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Last modified 02/12/2002

Vision Unit


The vision unit for RCX using MITSUBISHI's artificial retina sensor(M64270G) and Cygnal's 8bit microcontroller(C8051F300).

Hardware

It is a circuit diagram of Vision Unit(version 01/06/2002).
Because the I/O port is not sufficient in one C8051F300, M64270G is controlled by using it two. (Two C8051F300 is connected by SMBUS.) It is composed of two pieces (Camera Board and IR Interface Board). The Camera Board is composed of M64270G and C8051F300. The IR Interface Board is composed of Voltage Regulator and IR Remote Control Module.
Circuit diagram of Vision Unit(version 01/06/2002)

The parts table of Vision Unit
Kind Name Quantity Part No. Note
Camera Board
IC C8051F300 2 U1,U2 Cygnal $10.59
M64270G 1 U3 -
Resistor 1K 4 R3-R6 Satoh Denki 275yen(50 pieces)
2012(2125)
2.2K 2 R1,R2
Capacitor 0.1U 7 C1-C7 Satoh Denki 160yen(20 pieces)
2012(2125)
10U 3 C8-C10 Satoh Denki 35yen
Tantalum capacitor 10V
A(3216)
Connector Pin header proper quantity CN1-CN3 -
PCB Double side PCB 1 - OLIMEX $33.6(8 sets)
IR Interface Board
IC UPC29L33 1 U4 Wakamatsu Tsusho 70yen
CRVP1738 *1 1 U5 Akizuki Denshi Tsusho 200yen
Diode 1S4 5 D1-D5 Akizuki Denshi Tsusho 250yen(10 pieces)
LED GL538 1 D6 -
Resistor 150 1 R7 Satoh Denki 275yen(50 pieces)
2012(2125)
Capacitor 0.1U 1 C11 Satoh Denki 160yen(20 pieces)
2012(2125)
47U 1 C12 Sengoku Densyo 200yen(10 pieces)
Cable 9V Connecting Lead 1/2 - -
PCB Double side PCB 1 - OLIMEX $33.6(8 sets)
*1
The operation voltage of this parts is 4.5~5.5V. However, it is used by 3.3V in this circuit.

It is a PCB of Vision Unit(version 01/08/2002).
It is Camera Board(PCB_A) and IR Interface Board(PCB_B).
Parts side of Vision Unit(version 01/08/2002) Solder side of Vision Unit(version 01/08/2002)
The PCB of eight sets was ordered to OLIMEX. (Because I had hurried up, EMS was chosen. If AirMail is chosen, shipping fee is $8.)

ItemsQtyUnit PriceItem Total
DSS(PCB_A x8, PCB_B x8) 1 $26.00 $26.00
Exceed 500 drill holes 1 $2.60 $2.60
Second silkscreen print 1 $5.00 $5.00
EMS shipment $30.00
Total $63.60

It is an assembled PCB. These two PCB are used for back to back.
Vision Unit
When the consumption current had been measured, it was about 35mA.

Firmware

Firmware for C8051F300.

Specification

It communicates with RCX by the IR message.

Direction of communication Command/Response Parameter IR message Note
b7 b6 b5 b4 b3 b2 b1 b0
RCX -> Vision Unit Horizontal Position Request - 1 0 0 0 0 0 0 0 The horizontal position of the object is returned by "Position Response".
- 1 0 0 0 0 0 0 1
1 0 0 0 0 0 1 -
1 0 0 0 0 1 - -
1 0 0 0 1 - - -
Identification Color Setting R select 1 0 0 1 - - 0 0 Red = 90h(144)
Green = 91h(145)
Blue = 92h(146)
Yellow = 96h(150)
Orange = 9Dh(157)
"Normal Termination Response" is returned at the normal termination.
G select 1 0 0 1 - - 0 1
B select 1 0 0 1 - - 1 0
- 1 0 0 1 - - 1 1
There is not a color coordinates sign reversing. 1 0 0 1 - 0 - -
There is a color coordinates sign reversing. 1 0 0 1 - 1 - -
The color coordinates are not exchanged. 1 0 0 1 0 - - -
The color coordinates are exchanged. 1 0 0 1 1 - - -
- 1 0 1 - - - - -
1 1 - - - - - -
Vision Unit -> RCX - 0 0 0 0 0 0 0 0
Normal Termination Response - 0 0 0 0 0 0 0 1
- 0 0 0 0 0 0 1 -
Position Response none 0 0 0 0 0 1 0 0
right/lower 0 0 0 0 0 1 0 1
left/upper 0 0 0 0 0 1 1 0
center 0 0 0 0 0 1 1 1
- 0 0 0 0 1 - - -
0 0 0 1 - - - -
0 0 1 - - - - -
0 1 - - - - - -

Example

It is an example of using Vision Unit. A left motor is connected with port A, and a right motor is connected with port C. The power supply of Vision Unit is taken from port B. It looks for a yellow object by this RCX code(RIS2.0 which I am using is a Japanese version.) and it approaches automatically. (A right and left message has reversed because Vision Unit is installed inverted.)
RCX Code
BALL-HA-TOMODACHI-KUN
Movie(160x120) : ball.asf(200,922byte)


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