Cognachrome Vision System User's Guide
Introduction
Modes of Use
Components of the System
Stand Alone Quick Start Guide
Hooking Up the Board and Cables
Using ARC with a Stand Alone Vision System
Trying it Out
Pioneer Quick Start Guide
Pioneer Vision Interface Panel Diagram
Setting Up the Pioneer Vision Hardware
Interacting Directly with the Vision System using ARC
Getting Set Up to Use ARC
Starting ARC for use with the Pioneer Vision System
Trying Out your Vision System with ARC
Vision System Hardware
Cognachrome Vision System Board Diagram
RS-232 Serial Ports
RS-232 Port Pinouts
Using the RS-232 Ports
RS-232 Port Protocol
Video I/O
Video Input
Preserving Video Signal Quality
Visually Inspecting the Video Signal
Adjusting the Camera
Video Output
Power Connections
Power Requirements
Digital Power Connector
Analog Power Connector
Digital I/O and Synchronous Serial Connection
IR Remote Control Input
Object Tracking
Choosing Tracking Targets
Choosing Colors
Use Matte not Glossy
Choosing Lighting
Color Training
Overview of Video Thresholding
Training the Vision System to See a Target Color
Protocol String
Protocol Codes Summary
Protocol Codes Detail
The %w printf Code
Summary of printf Formatting Codes
Controlling the Amount of Processing
Single Color Protocol String Example
Human Readable Protocol String Example
Machine Readable Protocol String Example
Multiple Colors Protocol String Example
Tracking Performance
Single Channel Tracking Performance Example
Multiple Channel Tracking Performance Example
Multiple Channel Tracking Plus Angle Performance Example
Vision System Software
Software Overview
Startup Behavior
Inhibiting Reset Run of Programs
Interaction Modes
Downloading Programs to the Vision System
Downloading S19 Packages
Downloading Executables
Tracking Upload Mode
Entering Tracking Upload Mode
Exiting Tracking Upload Mode
TPUVIS Prompt Mode
Entering TPUVIS Prompt Mode
Exiting TPUVIS Prompt Mode
TPUVIS Command Summary
Turning Tracking On and Off Summary
Training and Configuring Channels Summary
Debugging and Miscellaneous Summary
TPUVIS Command Explanations
Turning Tracking On and Off Detail
Training and Configuring Channels Detail
Debugging and Miscellaneous Detail
Saphira Interaction Mode
Entering Vision System Saphira Interaction Mode
Exiting Vision System Saphira Interaction Mode
Saphira Mode Channel Commands
Saphira Mode Frame Commands
Saphira Mode Visual Sonar commands
Saphira Mode Persistent Commands
Miscellaneous Saphira mode commands
Saphira Packet Protocol
Host-initiated Saphira Packet format
Robot-initiated Saphira Packet format
BLOB_MODE Tracking data
BLOB_BB_MODE Tracking data
LINE_MODE Tracking data
Special Saphira Packet formats
Frame Upload Saphira Packet formats
Visual Sonar Upload Saphira Packet format
Grabbing Frames of Video
Uploading Frame Grabs through Serial
Writing On-Board Programs to Process Frames
Higher Resolution Frame Grabs
Persistent Variables
Listing All Persistents
Examining a Particular Persistent
Setting and Storing Persistents
Important Persistents
Programming the Vision System
Mini-ARC Installation Guide
Create a Main Directory for Mini-ARC
Decide on Which Package You Need
Copy a Mini-ARC Package to your Site
Extract the Software from the tar Archive Files
Install the license key
Set up your environment to use ARC
Troubleshooting
Status Lights and Beeper
Processor Board Jumper Configuration
Serial Port Troubleshooting
Serial Port Names
Serial Port Acess Privileges
Determining which Serial Port to Use
Installing a Serial Loopback
Finding the Right Serial Port
Setting the Default Serial Port for ARC
Serial Port Usage Conflicts
Symptoms of Serial Port Usage Conflicts
Determining what Programs are using a Serial Port
Disabling getty if it is Running on a Serial Port
Serial Port Pinouts
Pioneer-Specific Serial Troubleshooting
Problems and Possible Solutions
Poor Color Recognition
Pioneer Vision System Hardware Installation
Index
This document was generated on 19 June 1996 using the texi2html translator version 1.38.