѺÁÒÂѧ¤ÍÁ¾ÔÇàµÍÏËÃ×äÁâ¤Ã¤Í¹â·ÃÅàÅÍÏ à¾×Íè ᨌ§ãˌ·ÃÒºÇ‹Ò âÁ´ÙÅ iV-CAM äÁ‹Ã¨ÙŒ ¡Ñ ¤íÒÊѧè ËÃ×ÍÃٻẺ¢ŒÍÁÙÅ·ÕÊè §‹ ÁÒ¡‹Í¹Ë¹ŒÒ

5.3 á¾ç¡à¡çµ¢ŒÍÁÙÅẺ C (Type C packet) ໚¹ÃٻẺ¢ŒÍÁÙÅ·Õäè ´Œ¨Ò¡¤íÒÊÑ§è µÃǨ¨ÑºÊÕ (color tracking command) ÁÕ¡ÒèѴàÃÕ§¢ŒÍÁÙŴѧ¹Õé C x1 y1 x2 y2 pixels confidence\r

»ÃСͺ´ŒÇ x1 - ¾Ô¡´Ñ ÁØÁ«ŒÒÂã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y1 - ¾Ô¡´Ñ ÁØÁ«ŒÒÂã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ x2 - ¾Ô¡´Ñ ÁØÁ¢ÇÒã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y2 - ¾Ô¡´Ñ ÁØÁ¢ÇÒã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ pixels - ¨íҹǹ¾Ô¡à«Å¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ Áդҋ ÊÙ§ÊØ´ 255 â´Â»ÃѺÍѵÃÒʋǹ¨Ò¡ ¨íҹǹ¾Ô¡à«Å¨ÃÔ§·ÕèµÃǨ¨Ñºä´ŒµÒÁ¤ÇÒÁÊÑÁ¾Ñ¹¸ (¨íҹǹ¾Ô¡à«Å¨ÃÔ§ +4)/8 confidence - ໚¹¢ŒÍÁÙŢͧ¾×¹é ·Õµè ÃǨ¨Ñº·Õ¾è ¨Ô ÒóÒ㹡ÃͺÊÕàè ËÅÕÂè Á¼×¹¼ŒÒ·ÕÁè ¤Õ Ò‹ ¢Í§ ¡ÒõÃǨ¨Ñº·Õè 255 â´Â¢ŒÍÁÙŹÕé¤íҹdz¨Ò¡ ¨íҹǹ¾Ô¡à«Åµ‹Í¾×é¹·Õè x 256 \r - ໚¹ÃËÑʢͧ¡Òû´ªØ´¢ŒÍÁÙÅ (໚¹ÃËÑʢͧ»ØÁ† Enter ËÃ×Í Return º¹¤Õº ÍÏ´)

5.4 á¾ç¡à¡çµ¢ŒÍÁÙÅẺ M (Type M packet) ໚¹ÃٻẺ¢ŒÍÁÙÅ·Õè䴌¨Ò¡¤íÒÊÑ觵ÃǨ¨ÑºÊÕ (color tracking command) «Öè§ÁÕ¡ÒþԨÒóҶ֧ ¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèµÃǨ¨ÑºËÃ×Í middle mass ÁÕ¡ÒèѴàÃÕ§¢ŒÍÁÙŴѧ¹Õé M mx my x1 y1 x2 y2 pixels confidence\r

»ÃСͺ´ŒÇ mx

- ¾Ô¡´Ñ ã¹á¹ÇÃйҺ (᡹ X) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº

- ¾Ô¡´Ñ ã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº x1 - ¾Ô¡´ Ñ ÁØÁ«ŒÒÂã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y1 - ¾Ô¡´ Ñ ÁØÁ«ŒÒÂã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ my


12

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

- ¾Ô¡´Ñ ÁØÁ¢ÇÒã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ pixels - ¨íҹǹ¾Ô¡à«Å¢Í§¾×¹ é ·Õ·è µÕè ÃǨ¨Ñº Áդҋ ÊÙ§ÊØ´ 255 â´Â»ÃѺÍѵÃÒʋǹ¨Ò¡ ¨íҹǹ¾Ô¡à«Å¨ÃÔ§·ÕèµÃǨ¨Ñºä´ŒµÒÁ¤ÇÒÁÊÑÁ¾Ñ¹¸ (¨íҹǹ¾Ô¡à«Å¨ÃÔ§ +4)/8 confidence - ໚¹¢ŒÍÁÙŢͧ¾×¹ é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº·Õ¾è ¨Ô ÒóÒ㹡ÃͺÊÕàè ËÅÕÂè Á¼×¹¼ŒÒ·Õè ÁÕ¤‹Ò¢Í§¡ÒõÃǨ¨Ñº·Õè 255 â´Â¢ŒÍÁÙŹÕé¤íҹdz¨Ò¡ ¨íҹǹ¾Ô¡à«Åµ‹Í¾×¹é ·Õè x 256 \r - ໚¹ÃËÑʢͧ¡Òû´ªØ´¢ŒÍÁÙÅ x2

5.5 á¾ç¡à¡çµ¢ŒÍÁÙÅẺ N (Type N packet) ໚¹ÃٻẺ¢ŒÍÁÙÅ·Õè䴌¨Ò¡¤íÒÊÑ觵ÃǨ¨ÑºÊÕ (color tracking command) «Öè§ÁÕ¡ÒþԨÒóҶ֧ ¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèµÃǨ¨ÑºËÃ×Í middle mass áÅÐᨌ§µíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ ¤ÅŒÒ¡Ѻ á¾ç¡à¡çµ¢ŒÍÁÙÅẺ M µ‹§¡Ñ¹·Õãè ¹áºº N ¨ÐºÃèآ͌ ÁÙŢͧµíÒá˹‹§à«ÍÏâÇÁÍàµÍÏ㹢³ÐµÃǨ ¨Ñº¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ ÁÕ¡ÒèѴàÃÕ§¢ŒÍÁÙŴѧ¹Õé N spos mx my x1 y1 x2 y2 pixels confidence\r

»ÃСͺ´ŒÇ - µíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ»¨˜ ¨Øº¹Ñ mx - ¾Ô¡´ Ñ ã¹á¹ÇÃйҺ (᡹ X) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº my - ¾Ô¡´ Ñ ã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº x1 - ¾Ô¡´ Ñ ÁØÁ«ŒÒÂã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y1 - ¾Ô¡´ Ñ ÁØÁ«ŒÒÂã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ x2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇÃйҺ (᡹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ y2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇµÑ§é (᡹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃǨ¨Ñºä´Œ pixels - ¨íҹǹ¾Ô¡à«Å¢Í§¾×¹ é ·Õ·è µÕè ÃǨ¨Ñº Áդҋ ÊÙ§ÊØ´ 255 â´Â»ÃѺÍѵÃÒʋǹ¨Ò¡ ¨íҹǹ¾Ô¡à«Å¨ÃÔ§·ÕèµÃǨ¨Ñºä´ŒµÒÁ¤ÇÒÁÊÑÁ¾Ñ¹¸ (¨íҹǹ¾Ô¡à«Å¨ÃÔ§ +4)/8 confidence - ໚¹¢ŒÍÁÙŢͧ¾×¹ é ·ÕÊè ·Õ µÕè ÃǨ¨Ñº·Õ¾è ¨Ô ÒóÒ㹡ÃͺÊÕàè ËÅÕÂè Á¼×¹¼ŒÒ·Õè ÁÕ¤‹Ò¢Í§¡ÒõÃǨ¨Ñº·Õè 255 â´Â¢ŒÍÁÙŹÕé¤íҹdz¨Ò¡ ¨íҹǹ¾Ô¡à«Åµ‹Í¾×¹é ·Õè x 256 \r - ໚¹ÃËÑʢͧ¡Òû´ªØ´¢ŒÍÁÙÅ spos


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

13

5.6 á¾ç¡à¡çµ¢ŒÍÁÙÅẺ S (Type S packet) ´Ñ§¹Õé

໚¹ªØ´¢ŒÍÁÙÅ·ÕèãˌÃÒÂÅÐàÍÕ´à¡ÕèÂǡѺ¡ÒõÃǨ¨ÑºÀÒ¾¢Í§âÁ´ÙšŌͧ ÁÕ¡ÒèѴàÃÕ§¢ŒÍÁÙÅ S Rmean Gmean Bmean Rdeviation Gdeviation Bdeviation\r

»ÃСͺ´ŒÇ - ¤‹Òà©ÅÕÂè ¢Í§ÊÕá´§ (Red) ËÃ×Í Cr (໚¹¤‹Òâ´Â»ÃÐÁÒ³¢Í§¤‹ÒÊÕá´§ - ÊÕà¢ÕÂÇ : r-g) ã¹Ë¹ŒÒµ‹Ò§»˜¨¨Øº¹Ñ Gmean - ¤‹Òà©ÅÕ è ÊÕà¢ÕÂÇ (Green) ËÃ×Í ¤‹Ò¤ÇÒÁࢌÁáʧ (Y) ã¹Ë¹ŒÒµ‹Ò§»˜¨¨Øº¹Ñ Bmean - ¤‹Òà©ÅÕÂ è ¹ÊÕ¹Òéí à§Ô¹ (Blue) ËÃ×Í Cb (໚¹¤‹Òâ´Â»ÃÐÁÒ³¢Í§¤‹ÒÊÕ¹Òéí à§Ô¹ - ÊÕ à¢ÕÂÇ : b-g) ã¹Ë¹ŒÒµ‹Ò§»˜¨¨Øº¹Ñ Rdeviation - ¤‹Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕá´§ (Red) ËÃ×Í Cr ã¹Ë¹ŒÒµ‹Ò§»˜¨¨Øº¹Ñ Gdeviation - ¤‹Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕà¢ÕÂÇ (Green) ËÃ×Í ¤‹Ò¤ÇÒÁࢌÁáʧ (Y) 㹠˹ŒÒµ‹Ò§»˜¨¨ØºÑ¹ Bdeviation - ¤‹Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕ¹Òéí à§Ô¹ (Blue) ËÃ×Í Cb ã¹Ë¹ŒÒµ‹Ò§»˜¨¨Øº¹Ñ ¤‹Ò¤ÇÒÁàºÕè§ູ ËÁÒ¶֧ ¤‹Òà©ÅÕèÂÊÑÁºÙó¢Í§¤ÇÒÁᵡµ‹Ò§ÃÐËNjҧ¨íҹǹ¾Ô¡à«Å¡Ñº¤‹Ò à©ÅÕÂè ¢Í§¾×¹é ·Õè Rmean

