This is Final Year Project’s abstract by one of our internship student 2011, Mr. Tiew Weng Khai. Thanks to WK for sharing with us. He is responsible to modify the Pinguino board and become PICuno board, he has also contributed a few tutorials on using SK40C + PIC18F4550 as Pinguino board.
Nowadays, tilt and pan camera is increasingly being used in robotic and machine vision application. In this project, tilt and pan system is developed based on two servo motors. One servo motor is used for tilt motion and another servo motor is used for pan motion. The remote control used to control the tilt and pan motion is thumb joystick and computer. Two microcontrollers are used in this project. One microcontroller is used to receive the command from the joystick and computer. After that, the command is send to another microcontroller at camera location. The second microcontroller at camera location is connected to two servo motors to perform tilt and pan motion. Two microcontrollers is communicated through wireless RF transmitter and receiver. Camera that used in this project is wireless camera together with its wireless receiver. Wireless camera is mounted on the servo motor while the receiver is connected to Altera DE2-70 board. Altera DE2-70 board is used to acquire the image and display through the VGA to the monitor. NiosII processor from Altera DE2-70 board is used to capture the image and enhance the image contrast. Finally, the image is saved as bitmap file inside the computer. Figure 1 shows the overall system of the project.
Figure 1: Overall System
From Figure 1, basically the hardware involved are PIC16F877A microcontroller, servo motor, thumb joystick, computer, Altera DE2-70 board, wireless RF module, 2×16 character LCD, wireless camera and LCD monitor. Following list shows the summary of all hardware that used in this project.
RC Servo Motor, C40R:
|Altera DE2-70 Board:|
|Low Cost Wireless RF Transmitter|
|Low Cost Wireless RF Receiver|
|2×16 Character LCD|
|Wireless Camera and Receiver|
|USB to UART Converter (UC00B):|
|8 ways DIP Switch:|
Table 1: Summary of Hardware involved
Figure 2 shows the Tilt and Pan System by using two servo motors. From the figure, the wireless camera is mounted on one of the servo motor. The top servo motor used for tilt motion while the bottom servo motor used for pan motion.
Figure 2: Tilt and Pan System by using Two Servo Motor
Figure 3 and Figure 4 show the controller at the operator and camera location respectively.
Figure 3: Controller at Operator Location
Figure 4: Controller at Camera Location
Lastly, Altera DE2-70 board is used to acquire, display and process the image. Figure 5 shows the connection between DE2-70 board with wireless camera receiver and LCD monitor. After that, the captured image and the processed image will be saved as bitmap file in computer.
Figure 5: Connections between DE2-70 Board with Wireless Camera Receiver and LCD Monitor
The software that involved in this project is MPLAB, Altera Quartus II and Visual Basic 6. MPLAB is used to program the PIC16F877A for tilt and pan motion. Altera Quartus II is used to acquire and process the image. Lastly, Visual Basic 6 is used to develop the GUI for user to enter the angle value. The motion of tilt and pan will depend on the angle value that user enter. Figure 6 shows the GUI developed by Visual Basic 6.
Figure 6: GUI
From Ober: That’s all from WK. I am still requesting a video from him. Hopefully he has video showing the working of his project. Kudos to WK.