Image Processing Module User's Manual

Part# 761-1885 www.rcalproducts.com

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Image Processing Module Overview The RCAL Products Image Processing Module enables users to program and detect objects in a matter of minutes. Through the integrated camera, and high speed Cortex M4 CPU, objects can be detected and tracked through color, brightness and motion in real time. Detected objects can also be filtered based on width, height, and X,Y location. Object detection parameters can be changed on the fly using programmable inputs and/or RS232/USB communications. Image data and object coordinates are delivered via programmable outputs and/or RS232/USB communications. The object filtering parameters can be changed via a computer or by using the buttons and potentiometer on the front of the product. A 320x240 pixel LCD is provided to give visual feedback during setup of filtering parameters. An Ethernet port is available to transmit images to a computer if the LCD is not connected.

Potentiometer for fast adjustments Removable LCD Menu Buttons

Control Interface

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USB

RS232

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Ethernet

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Connecting the Image Processing Module Power Connections: 5 VDC power can be supplied to the image processing module in one of three ways. • USB connector (J1) • RS232 connector (P3) • Control Interface (P4) WARNING: The image processing module can not accept voltages over 5 VDC. It is not recommended that more that one power source be supplied to the board at any time. Take care in connecting power to the circuit board, as reverse voltages could damage the circuitry.

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Control Interface P4

RS232 P3

USB J1

RS323 Interface: The RS232 interface comes from the factory selected for RS232 voltage levels. To convert to TTL voltage levels, move the two jumpers on the back of the board, from the 232 to the TTL position. Default baud rate is 9600, no parity, 8 data bits, 1 stop bit. Pin 1

+5VDC

Pin 2

RS232 RX (INPUT)

Pin 3

RS232 TX (OUTPUT)

Pin 4

0VDC (Negative)

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Recommended RS232 Mating Connector: Molex 0395000004

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The RS232 interface can be used to setup the image processing parameters as well as receive object and image information during run time. Setup can be performed using a generic terminal program as default. The port can be changed to a simplified communication protocol more suitable for processor control. See the RCAL Image Processor Module Communications Specification for more information. USB Interface: The USB interface uses an FT232 chip from FTD to convert USB to RS232 signals. The USB interface is easy way to connect your image processor to a PC computer. The USB allows for the same controls as provided through the RS232 interface. For more information about communication protocols, see the RCAL Image Processor Module Communications Specification. Control Interface: The control interface provides the user with a wider variety of connection options. This 16 pin IDC ribbon connection provides the same RS232 connections as P3, but also allows for remote control and monitoring of the image processing system by analog and digital I/O signals. Pin 1

0 VDC (Negative)

Pin 2

No Connection

Pin 3

0 VDC (Negative)

Pin 4

+5 VDC PWR IN

Pin 5

Analog Input 0

Pin 6

TTL RS232 RX (IN)

Pin 7

Analog Input 1

Pin 8

TTL RS232 TX (OUT)

Pin 9

Analog Output 0

Pin 10 Digital I/O 1

Pin 11 Analog Output 1

Pin 12 Digital I/O 2

Pin 13 +5 VDC PWR IN

Pin 14 No Connection

Pin 15 No Connection

Pin 16 No Connection

The Analog inputs can be configured to adjust image filter parameters during run time. Analog outputs can provide X,Y coordinate, or other image processing results. Digital I/O can be configured to either select a specific filter parameter set, or as an output be used to indicate a programmed image threshold has been reached. See the Filter Parameter Programming section for more information on the uses of these control interface signals.

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Navigating the Image Processing Menu Buttons: Press the MENU/ENTER button to reach the main menu. Once in the menu system, Menu/Enter the MENU/ENTER button is used to Up select menu options and accept values Down that have been changed. Use the Up and Down buttons to rotate through selections and increase and decrease values. Holding the Up or Down button will cause the numbers to change more rapidly. Pressing the Up and Down buttons simultaneously will exit the menu system. Run Time Screen: The objects that are detected by comparing them to the user defined threshold for color or movement. Pixels that are considered over this threshold and within the filter parameters, will be highlighted blue. Red boxes will appear around objects that are detected but don't fit the filter criteria. A set of white cross-hairs will appear in the center of all the objects that are detected. A set of green cross-hairs will appear in the center of, and a green box that will surround, the object that best matches the settings.