6. ªØ´¤íÒÊѧè àº×Íé §µŒ¹ (Basic Command Set) 㹡ÒáµÑÇÍ‹ҧ»ÃСͺ¤íÒ͸ԺÒ¢ͧᵋÅФíÒÊÑ§è ¨Ð㪌â»Ãá¡ÃÁ RS-232 Terminal 㹡Òà áÊ´§¼Å¡Ò÷íÒ§Ò¹ â´ÂÁÕ¢ŒÍ¡íÒ˹´ã¹¡ÒõԴµ‹Í´Ñ§¹Õé ºÍ´àõ 9,600 ËÃ×Í 115,200 ºÔµµ‹ÍÇÔ¹Ò·Õ â´ÂµŒÍ§¡íÒ˹´¨ÑêÁà»ÍÏàÅ×Í¡ºÍ´àõ ¢Í§âÁ´ÙÅ iV-CAM ãˌµÃ§¡Ñ¹´ŒÇ l

l

¨íҹǹ¢ŒÍÁÙÅ 8 ºÔµ

l

äÁ‹ÁºÕ µÔ ¾ÒÃÔµÕé

â´Â㹡Ò÷´ÊͺãˌµÍ‹ ÊÒ CX-4 ࢌҡѺâÁ´ÙÅ iV-CAM áÅоÍϵ͹ءÃÁ¢Í§¤ÍÁ¾ÔÇàµÍÏ ¨Ò¡¹Ñé¹à»´â»Ãá¡ÃÁ RS-232 Terminal àÅ×Í¡µíÒá˹‹§¾Íϵ͹ءÃÁ·Õ赌ͧ¡ÒõԴµ‹Íã¹â»Ãá¡ÃÁ àÅ×Í¡ºÍ´àõ ¨íҹǹºÔµ¢ŒÍÁÙÅ ºÔµ¾ÒÃÔµÕé ʋǹ¡Òû‡Í¹¤íÒÊѧè ãˌ¾ÁÔ ¾Å§ã¹Ë¹ŒÒµ‹Ò§ÍÔ¹¾Øµ·ÕÍè ÂÙ´‹ Ҍ ¹º¹ ʋǹ¼Å¡Ò÷íÒ§Ò¹ãˌ´Ù¨Ò¡Ë¹ŒÒµ‹Ò§àÍÒµ¾Øµ·Ò§´ŒÒ¹Å‹Ò§¢Í§Ë¹ŒÒµ‹Ò§â»Ãá¡ÃÁ RS-232 Terminal


14

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

ÃÒÂÅÐàÍÕ´ªØ´¤íÒÊѧè àº×Íé §µŒ¹¢Í§âÁ´ÙÅ iV-CAM «Ö§è àËÁ×͹¡ÑºâÁ´ÙÅ CMUcam1 ÁÕ´§Ñ ¹Õé

6.1 \r ËÃ×Í¡´¤Õ enter ËÃ×Í¡´¤Õ return

໚¹¤íÒÊÑ§è ·ÕÊè §‹ ä»ÂѧâÁ´ÙÅ iV-CAM à¾×Íè ¡íÒ˹´ãˌÍÂÙ㋠¹ÀÒÇÐʧºËÃ×ÍäÍà´ÔÅ àÁ×Íè âÁ´ÙÅ iVCAM ä´ŒÃºÑ ¤íÒÊÑ§è ¹Õé áÅеդÇÒÁ䴌 ¨Ðʋ§¢ŒÍ¤ÇÒÁ ACK µÍºÃѺ¡ÅѺÁÒ ¢Ö¹é ºÃ÷ѴãËÁ‹ áÅе‹Í´ŒÇ à¤Ã×Íè §ËÁÒ : áÊ´§µÑÇÍ‹ҧ䴌´§Ñ ¹Õé : ACK :

¨Ö§ÊÒÁÒö㪌¤Òí ÊÑ§è ¹Õµé ÃǨÊͺ¡ÒõԴµ‹ÍÃÐËNjҧâÁ´ÙÅ iV-CAM ¡Ñº¤ÍÁ¾ÔÇàµÍÏËÃ×ÍäÁâ¤Ã ¤Í¹â·ÃÅàÅÍÏ â´Â¶ŒÒʋ§ \r ä»ÂѧâÁ´ÙÅ iV-CAM ¶ŒÒ·Ø¡Í‹ҧ»¡µÔ ¨Ðä´ŒÃºÑ ¢ŒÍ¤ÇÒÁ ACK ¡ÅѺÁÒ

6.2 GM\r ໚¹¤íÒÊѧè ͋ҹ¤‹Òà©ÅÕÂè ÊբͧÀҾ㹻˜¨¨Øº¹Ñ ·Ñ§é ÀÒ¾ â´ÂÁդҋ 16 ¶Ö§ 240 ÃٻẺ¢ŒÍÁÙÅ·Õäè ´Œ¨Ò¡ ¤íÒÊÑ§è ¹Õàé »š¹á¾ç¡à¡çµáºº S ÊÒÁÒö㪌¤Òí ÊÑ§è ¹Õµé ÃǨ¨Ñº¡ÒÃà»ÅÕÂè ¹á»Å§ã¹áµ‹ÅЩҡÍ‹ҧÍѵâ¹ÁѵäÔ ´Œ µÑÇÍ‹ҧ :SW 1 1 40 143

¡íÒ˹´¢¹Ò´¢Í§Ë¹ŒÒµ‹Ò§·Õµè ÃǨ¨ÑºÀÒ¾

ACK :GM ACK S 89 90 67 5 6 3

ÀÒ¾Áդҋ à©ÅÕÂè ÊÕá´§ 89, ÊÕà¢ÕÂÇ 90, ÊÕ¹Òéí à§Ô¹ 67, ¤‹ÒàºÕÂè §àº¹ÊÕá´§ 5, ¤‹ÒàºÕÂè §àº¹ÊÕà¢ÕÂÇ 6, ¤‹ÒàºÕÂè § ູÊÕ¹Òéí à§Ô¹ 3 àÁ×Íè âÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´ÊÕ RGB

6.3 L1 value\r ໚¹¤íÒÊÑ§è ¤Çº¤ØÁ¡Ò÷íÒ§Ò¹¢Í§ LED ÊÕàËÅ×ͧ㹵íÒá˹‹§ Tracking. ÊÒÁÒö¡íÒ˹´¤‹Ò䴌 ·Õ¾è ÒÃÒÁÔàµÍÏ value 3 ¤‹Ò¤×Í 0 : »´¡Ò÷íÒ§Ò¹¢Í§ LED 1 : ¢Ñºãˌ LED µÔ´ÊNjҧ 2 : ¡íÒ˹´ãˌ·Òí §Ò¹ã¹âËÁ´Íѵâ¹ÁÑµÔ àÁ×Íè µÃǨ¨ÑºÀҾ䴌 LED ¨Ö§µÔ´ÊNjҧ

µÑÇÍ‹ҧ à¢Õ¹¤íÒÊѧè à¾×Íè ແ´áÅл´ LED ã¹µíÒá˹‹§ Track :L1 2 ACK :L1 0 ACK


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

15

6.4 MM mode\r

໚¹¤íÒÊÑ觤Ǻ¤ØÁ¡Ò÷íÒ§Ò¹ã¹âËÁ´µÃǨ¨Ñº¨Ø´¡Ö觡ÅÒ§¾×é¹·ÕèÊÕËÃ×Í Middle Mass â´Â ¡íÒ˹´¤‹Ò¼‹Ò¹·Ò§¾ÒÃÒÁÔàµÍÏ mode ´Ñ§¹Õé 0 : äÁ‹àÅ×Í¡¡Ò÷íÒ§Ò¹ã¹âËÁ´µÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ 1 : àÅ×Í¡¡Ò÷íÒ§Ò¹ã¹âËÁ´µÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ (໚¹¤‹ÒµÑ§é µŒ¹) àÁ×Íè µÃǨ¨Ñº´ŒÇ¤íÒÊѧè TC ¨Ð䴌¢ÍŒ ÁÙÅá¾ç¡à¡çµáºº M 2 : àÅ×Í¡¡Ò÷íÒ§Ò¹ã¹âËÁ´µÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè ¾Õ ÃŒÍÁ¡Ñº¤Çº¤ØÁà«ÍÏâÇÁÍàµÍÏ ã¹âËÁ´ ¹Õàé ËÁÒÐÊíÒËÃѺ¡ÒäǺ¤ØÁãˌ¡ÅŒÍ§ËÁعà¾×Íè µÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ â´ÂµŒÍ§µÔ´µÑ§é âÁ´ÙšŌͧࢌҡѺ᡹ËÁع ¢Í§à«ÍÏâÇÁÍàµÍϴnj  4 : àÅ×Í¡ãˌÁ¡Õ ÒõԴµÒÁµíÒá˹‹§¢Í§á¡¹à«ÍÏâÇÁÍàµÍÏ 8 : àÅ×Í¡ãˌáÊ´§µíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ â´ÂáÊ´§ÃٻẺ¢ŒÍÁÙÅ໚¹á¾ç¡à¡çµáºº N 14 : ໚¹¡ÒáíÒ˹´ãˌ·Òí §Ò¹ã¹âËÁ´µÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè ¾Õ ÃŒÍÁ¡Ñº¤Çº¤ØÁà«ÍÏâÇÁÍàµÍÏ ãˌµ´Ô µÒÁ¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè Õ ¾ÃŒÍÁ¡Ñ¹¹Ñ¹é ÂѧãˌáÊ´§¤‹ÒµíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ㹢³Ð·íÒ§Ò¹´ŒÇÂ

