Robot parts (3) Vision Sensor

TCS230 Color Sensor

Figure 8 TCS230

Photodiode on IC TCS230 array arranged in a 8x8 with configuration, 16 Photodiode for red menfilter, 16 Photodiode for the green color filter, 16 Photodiode for the blue color filter, and unfiltered Photodiode 16. Group Photodiode which will be used can be arranged through the leg selector S2 and S3. The combination function of the S2 and S3 can be seen in Table 1.

Table 1

Photodiode will issue the amount of current is proportional to the levels of color basic light on him. This current is then converted into a signal box with a frequency proportional to the amount of current. Output frequency can be scaled by setting the selector foot S0 and S1. Output scaling can be seen in tabel2.

Tabel2.

Thus, programs that we need to get the composition RGB is a frequency counter program. There are two typical ways to calculate the frequency. The first way: We create a timer berperiode 1 second, and during this period we count how many times a wave box. Illustration could seen in the figure 9.

Figure 9

Camera

Vision sensor is the most complex camera that function to change the image into the form of voltage. In the camera output is usually still the form of analog voltage that required high-speed ADC for access. However, with the CMU Cam, Robot CPU only needs to sending commands through the serial port just to this module and CMU Cam will provide image information in the data series as well.

Figure 10 CMU Camera

CMU Cam has a resolution of 160 x 255 and can detect moving objects at 26 frames per second and sends the image data in the form of bitmap. In addition, this module also has 5 ports that can be used to servo motor control is usually used to move the camera.