Instruction/ maintenance manual of the product 2 Pioneer
Go to page of 14
MOBILE ROBOTS with Pioneer Server Operating System Software Pioneer PTZ Robotic Camera For Pioneer 2.
ii Copyright 1999, Activ Media, Inc. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of Activ Media, Inc.
iii Contents Page Introduction ........................................................................................................... 1 PTZ Components ...............................................................................................
iv.
1 Introduction The Pioneer Pan-Tilt-Zoom PTZ Robotic Camera System is a fully integrated accessory for Pioneer Mobile Robots. Developed by Kurt Konolige, Ph.
2 Where to get PTZ System Software The Windows95/NT version of the PTZ System Software comes on disk with every Pioneer, included in the Saphira distribution software. Updates and other platform-based versions are available online from the Activ Media Robotics Internet website.
3 Hardware Installation The PTZ Robotic Camera System requires some assembly, even if you had ordered it with a new Pioneer 2 Mobile Robot. Mounting the Camera The PTZ camera comes detached from the robot for safe shipment. We recommend mounting the camera to the front of the robot, centered on top of the Console (Figure 2-1).
4 FTVS/Video Side Panel If you purchased your PTZ Camera sometime after you had received your robot, and depending on the optional video or vision package, you may have to install the FTVS/Video Side Panel (Figure 2-2).
5 PTZ System Software The PTZ Robotic Camera comes with software support for controlling the pan, tilt, and zoom features of the camera through the Pioneer 2 Operating System (P2OS). In addition, we provide C-language-based libraries and source code for integration of the PTZ System with your Pioneer client applications.
6 These are the Linux/Unix files when extracted relative to the Saphira top-level path ($SAPHIRA): $SAPHIRA/path Description colbert/ptzsys.so Shared object library for Saphira/Colbert /ptzdemo.
7 sfPTZCamPan(-95); wait 20; sfMessage("Tilt up ..."); sfPTZCamTilt(20); wait 20; sfMessage("Tilt down ..."); sfPTZCamTilt(-20); wait 20; sfMessage("Reset and zoom in ..."); sfPTZCamPanTilt(0,0); wait 10; sfPTZCamZoom(1023); wait 20; sfMessage("Zoom out .
8 Appendix A Sony D30/31 Camera Specifications Image Sensor 1/3" IT CCD Effective Pixels 768(H) x 494(V) NTSC; 752(H) x 585(V) PAL Horizontal Resolution 460 TV lines NTSC; 450 TV lines PAL Vertical Resolution 350 TV lines NTSC; 400 TV lines PAL Lens 12X Zoom, f=5.
9 Warranty & Liabilities Your Pioneer is fully warranted against defective parts or assembly for one year, and the PTZ System for 90 days after it is shipped to you from the factory.
44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.activmedia.com/robots.
An important point after buying a device Pioneer 2 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Pioneer 2 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Pioneer 2 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Pioneer 2 you will learn all the available features of the product, as well as information on its operation. The information that you get Pioneer 2 will certainly help you make a decision on the purchase.
If you already are a holder of Pioneer 2, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Pioneer 2.
However, one of the most important roles played by the user manual is to help in solving problems with Pioneer 2. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Pioneer 2 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