´Ñ§¹Ñ鹤‹Ò¢Í§¾ÒÃÒÁÔàµÍÏ mode ·Õè¤ÇÃàÅ×͡㪌¤×Í 1 2 14

㹡óշäÕè Á‹µÍ‹ à«ÍÏâÇÁÍàµÍÏ 㹡óշäÕè Á‹µÍŒ §¡Ò÷ÃÒº¤‹ÒµíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ áÅР㹡óշµÕè ͌ §¡Ò÷ÃÒº¤‹ÒµíÒá˹‹§¢Í§à«ÍÏâÇÁÍàµÍÏ

µÑÇÍ‹ҧ·Õè 1

:MM 0 àÅ×Í¡»´¡ÒõÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ ACK :TC ACK C 38 82 53 128 35 98 C 38 82 53 128 35 98

µÑÇÍ‹ҧ·Õè 2

:MM 1 àÅ×͡ແ´¡ÒõÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ ACK :TC ACK M 29 44 2 1 71 141 82 16 M 25 83 2 1 72 143 148 30

µÑÇÍ‹ҧ·Õè 3

:MM 14 àÅ×͡ແ´¡ÒõÃǨ¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ ¾ÃŒÍÁ¡Ñº¢Ñº, µÔ´µÒÁ áÅÐáÊ´§µíÒá˹‹§à«ÍÏâÇÁÍàµÍÏ ACK :TC ACK N 91 34 47 2 1 80 83 77 25 N 88 31 32 2 1 80 80 145 48


16

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

6.5 NF active\r ໚¹¤íÒÊÑ§è ¤Çº¤ØÁ¡Ò÷íÒ§Ò¹¢Í§Ç§¨Ã¡ÃͧÊÑ­­Ò³Ãº¡Ç¹ â´Â¡íÒ˹´¼‹Ò¹¾ÒÃÒÁÔàµÍÏ active “0” - àÅ×Í¡ãˌǧ¨Ã¡ÃͧÊÑ­­Ò³Ãº¡Ç¹äÁ‹·Òí §Ò¹ “1” - àÅ×Í¡ãˌǧ¨Ã¡ÃͧÊÑ­­Ò³Ãº¡Ç¹·íÒ§Ò¹ ໚¹¤‹ÒµÑ§é µŒ¹

µÑÇÍ‹ҧ à¢Õ¹¤íÒÊѧè à¾×Íè ËÂØ´¡Ò÷íÒ§Ò¹¢Í§Ç§¨Ã¡ÃͧÊÑ­­Ò³Ãº¡Ç¹ :NF 0 ACK :

6.6 PM mode\r ໚¹¤íÒÊÑ觷Õè¡íÒ˹´ãˌâÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´â¾Å (Poll Mode) â´Â¡íÒ˹´¼‹Ò¹ ¾ÒÃÒÁÔàµÍÏ mode “0” - àÅ×Í¡ãˌâÁ´ÙÅ iV-CAM äÁ‹·Òí §Ò¹ã¹âËÁ´â¾Å ໚¹¤‹ÒµÑ§é µŒ¹ “1” - àÅ×Í¡ãˌâÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´â¾Å

ã¹âËÁ´¹Õàé »š¹¡ÒáíÒ˹´ãˌâÁ´ÙÅ iV-CAM ʋ§¢ŒÍÁÙÅÀÒ¾ÍÍ¡ÁÒà¾Õ§˹֧è á¾ç¡à¡çµ à¾×Íè ª‹Ç ãˌäÁâ¤Ã¤Í¹â·ÃÅàÅÍϤÇÒÁàÃçǵèÒí ·Õ¹è Òí ÁÒµ‹ÍËÇÁ´ŒÇÂÊÒÁÒöÃѺ¢ŒÍÁÙÅÀҾ䴌·¹Ñ ᵋ¹¹Ñè ‹ÍÁʋ§¼Å ¶Ö§¤ÇÒÁàÃçÇ㹡ÒõÃǨ¨ÑºÀÒ¾ (frame rate) Ŵŧ ¨Ö§·íÒãˌäÁâ¤Ã¤Í¹â·ÃÅàÅÍÏÊÒÁÒöà¡çº¢ŒÍÁÙÅ ÀҾ䴌Í‹ҧ¨íÒ¡Ñ´ ´Ñ§¹Ñé¹àÁ×èÍ·íÒ§Ò¹ã¹âËÁ´¹Õé¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍϤÇÒÁàÃçǵèíÒ¤ÇÃàÅ×͡㪌㹠¡ÒõÃǨ¨ÑºÀÒ¾·ÕÁè ¤Õ ÇÒÁ¹Ô§è áÅÐÁÕ¤ÇÒÁᵡµ‹Ò§äÁ‹ÁÒ¡ ÃÇÁ¶Ö§¤ÇÃ໚¹ÀÒ¾·ÕÁè ÊÕ àÕ ´ÕÂÇ·Õªè ´Ñ à¨¹áÅРⴴഋ¹ µÑÇÍ‹ҧ :PM 1 ACK :TC 50 20 90 130 70 255 ACK :

¢ŒÍÁÙÅÀҾ˹֧è á¾ç¡à¡çµ·ÕÊè §‹ ÁÒ¨Ò¡âÁ´ÙÅ iV-CAM


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

17

6.7 RM bit_flags\r ໚¹¤íÒÊÑè§àÅ×Í¡âËÁ´¡Òö‹Ò·ʹ¢ŒÍÁÙÅ´Ôº¢Í§ÀÒ¾·ÕèµÃǨ¨ÑºáººÍ¹Ø¡ÃÁ â´Â¡íÒ˹´¼‹Ò¹ ¾ÒÃÒÁÔàµÍÏ bit_flags ÁÕ¢¹Ò´ 3 ºÔµ ´Ñ§¹Õé ºÔµ 0 ¡íÒ˹´ãˌâÁ´ÙšŌͧʋ§¢ŒÍÁÙÅàÍÒµ¾µØ ໚¹¢ŒÍÁÙÅ´ÔºÃдѺ亵 (raw byte) ºÔµ 1 ¡íÒ˹´ãˌâÁ´ÙšŌͧäÁ‹µÍŒ §Ê‹§ÃËÑÊ ACK áÅÐ NCK à¾×Íè µÍºÃѺ¤íÒÊÑ§è ºÔµ 2 ¡íÒ˹´ãˌâÁ´ÙšŌͧÃѺ¢ŒÍÁÙÅÍÔ¹¾Øµà»š¹¢ŒÍÁÙÅ´ÔºÃдѺ亵 àÁ×Íè ¡íÒ˹´ãˌ·Òí §Ò¹ã¹âËÁ´ ¹ÕËé Åѧ¨Ò¡à¢Õ¹¤íÒÊѧè à¾×Íè ¡íÒ˹´âËÁ´ã¹ 2 亵áááÅŒÇ ÁÕ¡ÒÃà¢Õ¹¤íÒÊѧè à¾×Íè ¡íÒ˹´¨íҹǹ¢ŒÍÁÙÅ·Õµè ͌ §¡ÒÃÃѺ áÅŒÇ ¢ŒÍÁÙÅ·ÕÊè §‹ ä»ÂѧâÁ´ÙšŌͧ¡çäÁ‹µÍŒ §Ê‹§ÃËÑÊ RETURN µ‹Í·ŒÒÂÍÕ¡

µÑÇÍ‹ҧ

:RM 1 ¡íÒ˹´ãˌâÁ´ÙšŌͧʋ§¢ŒÍÁÙÅàÍÒµ¾µØ ໚¹¢ŒÍÁÙÅ´ÔºÃдѺ亵 ACK :TC 50 20 90 130 70 255 ACK ¢ŒÍÁÙÅ´Ôº¢Í§ÀÒ¾·Õäè ´Œ¨Ò¡¡ÒõÃǨ¨Ñº´ŒÇ¤íÒÊѧè TC C>%k(ai Ck$&,.L

(raw byte)

6.8 RS \r ໚¹¤íÒÊѧè ÃÕà«çµâÁ´ÙÅ iV-CAM µÑÇÍ‹ҧ

ʋ§¤íÒÊѧè ÃÕà«çµä»ÂѧâÁ´ÙÅ iV-CAM

:rs ACK CMUcam v1.12 :

