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ter release button. A servo could also be used for any operating mode controls, although as previously noted, the camera that was used for the prototype did not seem to have a control button that worked reliably enough for a servo (or electronic control) to engage it a set number of times and to put the camera into the desired operating mode. What makes adding a camera to the robot very interesting is the mouse eye view pictures that you will get from your robot. Chances are you will think you know what the robot will see before it, but in actuality, you will get a number of pictures that you will be hard pressed to identify what are in them, like Fig. 32-12. Admittedly, the digital photograph s quality has been impaired by the low resolution (maximum 640 by 480 pixel) of the camera used in the prototype, but the low perspective makes it very difficult to get a good understanding of what the picture is of actually. In case you are wondering what Fig. 32-12 is a picture of, consider the more traditional picture in Fig. 32-13. The camera took a picture of the edge of a broom and dustpan and a child s bead toy. This will probably be obvious after looking at Fig. 32-13, but when you are just looking at the raw picture, you will be hard pressed to exactly identify what it is you are seeing. The difficulty you had will give you an appreciation as well as some examples of the scenes that a live video system will have to decode before the robot can move.
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FIGURE 32-13 Human perspective on the photograph in Fig. 32-12. The scene is much clearer and more obvious.
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Here s another low-cost method of experimenting with robot vision that you might want to tackle, and it uses only about $30 worth of parts (minus the video camera). You need a simple penlight laser, a red filter, and a small piece of diffraction grating (available from Edmund Scientific Company and other sources for optical components; see Appendix B, Sources, for additional information). The system works on a principle similar to the three-beam focusing scheme used in CD players. In a CD player, laser light is broken into sub-beams by the use of a diffraction grating. A single, strong beam appears in the center, flanked by weaker beams on both sides, as shown in Fig. 32-14. The three-beam CD focusing system uses the two closest side beams, ignoring all the others. The beam spacing increases as the distance from the lens to the surface of the disc increases. Similarly, the beam spacing decreases as the lens-to-CD distance decreases. A multicelled photodetector in the CD players integrates the light reflected by these beams and determines whether the lens should be moved closer to, or farther away from, the disc. For history buffs, the fundamental basis of this focusing technique is over a hundred years old and was pioneered by French physicist Jean Foucault. CD players use a diffraction grating in which lines are scribed into a piece of plastic in only one plane. This causes the laser beam to break up into several beams along the same plane. With a diffraction grating that has lines scribed both vertically and horizontally, the laser beam is split up into multiple beams that form a grid when projected on a flat surface (see Figs. 32-15 and 32-16). The beams move closer together as the distance from the laser and surface is decreased; the beams move farther apart as the distance from the laser and surface is increased. As you can guess, when the beams are projected onto a three-dimensional scene, they form a kind of topographical map in which they appear closer or farther apart depending on the distance of the object from the laser. The red filter placed in front of the camera lens filters out most of the light except for the red beams from the penlight laser. For best results, use a high-quality optical bandpass filter that accepts only the precise wavelength of the diode laser, typically 635 or 680 nm. Check the specifications of the laser you are using so you can get the correct filter. Meredith
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