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N-SVR-1 Robot和N-SVS Robot 是由 设计开发的系列视觉机器人平台。主要用于大专院校、科研院所有关视频图像处理方面的教学、科研和应用。现在亿学通在大陆进行全面销售。欢迎新老客户咨询、采购。

1．描述Description:

SVS是一款多功能履带式机器人，基于开源软件平台，可通过WIFI进行无线操控，并可实时采集现场视频，同时还支持自主运行以及集群管理模式。它使用的是双目摄像头，可以实现立体成像。其设计可广泛应用于各个相关行业的科研、教学以及新产品原型开发等领域当中。SVS是SRV-1的扩展产品，更多详细信息可参阅SRV-1机器人。

2、产品参数：

• 遵循GPL开放全部软件源码及硬件设计图
• 机器人具有执行自主运行程序的能力
• 有广泛的第三方软件支持
• 可以通过软件控制台或网络浏览器实现对机器人的远程遥控
• 主机软件内建网络服务器并支持视频存档
• 机器人可以解释执行储存在FLASH中或内存中的C程序
• 无线遥控范围:室内100米室外1000米(视野空旷的地方)
• 机器人可以通过终端控制台进行快捷的控制与调试
• 实现上下或左右的的视觉跟踪,支持立体成像
• 支持GNU/Linux操作系统也同时支持直接在DSP上通过GNU bfin-elf-工具链开发bare-metal应用

硬件参数：

• 处理器：500MHz的ADI Blackfin BF537, 32MB SDRAM, 4MB SPI Flash, JTAG
• 摄像头：Omnivision OV7725, 30万像素(160x128到640x480 分辨率)
• 串口无线通讯模块：Lantronix Matchport 802.11b/g WiFi
• 云台控制装置:由舵机和固定装置构成(可选)
• 传感器：2个激光点
• 驱动：双直流齿轮电动机驱动双履带
• 速度：20-40厘米每秒
• 框架：铝制机械
• 规格：120mm长 x 100mm宽 x 150mm高
• 重量：约500克
• 电源：7.2V 2Ah锂电池 使用时间大约4小时
• 充电器：100-240交流电50/60Hz

3、产品图片：

SVS立体摄像头模块：包含两块BF537核心控制板

4．产品视频:

N-SRV-1视觉机器人 视频追踪功能演示（1）

N-SRV-1视觉机器人 视频追踪功能演示（2）

N-SRV-1视觉机器人 手机客户端软件演示

N-SRV-1视觉机器人 集群功能演示

N-SRV-1视觉机器人 越野越障能力演示

5．产品资料:

参考资料，请在网站资料下载栏目打开：/?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

• GPL Open Source - download from /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 from/blackfin/#blackfin4
• Commａnd Protocol Definition - SRV_protocol

• Stereo Vision Module EAGLE 5 Files: bfin-stereo-v2.sch bfin-stereo-v2.brd
• SRV-1 Blackfin Camera Schematic (204kB)
• OV9655 Camera Module Schematic (136kB)
• S-32 expansion bus pin assignments for each SRV-1 Blackfin camera module

• 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 -
    /cgi-bin/robot_journal2.cgi/2008/06/12#166
    /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 - /cgi-bin/yabb2/YaBB.pl?num=1222462001
  • SDL library downloads
    • /download-1.2.php
    • /projects/SDL_image/
    • /projects/SDL_net/
  • 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
  • SVS code samples - /framework/samples/robotics.html#srv1
  • Getting started - /articles/svs_start/
• DelphiSRV
  • Windows-based console for SVS by Andrew Hutchison
  • motor/servo control, image processing, anaglyph viewing, customized buttons
  • download from /stereo/DelphiSRV.zip - last updated 26 May 2009
  • software overview - click here
• Sentience Stereo Vision Software Version 0.2
  • description: /p/sentience/wiki/SurveyorSVS
  • download: /files/surveyor_svs_v0_2_0.zip
  • blog posts -
    • /2008/08/simple-stereo-correspondence.html
    • /2008/08/visual-disparity.html
    • /2008/08/image-rectification-example.html
    • /2008/08/surveyor-project-calibration.html
    • /2008/07/testing-surveyor-stereo-camera.html
• RoboRealm
  • RoboRealm Stereo Viewing Module
    • Click here for configuration details
    • stereo disparity mapping for SVS (coming soon)