6.9 SW [x

y x2 y2] \r

໚¹¤íÒÊÑ觡íÒ˹´¢¹Ò´¢Í§Ë¹ŒÒµ‹Ò§·ÕèµÃǨ¨ÑºÀÒ¾¢Í§âÁ´ÙšŌͧ ´ŒÇ¡ÒáíÒ˹´¾Ô¡Ñ´·Ñé§ á¹ÇµÑ§é áÅÐá¹Ç¹Í¹ ·íÒãˌà¡Ô´¡ÃͺÊÕàè ËÅÕÂè Á¢Ö¹é â´Â¡ÒáíÒ˹´¾Ô¡´Ñ ¹Ñ¹é ¨ÐàÃÔÁè ¨Ò¡¾Ô¡´Ñ ÁØÁ«ŒÒº¹ (x,y) áÅТÇÒŋҧ (x2, y2) ʋǹ¨Ø´àÃÔèÁµŒ¹¢Í§ÀÒ¾¨Ð¶Ù¡ÂŒÒÂä»Âѧ¨Ø´º¹«ŒÒ¢ͧ¾Ô¡Ñ´·Õè¡íÒ˹´¢Öé¹ ãËÁ‹ ¤íÒÊÑ觹Õ鵌ͧ¶Ù¡¡íÒ˹´¡‹Í¹·Õè¨ÐàÃÔèÁµŒ¹¡Ãкǹ¡ÒûÃÐÁÇżÅÀÒ¾ ¶ŒÒËÒ¡äÁ‹ÁÕ¡ÒáíÒ˹´ ¾ÒÃÒÁÔàµÍϵ‹Í·ŒÒ¤íÒÊÑè§ ¢¹Ò´¢Í§Ë¹ŒÒµ‹Ò§·ÕèµÃǨ¨ÑºÀÒ¾¨Ð໚¹¢¹Ò´ÊÙ§ÊØ´¤×Í 80 x 143 ¨Ø´ ¹Ñè¹ ¤×Í 1,1,80,143 µÑÇÍ‹ҧ :SW 35 65 45 75 ACK :

໚¹¤íÒÊѧè àÅ×Í¡¾×¹é ·Õµè ç¡ÅÒ§¢Í§¨ÍÀÒ¾·Ñ§é ËÁ´ (x=35, y=65, x2=45, y2=75)


18

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

6.10 TC [Rmin

Innovative Experiment Co.,Ltd.

Rmax Gmin Gmax Bmin Bmax]\r

໚¹¤íÒÊÑ§è ¡íÒ˹´ãˌâÁ´ÙšŌͧµÃǨ¨ÑºÊÕ·ÊÕè ¹ã¨ «Ö§è µŒÍ§·íÒ§Ò¹µ‹Í¨Ò¡¤íÒÊѧè TW â´Â¤íÒÊѧè TC ¨Ðãˌ¤Ò‹ µèÒí ÊØ´áÅÐÊÙ§ÊØ´¢Í§ÊÕã¹âËÁ´ RGB ËÃ×Í CrYCb ¢Ö¹é ÍÂÙ¡‹ ºÑ ¡ÒáíÒ˹´¡‹Í¹Ë¹ŒÒ¹Õé ʋǹ ÃٻẺ¢Í§¢ŒÍÁÙÅÁմnj ¡ѹ 2 Ẻ¤×Í á¾ç¡à¡çµ M áÅÐ C «Ö§è ¡íÒ˹´ÁÒ¨Ò¡¤íÒÊѧè MM ËÒ¡äÁ‹Á¡Õ Òà ¡íÒ˹´ÃٻẺ¢ŒÍÁÙÅ໚¹¾ÔàÈÉ ã¹¡ÒáÃзíÒ¤íÒÊÑè§ TC ¨Ðãˌ¼ÅÅѾ¸à»š¹á¾ç¡à¡çµ M «Öè§ÁÕÃٻẺ ´Ñ§¹Õé M mx my x1 y1 x2 y2 pixels confidence

¶ŒÒËҡ䴌¤‹Ò¡ÅѺÁÒ໚¹ 00 áÊ´§Ç‹Ò äÁ‹ÁÕÊÕ·Õ赌ͧ¡ÒõÃǨ¨Ñº ÊíÒËÃѺ¤‹Ò¤ÇÒÁÁÑè¹ã¨ËÃ×Í Confidence ໚¹ÍѵÃÒʋǹ¢Í§¨íҹǹ¾Ô¡à«ÅÊÕ·Õè¹Ñºä´ŒÀÒÂã¹¾×é¹·Õè·ÕèµÃǨ¨Ñº¡Ñº¾×é¹·ÕèÃÇÁ·Ñé§ËÁ´ â´Â¤‹Ò·ÕÊè §‹ ¡ÅѺÁҹѹé Áդҋ ÍÂÙË ÐËNjҧ 0 ¶Ö§ 255 ÀÒÂ㵌¡Ò÷íÒ§Ò¹ã¹ÀÒÇл¡µÔ¤Ò‹ Confidence ¹Õ¨é Ð ÁÒ¡¡Ç‹Ò 50 ᵋ¶ÒŒ Ëҡ䴌µÒèí ¡Ç‹Ò 8 ¶×ÍÇ‹Ò ¤Ø³ÀÒ¾¢Í§ÀÒ¾¹Ñ¹é äÁ‹´Õ ¹Í¡¨Ò¡¹Ñ¹é ÂѧáÊ´§¼Å¡Ò÷íÒ§Ò¹·Ò§ÎÒÏ´áÇϼҋ ¹·Ò§ LED ã¹µíÒá˹‹§ Track ´ŒÇ â´Â àÁ×è͵ÃǨ¨Ñº¾ºàÁç´ÊÕ·Õèʹ㨠LED ¨ÐµÔ´ÊNjҧ my my

my my mx

mx

mx

mx

¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·Õèʹ㨠(middle mass of color) ¤‹Ò¾Ô¡Ñ´¤×Í mx, my

¤íÒÊÑè§ Track Color (TC) ໚¹¡ÒáíÒ˹´ãˌâÁ´ÙšŌͧµÃǨ¨ÑºÀÒ¾·ÕèÍÂًµÃ§Ë¹ŒÒ·ÕèÁÕ¤‹ÒµÃ§¡Ñº¤‹Ò¢Í§¢ŒÍÁÙÅÊÕ·Õè䴌ÁÒ¨Ò¡¤íÒÊÑè§ Track Window ¡‹Í¹Ë¹ŒÒ¹Õé෋ҹÑé¹ â´Â¨Ðʹ㨷Õè¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·Õèʹ㨠(middle mass of color)

µÑÇÍ‹ҧ :TC 130 255 0 0 30 30

໚¹¡ÒÃàÅ×Í¡µÃǨ¨ÑºÊÕá´§ (R) 㹪‹Ç§ 130 ¶Ö§ 255, äÁ‹µÃǨ¨ÑºÊÕà¢ÕÂÇ, µÃǨ¨ÑºÊÕ¹Òéí à§Ô¹·ÕÁè ¤Õ Ò‹ 30 ACK M 50 80 38 82 53 128 35 98

䴌¨´Ø ¡Ö§è ¡ÅÒ§ÊÕ෋ҡѺ¾Ô¡´Ñ x=50, y=80 ¾×¹é ·Õ·è µÕè ÃǨ¨Ñºä´ŒÍÂÙ㋠¹¡Ãͺ·ÕÅè ͌ Á´ŒÇ¾ԡ´Ñ (x1,y1) = (38,82) ¡Ñº (x2,y2) = (53,128) ¤‹Ò¾Ô¡à«Å෋ҡѺ 35 áÅÐ Confidence ෋ҡѺ 98


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

19

6.11 TW \r ໚¹¤íÒÊÑ觵ÃǨ¨ÑºÊÕ·ÕèµíÒá˹‹§¡Ö觡ÅÒ§¢Í§Ë¹ŒÒµ‹Ò§ÀÒ¾»˜¨¨ØºÑ¹ ËÅѧ¨Ò¡ä´ŒÁÕ¡ÒõÃǨ¨Ñº ÀҾࢌÒÁÒã¹âÁ´ÙšŌͧáÅŒÇ ¤íÒÊÑ§è ¹Õ¨é ж١àÃÕ¡ãˌ·Òí §Ò¹à¾×Íè à¡çº¢ŒÍÁÙŨشÊÕ ´Ñ§¹Ñ¹é àÁ×Íè ÁÕ¡ÒáÃзíÒ ¤íÒÊѧè TW ¹Õé µŒÍ§¹íÒÇѵ¶ØÊ·Õ µÕè ͌ §¡ÒõÃǨ¨ÑºÁÒÇÒ§änj˹ŒÒâÁ´ÙšŌͧ ¾ÃŒÍÁ¡Ñ¹¹Ñ¹é LED ã¹µíÒáË ¹‹§ Track ¨ÐµÔ´¤ŒÒ§ à¾×èÍà¡çº¢ŒÍÁÙÅàÁç´ÊÕ ¨¹¡Ç‹Ò¨ÐËÂØ´¡Ò÷íÒ§Ò¹ «Ö觷íÒ䴌â´Â¡ÒÃʋ§ÃËÑÊáÍÊ¡Õé ¢Í§»ØÁ† Return ËÃ×Í Enter «Ö§è ෋ҡѺ 13 (°Ò¹ÊÔº) ʋǹÃٻẺ¢Í§¢ŒÍÁÙÅÁմnj ¡ѹ 3 Ẻ¤×Í á¾ç¡ à¡çµ S, M áÅÐ Câ´Âá¾ç¡à¡çµ S ¨Ð໚¹ÃٻẺ¢Í§¢ŒÍÁÙŪشáá·ÕÍè Í¡ÁÒ¡‹Í¹àÊÁÍ ¨Ò¡¹Ñ¹é ¢ŒÍÁÙÅ ã¹á¾ç¡à¡çµµ‹Í仨Ð໚¹á¾ç¡à¡çµ M (໚¹¤‹ÒµÑ駵Œ¹) ËÃ×Í C «Ö觡íÒ˹´ÁÒ¨Ò¡¤íÒÊÑè§ MM ËÒ¡äÁ‹ÁÕ ¡ÒáíÒ˹´ÃٻẺ¢ŒÍÁÙÅ໚¹¾ÔàÈÉ ã¹¡ÒáÃзíÒ¤íÒÊÑè§ TC ¨Ðãˌ¼ÅÅѾ¸à»š¹á¾ç¡à¡çµ M ¤íÒÊÑè§ Track Window (TW) ໚¹¡ÒáíÒ˹´ãˌâÁ´ÙšŌͧ µÃǨ¨ÑºÀÒ¾·ÕèÍÂًµÃ§Ë¹ŒÒµÒÁ¢¹Ò´·Õè¡íÒ˹´ ¨Ò¡¤íÒÊÑè§ Set Window (SW) áÅÐà¡çº¢ŒÍÁÙÅã¹áµ‹Åоԡà«Å ¨Ò¡¹Ñé¹ ¹íÒÁÒ¤íҹdzà¾×èÍËÒ¤‹ÒÊբͧÀÒ¾

