Bioloid Vision Module

[hamid_m]

Hello everybody,

We have developed a vision module for the bioloid(can also be used by other robot types) at our institut with the following capabilities:

Frame rate: up to 10 FPS

Resolution: 160*120 color

Built in color lookup table

Image noise filtering

Region growing for up to 255 different color categories

Detection of up to 16 color regions in the Image

RS485 interface, can be connected to any type of microcontroller having USART or directly to the Bioloid RS485 Bus.

Output Format: 256 bytes after processing of each frame, containing information about the found color regions on the image, including coordinates, dimentions,... results can be easily used by CM5 programmed using C.

Communication protocol: Bioloid standard communication protocol

PC interface: 3D Color category definition, Picture Sample, Access to the camera settings.

We are currently seeking for partners to sell the modules.

You can see some photos and videos form the vision module and PC interface in my next posts!

[JonHylands]

I assume this is actually using the half-duplex serial one-wire interface of the AX-12, not RS-485 as you state, right?

Very cool stuff - curious though, how do you send back 256 bytes using the standard comm protocol? The length byte in a reply is one byte, which is limited to 255, and that includes the error byte and the checksum, which really means 253 bytes of data total.

Where did you get the case, if you don't mind me asking? I know someone at some point said Robotis was going to be making empty cases available - is that what you're using?

- Jon

[hamid_m]

You are right, it is the same interface as the bioloid, is that different from RS485?
256 bytes are not sent out once, they can be read as the usual registers, using standard indexing. I personaly read 16 bytes each time.
the case is from one of our dead motors , I thik it would be good if it would be possible to buy the case separately from robotis.

Hamid.

[limor]

please upload the pictures and link to them on this thread.
they are not visible through the link you provided.
there are at least 3 ways to upload pictures, files and videos onto robosavvy (in User Menu on the left - "My Files", and "post article" and there's the wiki that has its own facility).
here's a link to My Files

[JonHylands]

Here's the pictures:





http://robosavvy.com/Builders/JonHylands/pc_interface.JPG

- Jon

[hamid_m]

Thanks alot Jon. , I am a new user of this forum. I try to send more pictures and info. today.

[hamid_m]

Hello,

Here is a video of our bioloid robot using the vision module to play football. Thanks the camera module "FUCam" it can perform the whole task using only its CM5.

http://robosavvy.com/Builders/hamid_m/DSCF2226.AVI

[cobracon]

Hello,

Here is a video of our bioloid robot using the vision module to play football. Thanks the camera module "FUCam" it can perform the whole task using only its CM5.

http://robosavvy.com/Builders/hamid_m/DSCF2226.AVI

Very nice cam. Great work. I'll keep it in mind when I get a bioloid.

[JonHylands]

Wow, that is so neat !!!

I notice you seem to have something on the bottom of the feet - you can just the edge peeking out. What did you put there?

Are you using any kind of balance sensor, like an accelerometer or gyro?

What is the extra box under the CM-5? And the blue plugs in behind the camera tilt servo?

That is really impressive - hopefully BrainBot will be able to do something like that soon...

- Jon

[hamid_m]

on the bottom of the feet is only a piece of rubber and no sensors. under CM5 is a place for batteries. we use liPoly type. the blue parts are the on and off switch of the robot plus a small voltage watchdog to avoid batteries being discharged.
There is no other non-bioloid parts there except our lovely camera module.

Hamid

[limor]

Very impressive video!
Having attended the Robocup in Bremen last year, I can say that this humanoid is fast in identifying the ball and getting to the ball. And than that kick that throws him to one side and the foot that is thrown down to prevent a fall..wow!. that is very cool (reminds a little of the videos from boston dynamics?)

[hamid_m]

Thanks!! We plan to become the world champion this year, a good dream!! No...t?

[billyzelsnack]

More vids! More vids!

[hamid_m]

Hi everybody,

Here is a new video from our robot. The robot finds out wether it falls down and if yes stands up again. All of these without accelerometer!!!

http://robosavvy.com/site/Builders/hamid_m/Standup.AVI

Hamid.

[limor]

All of these without accelerometer!!!

so you use the information from the camera to determine if the robot has fallen on its face?