Author Topic: Line following using camera  (Read 7791 times)

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Offline airman00Topic starter

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Line following using camera
« on: July 11, 2008, 05:30:58 PM »
I want to build a line following robot that uses a camera as its main sensor. I will be using Admin's axon board on the robot .
My choices are either the Blackfin camera or CMU camera or AVRcam

What would you guys recommend?

Also, how would I go about programming this whole line following algorithm using a camera? I have some ideas how to do it , but I figure I ask the more experienced microcontroller and camera users.

Much obliged,
Eric
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Offline Admin

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Re: Line following using camera
« Reply #1 on: July 17, 2008, 03:05:28 PM »
If you write code for the CMUcam or AVRcam to work with the Axon, and its well documented, I'll send you a check for $50 ;D

Not that I'm discouraging you from using the Blackfin, I'm just too lazy to write the code myself :P


Quote
Also, how would I go about programming this whole line following algorithm using a camera? I have some ideas how to do it , but I figure I ask the more experienced microcontroller and camera users.
The simplest way is just run a middle mass algorithm, then use differential steering to center the middle mass in the camera. On my ERP, the head rotates to center itself on the middle mass, and the body rotates to center itself to the head. Edge detection could also work, but I don't think any of those cameras offer edge detection at the moment.

Offline airman00Topic starter

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Re: Line following using camera
« Reply #2 on: July 17, 2008, 05:38:49 PM »
If you write code for the CMUcam or AVRcam to work with the Axon, and its well documented, I'll send you a check for $50 ;D

oo la la    ;D


I'll see how much I can get a CMUcam or AVRcam for .......   Does it have to be the latest version camera?

Btw I'm definitely getting the Blackfin, but I can get another type of camera to tinker with
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Offline Admin

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Re: Line following using camera
« Reply #3 on: July 17, 2008, 07:57:21 PM »
Quote
I'll see how much I can get a CMUcam or AVRcam for .......   Does it have to be the latest version camera?
It has to be compatible with a version thats currently being manufactured and sold.

Offline airman00Topic starter

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Re: Line following using camera
« Reply #4 on: July 17, 2008, 08:12:39 PM »
current version costs like 250 ..... I'm gonna stick with blackfin only , unless I get a CMUcam for free
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Re: Line following using camera
« Reply #5 on: July 17, 2008, 08:24:12 PM »
I didn't say newest version, just a version being sold :P
(All three versions are currently being sold to the last of my knowledge)

Offline Brandon121233

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Re: Line following using camera
« Reply #6 on: July 17, 2008, 09:25:32 PM »
At work we are just using a Motorola cheap $15 cellphone camera and having an ARM7 process the data in real time, its cheap easy and it works.
Hell, there are no rules here—we're
   trying to accomplish something.

                                                                              —Thomas Edison

Offline airman00Topic starter

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Re: Line following using camera
« Reply #7 on: July 18, 2008, 05:43:05 AM »
At work we are just using a Motorola cheap $15 cellphone camera and having an ARM7 process the data in real time, its cheap easy and it works.

care to elaborate more about your setup?
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Offline Brandon121233

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Re: Line following using camera
« Reply #8 on: July 19, 2008, 10:53:30 AM »
Actually I lied its a Toshiba not a Motorola  :o. Its from Sparkfun and it costs $9.95 not $15. Heres the datasheet http://www.sparkfun.com/datasheets/Sensors/Imaging/TCM8230MD.pdf so basically we are just sending the data to an ARM7 to process it in real time to do blob tracking and object detection, it works great and it costs like $25 total to make. However we do make all our own PCB's because we have a rapid board prototyper (LPKF http://www.lpkf.com/products/rapid-pcb-prototyping/circuit-board-plotter/protomat-s62/index.htm and http://www.lpkf.com/products/rapid-pcb-prototyping/laser-circuit-structuring/protolaser-200.htm and http://www.lpkf.com/products/rapid-pcb-prototyping/through-hole-plating/electroplating/index.htm) and through hole plating machine. Also we have very very smart programmers who write some nifty code to get it all working. One of my duties was to solder up all the boards that are using 8mil traces and bout the size of your thumbnail. Unfortunately I will not be able to post any kind of code or pictures since its an ARL government project. 
« Last Edit: July 19, 2008, 10:54:34 AM by Brandon121233 »
Hell, there are no rules here—we're
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Offline mbateman

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Re: Line following using camera
« Reply #9 on: January 01, 2009, 01:07:18 PM »
Admin, is your offer still on for camera code for the Axon? I have completed my interface code for using the AVRcam with the Axon. It handles all of the functions available from the camera as well as things like leaning a color placed in front of it and giving directions for pan and tilit to center on an object.
« Last Edit: January 01, 2009, 01:20:52 PM by mbateman »

Offline Ro-Bot-X

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Re: Line following using camera
« Reply #10 on: January 01, 2009, 01:19:38 PM »
This is so great! I have a AVRcam (trying to revive it at the moment) and I want to use it with Roboduino. When do you think we can see your tutoatial or just the code? Thanks.

Also, can you help me out with uploading the firmware? The camera works, I don't know what heppened last time that I thought I damaged the microcontroller. I'll start playing with it to see what I can do. But I am still interested how are you giving commands to pan and tilt to center the tracking object...
« Last Edit: January 01, 2009, 01:33:21 PM by Ro-Bot-X »
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Offline mbateman

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Re: Line following using camera
« Reply #11 on: January 02, 2009, 04:59:45 PM »
I have posted my code and docs. See this post ... http://www.societyofrobots.com/robotforum/index.php?topic=6352.0

 


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