Í‹ҧäáçµÒÁ¡‹Í¹¡ÃзíÒ¤íÒÊÑ觹Õé ¤ÇÃÁÕ¡ÒáíÒ˹´¾×é¹·ÕèµÃǨ¨ÑºÀÒ¾àÊÕ¡‹Í¹´ŒÇ¤íÒÊÑè§ SW ËÒ¡äÁ‹ÁÕ ¤‹ÒµÑ§é µŒ¹¢Í§¾×¹é ·Õ·è µÕè ÃǨ¨Ñº¨Ð෋ҡѺ 80 x 143 ¨Ø´ µÑÇÍ‹ҧ :TW ACK S 240 50 40 12 7 8 C 2 40 12 60 10 70 C 3 41 12 61 11 70 C 2 40 12 60 13 70 C 3 42 12 62 9 70 C 4 45 12 60 8 70


20

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

7. ¡Ò÷´ÊͺâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp ºÍÏ´àºÊÔ¡áʵÁ»Š 2SX µÑÇÍ‹ҧ·Õè¨Ð¹íÒàʹ͵‹Í仹ÕéÁÕ´ŒÇ¡ѹ 3 ÅѡɳФ×Í 1. ¤Çº¤ØÁ¡ÒÃáÊ´§¼Å¢Í§ LED ã¹µíÒá˹‹§ Track ¢Í§âÁ´ÙÅ iV-CAM 2. µÃǨ¨ÑºÇѵ¶Ø໇ÒËÁÒÂáŌÇ͋ҹ¤‹ÒàÁç´ÊÕ 3. µÃǨ¨ÑºÇѵ¶Ø໇ÒËÁÒÂáÅзíÒ¡Ò䌹ËÒÇ‹Ò ¢³Ð¹ÕéÇѵ¶Ø໇ÒËÁÒÂÍÂً㹵íÒá˹‹§ã´ ¡Ò÷´Êͺ¡Ñº i-Stamp ÊÒÁÒö¡ÃзíÒ䴌¡ºÑ 3 ºÍÏ´¤×Í JX-2SX plus ºÍÏ´¾Ñ²¹Òâ¤Ã§§Ò¹ ÊíÒËÃѺ i-Stamp, RBX-Stamp24 ºÍÏ´¤Çº¤ØÁËع‹ ¹µÊÒí ËÃѺ i-Stamp áÅÐ NX-BS2SX ºÍÏ´·´Åͧ à͹¡»ÃÐʧ¤ÊÒí ËÃѺ i-Stamp â´Â·Ñ§é ÊÒÁºÍÏ´¹Ñ¹é µŒÍ§µÔ´µÑ§é i-Stamp ŧº¹ºÍÏ´´ŒÇ ¡ÒÃàª×Íè Áµ‹Í ·Ñ§é ËÁ´¨Ð㪌ǧ¨Ãà´ÕÂǡѹ à¾ÃÒзѧé 3 ºÍÏ´¹Ñ¹é 䴌¡Òí ˹´¢Ò¾Íϵ¢Í§ i-Stamp ãˌ㪌§Ò¹ä´ŒÍ‹ҧ ໚¹ÍÔÊÃÐÍÂÙá‹ ÅŒÇ Ç§¨Ã¡ÒÃàª×Íè Áµ‹ÍáÊ´§´Ñ§ÃÙ»·Õè 3

7.1 ¡ÒÃàµÃÕÂÁ¡ÒÃÊíÒËÃѺâÁ´ÙÅ iV-CAM (1) »Å´¨ÑÁê à»ÍÏ BD1 áÅÐ BD2 à¾×Íè àÅ×Í¡ºÍ´àõ 115,200 ºÔµµ‹ÍÇÔ¹Ò·Õ (2) µ‹ÍâÁ´ÙÅ iV-CAM ࢌҡѺ¾Íϵ͹ءÃÁ¢Í§¤ÍÁ¾ÔÇàµÍÏ áŌÇແ´â»Ãá¡ÃÁ CMUcam2GUI à¾×èÍàµÃÕÂÁ¡ÒûÃѺ¤ÇÒÁ¤ÁªÑ´ËÃ×Í»ÃѺ⿡ÑÊ (3) ¹íÒÇѵ¶Ø໇ÒËÁÒÂÁÒÇÒ§änj·ËÕè ¹ŒÒàŹʏ¢Í§âÁ´ÙÅ iV-CAM ã¹ÃÐÂеÒÁµŒÍ§¡Òà ᵋäÁ‹¤Çà ÇÒ§ã¡ÅŒÁÒ¡à¡Ô¹ä» (4) ¨‹ÒÂä¿àÅÕÂé §á¡‹âÁ´ÙÅ iV-CAM ´íÒà¹Ô¹¡ÒõÃǨ¨ÑºÀÒ¾ÁÒáÊ´§·Õâè »Ãá¡ÃÁ CMUcam2GUI à¾×è͵ÃǨÊͺ¤ÇÒÁªÑ´ ËÒ¡ÂѧäÁ‹ä´Œãˌ»ÃѺ¡Ãк͡àŹʏ áŌǵÃǨ¨ÑºÀÒ¾ÍÕ¡¤ÃÑé§ ·íÒઋ¹¹Õ騹 ¡ÃзÑè§ä´ŒÀÒ¾·Õè¤ÁªÑ´ (5) »´ä¿àÅÕÂé § áÅлŴÊÒÂàª×Íè Áµ‹Í¾Íϵ͹ءÃÁÍÍ¡ áŌǵ‹Í¨ÑÁê à»ÍÏ BD1 áÅÐ BD2 à¾×Íè àÅ×Í¡ºÍ´àõ໚¹ 9,600 ºÔµµ‹ÍÇÔ¹Ò·Õ

7.2 ¡Ò÷´Êͺ -1 : ¤Çº¤ØÁ LED ·Õµè Òí á˹‹§ Track ¢Í§âÁ´ÙÅ iV-CAM (1) àª×Íè Áµ‹ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp â´Âµ‹Í RX ¢Í§âÁ´ÙÅ iV-CAM ࢌҡѺ P2 áÅÐ TX ࢌҡѺ P3 (2) ແ´â»Ãá¡ÃÁàºÊÔ¡áʵÁ»ŠàÍ´ÔàµÍÏ (àÇÍϪ¹Ñ 2 ¢Ö¹é ä») áŌÇà¢Õ¹â»Ãá¡ÃÁµ‹Í仹Õé


iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

µ‹Í¨ÑÁê à»ÍÏ BD2 áÅÐ BD1 à¾×Íè àÅ×Í¡ºÍ´àõ 9,600 ºÔµµ‹ÍÇÔ¹Ò·Õ

¢Ò¾Íϵ¢Í§ i-Stamp º¹ Stamp-BOX DEMO

5V TX RX GND VISION

BD1 BD2 SLAVE

2

2!

4:

6:

-

+

-

+

SERVO Vin +

5

iV-CAM firmware

ON

RS-232

6V

µ‹Íä¿àÅÕÂé § +6V ±5% àÅ×Í¡µ‹Í·Õãè ´·ÕËè ¹Ö§è

´ŒÒ¹ËÅѧ iV-CAM

ẵàµÍÃÕè 1.5V ¢¹Ò´ AA 4 ¡ŒÍ¹*

* äÁ‹á¹Ð¹íÒãˌ㪌Ẻ»ÃШØ䴌 à¾ÃÒÐÁÕáç´Ñ¹ÃÇÁà¾Õ§ 4.8V ¤ÇÃ㪌ẺÍÑŤÒ䬏 (alcaline) ËÃ×ÍÍÍ¡«Ôäô (oxyride) ÃÙ»·Õè 3 áÊ´§¡Òõ‹Íǧ¨Ãà¾×Íè ·´ÊͺâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp ºÍÏ´àºÊÔ¡áʵÁ»Š 2SX

l

21


22

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

' {$STAMP BS2sx} baud CON 240 tx CON 3 rx CON 2 PAUSE 1000 ' Send "reset" to sync CMUcam and Stamp SEROUT tx, baud, ["RS", CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 Main: ' Flash the tracking LED ' Send command - Turn on track LED SEROUT tx, baud, ["L1 1",CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 DEBUG "LED on ACK: received OK",CR PAUSE

500

' Wait 1/2 second

' Send command - Set track LED back to auto mode SEROUT tx, baud, ["L1 2",CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 DEBUG PAUSE

