Image processing for Robots with a Personal Computer.

 Between the 1. November 1995 till 31. March the project: "Image processing for robots with a personal computer" was developed at the FH Coburg - university of applied sciences (Bavarian, Germany). This project was paid for the ministry for research and education (Bundesministerium für Forschung und Bildung). The object of the project is the combination of the robot control and the image processing modules, which are executed in parallel on a PC.

 The industry partner is the company EUROBTEC, which made the robot IR 52 c available. The image processing hardware are procured by the company STEMMER. The parts are a matrix camera CAM ST-235, a PC- card IC-P-2M and the module ITI AM-VS. The frame grabber card is placed in a PCI slot of a PENTIUM 100-PC.

 Software

MS Windows NT 4.0, MS Visual C++ 4.0 is used as compiler.

 Image processing

For that project the class hierarchy CoSip (Coburger Signal Processing) was developed. This includes among other things the data types used for image processing (grey value , edge, area picture) and more typically used operators (Binary, Sobel, .. and more .. ).

 Robot Control

The robot control of the company EUROBTEC is only available for MS-DOS. Therefore a new robot control was developed for MS Windows NT and was object oriented implemented in C++ in order to facilitate expansion and maintenance.

 Application

The ready developed system was finally used for the assembly of the so called DEVIL’s KNOT. For that six different play bricks are identified, took and mounted (robot-animation).