Filter Parameter Programming Filters are used to narrow down the selection of objects to fit the user's criteria to improve accuracy. A threshold value is used to increase or decrease sensitivity of the filter. Some filters have tolerance levels for weighting their effect on the image processing output. The lower the tolerance level is set, the more selective the filter will be. You can turn off any filter parameter by setting its tolerance level to 100%. The sensitivity of the detection mode is adjusted through its threshold. Threshold is the minimum intensity of a color, luminosity or movement in order for it to be detected. This can be used to filter out objects that are only a little red, blue, green, bright or moving only slightly.

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LED Color: The image processing module contains a high brightness RGB led for illuminating the field of view. The LED Color menus allows the RED, GREEN, and BLUE LEDs to be on or off to select one of 8 illumination options. Detection Mode: • Luminance: Luminance is the brightness component of pixels in the image. This mode can be used to detect objects that are lit up or reflective. • Motion: This mode can be used to detect and track moving objects across the screen. Motion is detected by groups of changing pixels in the image. • Red/Green/Blue: Objects with pixels of the selected color are used to detect objects. This can be used to determine the difference between a red ball and a blue ball. Threshold: The threshold adjusts the minimum intensity of the objects being detected. Detecting Width: By using Target X you can control the width of the items detected. By using this parameter, you can narrow down the possible object matches to only those with widths that take up the selected percentage of the screen. In order to calibrate the filter, place the desired object at the desired distance from the camera. Adjust the percentage up and down until the target object is surrounded by a green box. To adjust the sensitivity, use the X Tolerance menu. Detecting Height: By using Target Y you can control the height of the items detected. By using this parameter, you can narrow down the possible object matches to only those with heights that take up a certain percentage of the screen. In order to calibrate the filter, place the desired object at the desired distance from the camera. Adjust the percentage up and down until the target object is surrounded by a green box. To adjust the sensitivity, use the Y Tolerance menu.

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Minimum Score: The “Image Score” refers to how best the rectangular object fit the Target X and Target Y parameters. This can be used to locate a specific sized object at a certain distance from the camera. Score Tolerance is used to adjust the sensitivity of the selections. Detecting in an Area: Target Area X Center and Target Area Y Center are used to define the center point of the area where image processing is going to be performed. Area X Center Tolerance and Area Y Center Tolerance are used to adjust the size of the processed area. This can be used to focus on a specific area of interest.

Programmable Inputs and Outputs Pot and Analog Inputs: The Pot and analog inputs can be used to adjust the following filter parameters: • Score Tolerance • Target X • Target Y • Threshold These programmed inputs will override any previous user settings. Analog Outputs: The two analog outputs can be configured to provide feedback from the image processing module. These 0-5V outputs can represent the result of one of the following output values: • Percent Area Over Threshold (Area Fill) • Best Rectangular Object Score • Best Rectangular Object X Size • Best Rectangular Object Y Size • Best Rectangular Object X Coordinate • Best Rectangular Object Y Coordinate Digital IO: Using the Digital IO menus, these two signals can be configured to select a preset set of filter parameters as an input. As outputs, these signals can be used to signal that an output parameter has reached, or fallen below, a preset threshold. www.rcalproducts.com

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Mounting and Dimensions The Image Processing Module can be connected using the four mounting holes provided. The mounting holes are shared with the standoffs used to hold the LCD in place. Remove the 4-40 screws from the standoffs, and fasten the board to your mount using these holes. Be sure to insulate the board from conductive surfaces. Though the module does not come with a case included to protect it from conductive surfaces, RCAL Products provides complimentary 3D models for case options that can be printed for your Image Processing Module. WARNING: The Image Processing Module should not be mounted such that the surface of the circuit board or components come in to contact with conductive or abrasive materials that could short out or damage the product.

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RCAL Products Optional Components MXP Board: P/N 761-3005 For FRC teams using the RoboRio, the RCAL Products Image Processing Module is optionally connected via the RCAL Products MXP board's CPU expansion connection. This 16 pin IDC ribbon cable connection supplies power, and all required control signals to and from the RCAL Image Processing Module.

Analog Breakout P/N 761-3007

Digital Breakout P/N 761-3006

Remote Camera Mounting: P/N 761-3010 It may be more convenient for some applications to mount the camera separately from the Image Processor Module. In these cases, we recommend the remote camera mounting kit. This camera circuit board and cable, allow for remote mounting the camera module up to 6 inches away from the Image Processor Module.

Control Interface Breakout: P/N 761-3008 If the RCAL MXP board is not used, the user may find it convenient to use the Control Interface Breakout board. This circuit board connects to the Control Interface of the Image Processor Module through a 6 inch, 16 Pin, IDC Ribbon Cable. This board provides screw terminal connections for each of the Control Interface connection.

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