"LED off ACK: received OK",CR 500

GOTO

Main

(3) ºÑ¹·Ö¡ä¿ÅªÍ×è CAMTST01.BSX (4) ¨‹ÒÂä¿ãˌᡋ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM (5) ´ÒǹâËÅ´â»Ãá¡ÃÁä»Âѧ i-Stamp ˹ŒÒµ‹Ò§ Debug Terminal ¶Ù¡à»´¢Öé¹ÁÒ ¾ÃŒÍÁ¡ÑºáÊ´§¼Å¡Ò÷íÒ§Ò¹¢Í§ LED ·Õµè Òí á˹‹§ Track ´Ñ§ÃÙ» ã¹¢³Ð·Õè LED ÊÕàËÅ×ͧ·Õµè Òí á˹‹§ Track ¨ÐµÔ´¡Ð¾ÃÔºÊÑÁ¾Ñ¹¸¡ºÑ ¡ÒÃʋ§ ¢ŒÍ¤ÇÒÁä»áÊ´§·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

23

7.3 ¡Ò÷´Êͺ -2 : ͋ҹ¤‹ÒàÁç´ÊÕ¨Ò¡¡ÒõÃǨ¨ÑºÀÒ¾¢Í§âÁ´ÙÅ iV-CAM (1) Âѧ¤§àª×Íè Áµ‹ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp àËÁ×͹¡Ñº¡Ò÷´Êͺ - 1 â´Âµ‹Í RX ࢌҡѺ P2 áÅÐ TX ࢌҡѺ P3 ¢Í§ i-Stamp (2) ແ´â»Ãá¡ÃÁàºÊÔ¡áʵÁ»ŠàÍ´ÔàµÍÏ áŌÇà¢Õ¹â»Ãá¡ÃÁµ‹Í仹Õé RcvData baud tx rx

VAR CON CON CON

Byte(10) 240 3 2

‘ Pause 1 second for CMUcam startup PAUSE 1000 ‘ Send “reset” to sync CMUcam and Stamp SEROUT tx, baud, [“RS”, CR] SERIN rx, baud, [WAIT (“:”)] DEBUG “Reset” ,CR PAUSE 1000 ‘ Track SEROUT SERIN PAUSE

LED on tx, baud, [“L1 1”,CR] rx, baud, [WAIT (“:”)] 100

‘ Turn on auto adjust for 5 seconds DEBUG “Auto Adjusting...” , CR SEROUT tx, baud, [“CR 18 44”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Pause 5 seconds for CMUcam to auto adjust to lighting conditions PAUSE 5000 ‘ Turn off auto adjust SEROUT tx, baud, [“CR 18 44 19 32”,CR] SERIN rx, baud, [WAIT (“:”)] DEBUG “Finish..”, CR PAUSE 100 ‘ Track LED auto mode SEROUT tx, baud, [“L1 2”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 DEBUG

“Place color target”, CR


24

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

‘ Give user time to place color target close in front of camera PAUSE 5000 ‘ Send command - Set poll mode - only sends one return packet ‘ of data after each command - reduces data flow DEBUG “Finish.” , CR SEROUT tx, baud, [“PM 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Send command - Set raw data mode - also suppress Ack:/Nak: to ‘ further reduce serial data SEROUT tx, baud, [“RM 3”,CR] PAUSE 100 ‘ Track Window command looks at the center of CMUcam image ‘ grabs the color information and sends to the Track Color function ‘ Send command - Track window SEROUT tx, baud, [“TW”,CR] ‘ Display the S Statisics packet from TW command SERIN rx, baud, [STR RcvData\8] ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘

Raw mode S packet data format: 0 Byte always 255 1 Byte always Character S 2 Byte Red Mean 3 Byte Green Mean 4 Left Blue Mean 5 Left Red Deviation 6 Right Green Deviation 7 Right Blue Deviation

‘ Display all returned camera S Statistics packet data to PC debug screen DEBUG “Red Mean ”,DEC RCVData(2) ,CR DEBUG “Green Mean ”,DEC RCVData(3) ,CR DEBUG “Blue Mean ”,DEC RCVData(4) ,CR DEBUG “Red Deviation ”,DEC RCVData(5) ,CR DEBUG “Green Deviation ”,DEC RCVData(6) ,CR DEBUG “Blue Deviation ”,DEC RCVData(7) ,CR DEBUG “ ”, CR ‘ Ignore the first M packet from TW PAUSE 2000


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

25

Main: PAUSE 100 ‘ Send command - Track color (with no arguments) ‘ will track last color grabbed by TW command SEROUT tx, baud, [“TC”,CR] ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘

Raw mode M packet data format: 0 Byte always 255 1 Byte always Character M 2 Byte Middle Mass X 3 Byte Middle Mass Y 4 Left corner X 5 Left corner Y 6 Right corner X 7 Right corner Y 8 Byte is Pixels 9 Byte is Confidence

SERIN rx, baud, [STR RcvData\10] ‘ Display all returned camera M Track Color packet data to PC debug screen DEBUG CLS DEBUG “Middle Mass X ”,DEC RCVData(2) ,CR DEBUG “Middle Mass Y ”,DEC RCVData(3) ,CR DEBUG “Left Corner X ”,DEC RCVData(4) ,CR DEBUG “Left Corner Y ”,DEC RCVData(5) ,CR DEBUG “Right corner X ”,DEC RCVData(6) ,CR DEBUG “Right Corner Y ”,DEC RCVData(7) ,CR DEBUG “Pixels ”,DEC RCVData(8) ,CR DEBUG “Confidence ”,DEC RCVData(9) ,CR GOTO Main

(3) ºÑ¹·Ö¡ä¿ÅªÍ×è CAMTST02.BSX (4) ¨‹ÒÂä¿ãˌᡋ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM (5) ´ÒǹâËÅ´â»Ãá¡ÃÁä»Âѧ i-Stamp (6) ˹ŒÒµ‹Ò§ Debug Terminal ¶Ù¡à»´¢Ö¹é à¾×Íè áÊ´§ÊÀÒÇСÒ÷íÒ§Ò¹ i-Stamp ʋ§¤íÒÊѧè ä» ÃÕà«çµâÁ´ÙÅ iV-CAM áŌÇÃÍÃѺ¡Òõͺ¡ÅѺ¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ä´ŒÃºÑ ¡Òõͺʹͧ i-Stamp ¨ÐáÊ´§ ¢ŒÍ¤ÇÒÁ Reset ·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal (7) ¨Ò¡¹Ñ¹é i-Stamp ¨Ðʋ§¤íÒÊѧè 令Ǻ¤ØÁãˌ LED ·Õµè Òí á˹‹§ Track µÔ´ÊNjҧ µ‹Í´ŒÇ¤íÒÊÑ§è ¡íÒ˹´ãˌâÁ´ÙšŌͧ»ÃѺ¤‹Ò¤ÇÒÁÊNjҧ¢Í§¨ÍÀÒ¾Íѵâ¹ÁÑµÔ «Ö§è 㪌àÇÅÒ 5 ÇÔ¹Ò·Õ â´ÂáÊ´§¡Ò÷íÒ§Ò¹ ¼‹Ò¹·Ò§Ë¹ŒÒµ‹Ò§ Debug Terminal ´ŒÇ¢ŒÍ¤ÇÒÁ Auto Adjusting àÁ×Íè ¤Ãº 5 ÇÔ¹Ò·Õ i-Stamp ¨Ðʋ§ ¤íÒÊÑ§è »´¡Ò÷íÒ§Ò¹Íѵâ¹ÁÑµÔ àÁ×Íè âÁ´ÙšŌͧµÍºÃѺ i-Stamp ¨Ðʋ§¢ŒÍ¤ÇÒÁ Finish ä»·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal


26

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

(8) ¨Ò¡¹Ñ¹é à¢Õ¹¤íÒÊѧè à»ÅÕÂè ¹âËÁ´¡Ò÷íÒ§Ò¹¢Í§ LED µíÒá˹‹§ Track ໚¹âËÁ´Íѵâ¹ÁÑµÔ àÁ×Íè âÁ´ÙšŌͧµÍºÃѺ i-Stamp ¨Ðʋ§¢ŒÍ¤ÇÒÁ Place color target ÁÒáÊ´§·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal ¶Ö§¨Ñ§ËÇйÕé¼ÙŒãªŒ§Ò¹ÁÕàÇÅÒÊíÒËÃѺ¹íÒÇѵ¶Ø໇ÒËÁÒÂÁÒÇÒ§änj˹ŒÒàŹʏ¢Í§âÁ´ÙšŌͧ 5 ÇÔ¹Ò·Õ â´Â i-Stamp ¨Ðʋ§¢ŒÍ¤ÇÒÁ Finish ÁÒáÊ´§·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal ÍÕ¡¤Ãѧé à¾×Íè ᨌ§ãˌ ·ÃÒºÇ‹Ò ËÁ´àÇÅÒáÅŒÇ à¾×Íè àµÃÕÂÁࢌÒÊÙ¡‹ Ãкǹ¡ÒõÃǨ¨ÑºÀÒ¾µ‹Íä» (9) i-Stamp ʋ§¤íÒÊѧè PM ä»ÂѧâÁ´ÙšŌͧ¡íÒ˹´ãˌ·Òí §Ò¹ã¹âËÁ´â¾Å (poll mode) à¾×Íè ãˌʋ§¢ŒÍÁÙÅÀÒ¾ÁÒ·ÕÅÐá¾ç¡à¡çµ (10) ¨Ò¡¹Ñ¹é ʋ§¤íÒÊѧè RM à¾×Íè ¡íÒ˹´âËÁ´¢Í§¢ŒÍÁÙÅ´Ôº¢Í§ÀÒ¾·Õµè ÃǨ¨Ñºà»š¹âËÁ´ 3 (11) µ‹Íä»Ê‹§¤íÒÊѧè TW à¾×Íè Êѧè ãˌâÁ´ÙšŌͧµÃǨ¨ÑºÀÒ¾·ÕÍè ÂÙµ‹ ç˹ŒÒ áŌÇÃÍÃѺ¢ŒÍÁÙÅÀÒ¾ ¨Ò¡âÁ´ÙÅ iV-CAM ¨Ð䴌¢ÍŒ ÁÙÅ´Ôºã¹á¾ç¡à¡çµáá 6 ¤‹Ò «Ö§è ໚¹¤‹Òà©ÅÕÂè ¢Í§ÊÕá´§, à¢ÕÂÇ, ¹éÒí à§Ô¹ áÅÐ ¤‹ÒàºÕÂè §àº¹¢Í§ÊÕá´§, à¢ÕÂÇ, ¹éÒí à§Ô¹ â´Â¢ŒÍÁÙÅã¹á¾ç¡à¡çµáá¹Õàé »š¹¢ŒÍÁÙÅá¾ç¡à¡çµ S áÅФ‹Ò·Ñ§é ËÁ´ ¹Ñ¹é i-Stamp ¨Ð¹íÒä»áÊ´§·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal ´Ñ§ÃÙ»

ã¹·Ò§»¯ÔºµÑ âÔ Á´ÙÅ iV-CAM ¨Ðʋ§¢ŒÍÁÙÅÀÒ¾ã¹á¾ç¡à¡çµ M µ‹ÍÁÒ´ŒÇ ᵋã¹â»Ãá¡ÃÁ¹Õ¨é Ð äÁ‹Ê¹ã¨¨Ö§·íÒ¡ÒÃ˹‹Ç§àÇÅÒä» 2 ÇÔ¹Ò·Õ à¾×Íè ãˌ¾¹Œ ª‹Ç§àÇÅҢͧ¢ŒÍÁÙÅá¾ç¡à¡çµ M ·ÕÊè §‹ µ‹ÍÁÒ


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

27

(12) ¶Ö§¢³Ð¹Õâé Á´ÙÅ iV-CAM 䴌¨´¨íÒÀÒ¾áÅÐàÁç´ÊբͧÇѵ¶Ø໇ÒËÁÒÂänjáÅŒÇ ã¹ÅíҴѺ໚¹ ¡ÒÃʋ§¤íÒÊѧè TC à¾×Íè µÃǨ¨ÑºáÅеԴµÒÁ¢ŒÍÁÙŢͧÊÕ໇ÒËÁÒ â´Â¢ŒÍÁÙÅ·Õäè ´Œ¨Ò¡âÁ´ÙÅ iV-CAM ÁÕ ÃٻẺ໚¹á¾ç¡à¡çµ M 8 ¤‹Ò «Ö§è ᨌ§¶Ö§ ¾Ô¡´Ñ ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒÂ, ¾Ô¡´Ñ ¢Í§¾×¹é ·ÕÊè Õ à»‡ÒËÁÒÂ, ¤‹Ò¾Ô¡à«Å áÅФ‹Ò¤ÇÒÁÁѹè 㨠ËÃ×Í Confidence «Ö§è i-Stamp ¨Ð¹íÒ¤‹Ò·Ñ§é ËÁ´¹Ñ¹é ÁÒáÊ´§ ·ÕËè ¹ŒÒµ‹Ò§ Debug Terminal ´Ñ§ÃÙ»

7.4 ¡Ò÷´Êͺ -3 : µÃǨ¨ÑºáÅФŒ¹ËÒÇѵ¶Ø໇ÒËÁÒ µÑÇÍ‹ҧ¡Ò÷´Êͺ¹Õ¨é ФŌÒ¡Ѻ¡Ò÷´Êͺ -2 â´Â㹪‹Ç§áá¢Í§¡Ò÷íÒ§Ò¹¨ÐàËÁ×͹¡Ñ¹ ¹Ñ¹è ¤×Í àµÃÕÂÁ¤ÇÒÁ¾ÃŒÍÁᡋâÁ´ÙÅ iV-CAM µÃǨ¨ÑºÊբͧÇѵ¶Ø໇ÒËÁÒ ¨Ò¡¹Ñ¹é ·íÒ¡ÒõÃǨ¨ÑºáÅÐ µÔ´µÒÁ´ŒÇ¤íÒÊѧè TC ᵋ·àÕè ¾ÔÁè àµÔÁࢌÒÁÒ¤×Í ¡Òú‹§ºÍ¡¶Ö§µíÒá˹‹§Í‹ҧ¤Ã‹ÒÇæ ¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒ â´ÂµÃǨÊͺ¨Ò¡¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒÂËÃ×Í middle mass NjÒÍÂÙ㋠¹´ŒÒ¹ã´¢Í§¨ÍÀÒ¾ áÅŒÇ á¨Œ§·Ñ駤‹Ò¢Í§¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ໇ÒËÁÒ áÅзÔÈ·Ò§¢Í§¾×é¹·ÕèÊÕ໇ÒËÁÒ¹Ñé¹ (1) Âѧ¤§àª×Íè Áµ‹ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp àËÁ×͹¡Ñº¡Ò÷´Êͺ - 1 â´Âµ‹Í RX ࢌҡѺ P2 áÅÐ TX ࢌҡѺ P3 ¢Í§ i-Stamp (2) ແ´â»Ãá¡ÃÁàºÊÔ¡áʵÁ»ŠàÍ´ÔàµÍÏ áŌÇà¢Õ¹â»Ãá¡ÃÁµ‹Í仹Õé


28

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

RcvData VAR Byte(10) baud CON 240 tx CON 3 rx CON 2 n VAR Byte Confid VAR Byte ‘ Pause 1 second for CMUcam startup PAUSE 1000 ‘ Send SEROUT SERIN PAUSE

“reset” to sync CMUcam and Stamp tx, baud, [“RS”,CR] rx, baud, [WAIT (“:”)] 1000

‘ Track LED on SEROUT tx, baud, [“L1 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Turn SEROUT SERIN PAUSE

on auto adjust for 5 seconds tx, baud, [“CR 18 44”,CR] rx, baud, [WAIT (“:”)] 100

‘ Pause 5 seconds for CMUcam to auto adjust to lighting conditions PAUSE 5000 ‘ Turn SEROUT SERIN PAUSE

off auto adjust tx, baud, [“CR 18 44 19 32”,CR] rx, baud, [WAIT (“:”)] 100

‘ Track LED auto mode SEROUT tx, baud, [“L1 2”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Give user time to place color target close in front of camera PAUSE 5000 ‘ Send command - Set poll mode - only sends one return packet ‘ of data after each command - reduces data flow SEROUT tx, baud, [“PM 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Send command - Set raw data mode - also suppress Ack:/Nak: to ‘ further reduce serial data SEROUT tx, baud, [“RM 3”,CR] PAUSE 100 ‘ Track Window command looks at the center of CMUcam image ‘ grabs the color information and sends to the Track Color function ‘ Send command - Track window SEROUT tx, baud, [“TW”,CR] ‘ Ignore the S packet and M packet from TW


Innovative Experiment Co.,Ltd.

PAUSE

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

29

2000

Main: ‘ Send command - Track color (with no arguments) ‘ will track last color grabbed by TW command SEROUT tx, baud, [“TC”,CR] SERIN

rx, baud, [STR RcvData\10]

Confid = RcvData(9) ‘ 45 is aprox H center Find : IF RCVData(2) > IF RCVData(2) < IF RCVData(8) < IF RCVData(8) >

65 AND Confid > 20 THEN Right 25 AND Confid > 20 THEN Left 150 AND Confid > 25 THEN Fwd 150 AND confid > 25 THEN StopM

GOTO Main Left: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Go left”, CR GOTO main Right: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Go right”, CR GOTO main Fwd: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Forward”, CR GOTO main StopM: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Stop”, CR GOTO main

(3) ºÑ¹·Ö¡ä¿ÅªÍ×è CAMTST03.BSX (4) ¨‹ÒÂä¿ãˌᡋ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM ¹íÒÇѵ¶Ø໇ÒËÁÒÂä»ÇÒ§änj´ÒŒ ¹Ë¹ŒÒàŹʏ¢Í§ âÁ´ÙšŌͧ (5) ´ÒǹâËÅ´â»Ãá¡ÃÁä»Âѧ i-Stamp


30

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

(6) ˹ŒÒµ‹Ò§ Debug Terminal ¶Ù¡à»´¢Öé¹ à¾×èÍàµÃÕÂÁáÊ´§¤‹Ò¢Í§¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ à»‡ÒËÁÒ áÅзÔÈ·Ò§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒ·Õäè ´Œ¨Ò¡¡ÒÃà»ÃÕºà·Õº¡Ñº¾×¹é ·Õ·è §Ñé ËÁ´ ᵋ¡Ç‹Ò·Õ¨è ÐáÊ ´§¤‹Ò¹Ñ¹é âÁ´ÙÅ iV-CAM µŒÍ§ä´ŒÃºÑ ¤íÒÊÑ§è ¤Çº¤ØÁ¾ÍÊÁ¤Çà «Ö§è ¨ÐàËÁ×͹¡Ñº¢Ñ¹é µÍ¹·Õè 6 ¶Ö§ 11 ¢Í§¡Òà ·´Êͺ -2 ᵋ¨ÐäÁ‹Á¡Õ ÒÃáÊ´§¼Åã´æ ¼‹Ò¹·Ò§Ë¹ŒÒµ‹Ò§ Debug Terminal ¨¹¡Ãзѧè àÃÔÁè ¡ÒõÃǨ ¨Ñº¾×¹é ·ÕÊè àÕ »‡ÒËÁÒ ¹Ñ¹è ¤×Í ÁÕ¢¹Ñé µÍ¹´Ñ§¹Õé (6.1) i-Stamp ʋ§¤íÒÊѧè ä»ÃÕà«çµâÁ´ÙÅ iV-CAM áŌÇÃÍÃѺ¡Òõͺ¡ÅѺ¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ä´ŒÃºÑ ¡Òõͺʹͧ i-Stamp ¨Ðʋ§¤íÒÊѧè 令Ǻ¤ØÁãˌ LED ·Õµè Òí á˹‹§ Track µÔ´ÊNjҧ µ‹Í´ŒÇ ʋ§¤íÒÊÑ§è ¡íÒ˹´ãˌâÁ´ÙšŌͧ»ÃѺ¤‹Ò¤ÇÒÁÊNjҧ¢Í§¨ÍÀÒ¾Íѵâ¹ÁÑµÔ «Ö§è 㪌àÇÅÒ 5 ÇÔ¹Ò·Õ (6.2) àÁ×Íè ¤ÃºàÇÅÒ i-Stamp ¨Ðʋ§¤íÒÊÑ§è »´¡Ò÷íÒ§Ò¹Íѵâ¹ÁÑµÔ àÁ×Íè âÁ´ÙšŌͧµÍº ÃѺ i-Stamp ¨Ðà¢Õ¹¤íÒÊѧè à»ÅÕÂè ¹âËÁ´¡Ò÷íÒ§Ò¹¢Í§ LED µíÒá˹‹§ Track ໚¹âËÁ´Íѵâ¹ÁÑµÔ (6.3) i-Stamp ʋ§¤íÒÊѧè PM ä»ÂѧâÁ´ÙšŌͧ¡íÒ˹´ãˌ·Òí §Ò¹ã¹âËÁ´â¾Å (poll mode) à¾×Íè ãˌʧ‹ ¢ŒÍÁÙÅÀÒ¾ÁÒ·ÕÅÐá¾ç¡à¡çµ ¨Ò¡¹Ñ¹é ʋ§¤íÒÊѧè RM à¾×Íè ¡íÒ˹´âËÁ´¢Í§¢ŒÍÁÙÅ´Ôº¢Í§ÀÒ¾·Õè µŒÍ§¡ÒõÃǨ¨Ñºà»š¹âËÁ´ 3 (6.4) µ‹Íä»Ê‹§¤íÒÊѧè TW à¾×Íè Êѧè ãˌâÁ´ÙšŌͧµÃǨ¨ÑºÀÒ¾·ÕÍè ÂÙµ‹ ç˹ŒÒ ã¹·Ò§»¯ÔºµÑ Ô âÁ´ÙÅ iV-CAM ¨Ðʋ§¢ŒÍÁÙÅÀÒ¾ã¹á¾ç¡à¡çµ M µ‹ÍÁÒ´ŒÇ ᵋã¹â»Ãá¡ÃÁ¹Õ¨é ÐäÁ‹Ê¹ã¨¨Ö§·íÒ¡ÒÃ˹‹Ç§ àÇÅÒä» 2 ÇÔ¹Ò·Õ à¾×Íè ãˌ¾¹Œ ª‹Ç§àÇÅҢͧ¢ŒÍÁÙÅá¾ç¡à¡çµ M ·ÕÊè §‹ µ‹ÍÁÒ (6.5) ¶Ö§¢³Ð¹ÕéâÁ´ÙÅ iV-CAM 䴌¨´¨íÒÀÒ¾áÅÐàÁç´ÊբͧÇѵ¶Ø໇ÒËÁÒÂänjáÅŒÇ ã¹ ÅíҴѺµ‹Íä»à»š¹¡ÒÃʋ§¤íÒÊÑè§ TC à¾×Íè µÃǨ¨ÑºáÅеԴµÒÁ¢ŒÍÁÙŢͧÊÕ໇ÒËÁÒ (7) ¢ŒÍÁÙÅ·Õäè ´Œ¡ÅѺÁÒ¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ¡ÃзíÒ¤íÒÊѧè TC ÁÕû٠Ẻ໚¹á¾ç¡à¡çµ M 8 ¤‹Ò «Öè§á¨Œ§¶Ö§ ¾Ô¡Ñ´¢Í§¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕ໇ÒËÁÒÂ, ¾Ô¡Ñ´¢Í§¾×é¹·ÕèÊÕ໇ÒËÁÒÂ, ¤‹Ò¾Ô¡à«Å áÅФ‹Ò ¤ÇÒÁÁÑè¹ã¨ËÃ×Í Confidence ᵋ㹡Ò÷´Êͺ¹Õé¨Ð¹íÒ¤‹Ò¢Í§¾Ô¡Ñ´¢Í§¨Ø´¡Ö觡ÅÒ§¢Í§¾×é¹·ÕèÊÕà»‡Ò ËÁÒÂä»áÊ´§à·‹Ò¹Ñ¹é (8) ¢ŒÍÁÙÅ·ÕÊè ¹ã¨ÍÕ¡µÑÇË¹Ö§è ¤×Í ¤‹Ò¤ÇÒÁÁѹè ã¨ËÃ×Í Confidence 㹡Ò÷´Êͺ¹Õ¨é Ð㪌¤Ò‹ ¤ÇÒÁ Áѹè 㨹Õàé »š¹µÑǺ͡¶Ö§µíÒá˹‹§·ÔÈ·Ò§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒ â´Âã¹â»Ãá¡ÃÁ¡íÒ˹´¤‹Ò¡Ö§è ¡ÅÒ§äÇŒà·‹Ò ¡Ñº 45 ¨Ò¡¹Ñ¹é ¹íÒ¤‹Ò¹Õäé »µÃǨÊͺËÇÁ¡Ñº¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒÂáÅФ‹Ò¾Ô¡à«Å ´ŒÇ¡Ãкǹ¡ÒÃá͹´¢ÍŒ ÁÙÅã¹â»Ãá¡ÃÁ‹Í Find â´ÂÁÕÃÒÂÅÐàÍÕ´¡ÒõÃǨÊͺ´Ñ§¹Õé (8.1) ËÒ¡¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒÂÁդҋ ÁÒ¡¡Ç‹Ò 65 áÅФ‹Ò¤ÇÒÁ Áѹè ã¨ÁÒ¡¡Ç‹Ò 20 áÊ´§Ç‹Ò ¢³Ð¹Õ¾é ¹×é ·ÕÊè àÕ »‡ÒËÁÒÂÍÂÙ·‹ Ò§¢ÇÒ ãˌ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Right


Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

l

31

(8.2) ËÒ¡¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒÂÁդҋ ¹ŒÍÂ¡Ç‹Ò 25 áÅФ‹Ò¤ÇÒÁ Áѹè ã¨ÁÒ¡¡Ç‹Ò 20 áÊ´§Ç‹Ò ¢³Ð¹Õ¾é ¹×é ·ÕÊè àÕ »‡ÒËÁÒÂÍÂÙ·‹ Ò§«ŒÒ ãˌ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Left (8.3) ËÒ¡¤‹Ò¾Ô¡à«Å¹ŒÍÂ¡Ç‹Ò 150 áÅФ‹Ò¤ÇÒÁÁѹè ã¨ÁÒ¡¡Ç‹Ò 25 áÊ´§Ç‹Ò ¢³Ð¹Õ¾é ¹×é ·Õè ÊÕ໇ÒËÁÒÂÍÂÙ¢‹ Ҍ §Ë¹ŒÒ ãˌ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Forward (8.4) ËÒ¡¤‹Ò¾Ô¡à«ÅÁÒ¡¡Ç‹Ò 150 áÅФ‹Ò¤ÇÒÁÁѹè ã¨ÁÒ¡¡Ç‹Ò 20 áÊ´§Ç‹Ò ¢³Ð¹Õäé Á‹ ¾º¾×¹é ·ÕÊè àÕ »‡ÒËÁÒ ãˌ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ StopM ËÒ¡¤‹Ò·Õäè ´ŒäÁ‹µÃ§µÒÁà§×Íè ¹ä¢¡ç¨Ð¡ÅѺä»Ç¹Í‹Ò¹¤‹Òµ‹Íä» (9) ·Õâè »Ãá¡ÃÁ‹Í Right, Left, Forward áÅÐ StopM ¨ÐÁÕ¡Ò÷íÒ§Ò¹àËÁ×͹¡Ñ¹¤×Í áÊ´§¤‹Ò¾Ô¡´Ñ ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ »‡ÒËÁÒº¹Ë¹ŒÒµ‹Ò§ Debug Terminal ¾ÃŒÍÁ¡ÑºáÊ´§¢ŒÍ ¤ÇÒÁ¢Í§µíÒ˹‹§ã¹áµ‹ÅÐâ»Ãá¡ÃÁ‹Í¹ѹé â´Ââ»Ãá¡ÃÁ‹Í Left ¡çáÊ´§¢ŒÍ¤ÇÒÁ “Left” ໚¹ µŒ¹ áÅзÕâè »Ãá¡ÃÁ‹Í StopM ¨ÐáÊ´§¢ŒÍ¤ÇÒÁ Stop ´Ñ§ÃÙ»


32

l

iV-CAM âÁ´ÙŵÃǨ¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.


iV-CAM  

âÁ´ÙÅ iV-CAM ໹âÁ´ÙŵÃǨ¨ÑºÀÒ¾ÊÕ·Õè¾Ñ²¹Ò¨Ò¡ CMUCAM-1 ¢Í§ Carnegie Melon University ÊËÃÑ°ÍàÁÃÔ¡Ò ÀÒÂ㵡ÒÃÃѺÃͧÍÂҧ໹·Ò§¡Òèҡ Carnegie Mel...

Advertisement
Read more
Read more
Similar to
Popular now
Just for you