\43 Wk\ TAO TRONG CAC HE THONG TU DONG NOi ARTIFICIAL EYES IN AUTOMATIC SYSTEJ TOM TAT Bii b i o sfi trinh b i y vfi m i t n h i n tao v l cic difiu kifin cho su p h i t trifin cua cdng nghfi m i t n h i n tao Sau dd, b i i b i o sfi gidi thifiu mdt sd Ung dung cu thfi cCia ky t h u i t n i y elc hfi thdng ludng-difiu khifin-tuddng hda Vdi luong thdng tin r l t Idn ehUa i n h sd, " M i t nhan tao" cd y nghTa rat ldn cic he thdng md phdng sinh hpc cd chdc n i n g quan sit - difiu khien va q u i n ly SU p h i t trifin ddng bp gida cie nginh khoa hpe khle va sU phdi hop gida cic ITnh vUc cu thfi ehinh la tifin dfi eho sU p h i t trifin manh mfi ciia cdng nghfi niy Hifin nay, " m i t n h i n tao" da va dang dUOe Ung dung ngiy cing rdng r i i nhifiu ITnh vUc cua ddi sdng ABSTRACT The report describes the performance of "Artificial eye" and conditions assistant to its technological development Also, it presents some specific application of this technique in measurement - controlling - automation systems With a huge amount of information contained in digital images, the technique has a critical role in the biological simulation undertaking functions of vision - controlling and managing The technique is based on the synchronous development of different sciences and the coordination of specific areas Nowadays, the artificial eyes technique has been widely applied to variety of human-being fields I.DATVAND^ Theo p h l n tich ciia eic n h i khoa hpc, 90% lupng thdng tin m l ngudi thu t h i p dUdc l i qua m i t " M i t n h i n tao" l i mdt khii nifim ve thifit kfi ky t h u i t cd chdc n i n g md phdng theo m i t ngudi dUa trfin cdng nghfi camera sd, ky t h u i t xCf ly i n h va cic hfi chuyen gia Viec xay dung t h i n h cdng " m i t n h i n tao" se cho ta g i i i p h i p dfi thu duoc ddng thdi mdt lUpng Ic^ thdng tin ciia nhifiu loai thdng tin khic 28 Tif dpng hoa ngdy / 7, 2012 N G U Y E N V A N L I £ N , N G U Y E N D A N G D O N G , CAO odctA Trung tdm Khoa hqc vd C6ng nghi Tuddng hda Hd Ndi e-mail: liennv@moil.hut.edu.vn, ndd_vn2008@yahoo.com, kiencd86@gmall.com Ngiy nay, khli nifim ' m i t n h i n tao' d i trdthinhpli bifin v i dupc Ung dgng r l t nhifiu Hnh vuc nhild ludng, n h i n dang, difiu khien tuddng hda • Trong ludng: Nhu kich thudc hinh hoc, miu si hinh ding, • Trong n h i n dang: n h i n dang ddi tUpng ID-SOth hinh dang, kich hudc hinh hpe, mau sic, • Trong t u d d n g hda: ' M i t n h i n tao" dUOcsOri cic sensor tdng hpp dfi xic dinh d c thdng p h l m , tU dd dua d c quyfit djnh difiu khifin Dfi cd " m i t n h i n tao' difiu khien hfi ddng, d n thifit p h i i cd su kfit hpp ciia nhifiu fir • Camera ky t h u i t s6 • Ky t h u i t xCr ly i n h v i c i c phan mfim hd tn? • Ky t h u i t vi xU ly • He chuyfin gia thdng minh Dfi n i n g cao dd chinh x i c ciia hfi thdng stf t h u i t " m i t n h i n t?o", ehung ta c i n : • N i n g cao dd p h i n g i i i cua camera s6 • N i n g eao c h i t lUdng xU ly I n h v i he chuy< Cic yfiu c l u trfin kfio theo yfiu cau ddi vdi cOa hfi thdng nhU: tdc dp dudng truyfin phii dill truyfin i n h v l hfi vi xiJT ly p h i i dd manh dfi d i p i}w|^ d c yfiu d u phUc tap ciia cic t h u i t t o i n xijf ly Inn'^' chuyfin gia Nhu v|y, dfi x i y dung v l p h i t trifin ky t h u i t ' i _ tao", d n p h l i cd dupc su p h i t trifin ddng bd v i 9t\ hdp cila d c ITnh vi/c cu thfi cUa nhifiu n g i n h khoal" khic m nghia cda mSt nhan tgo: Nhu da neu, khli nifim " M i t n h i n tao" I I sU tdng hda ua cie ky t h u i t : sensor i n h - camera s6, vi xU ly, ky t h u i t U ly i n h v i he chuyfin gia thdng minh " M i t nhan tao" eho ihep xic djnh ddng thdi nhifiu thdng sd cung nhu cic loai hdng sd khac nhau, t i i tao hinh i n h 2D, 3D v i m i u sic eua ldi tuang, tUdd p h l n tieh, n h i n dang, v i sau dd dua cac luyet djnh " M i t nhin tao" ed y nghTa nhU m i t ngudi elc hfi ndng t u ddng quan s i t - dieu khien v l q u i n 1^, vdi 90% Jong thdng tin ciia ddi tUpng thu duoc thdng qua ky t h u i t ii ly tin hieu hinh I n h v i eic quyfit djnh difiu khifin dupc Ua bdi hfi chuyen gia thdng minh Do rpng v?it the (cm) 10 10 Do rpng Iren anh (pixel) Do rpng tuang ling ciia pixel (cm) Sai so 0:2 10% 2% 10 10 SO 100 0.1 1% 10 1000 0.01 0.1% 2.2 K? THUAT xijf LV ANH S VA CAC PHAN M £ M CHUY£N DUNG CHO xOr i t A N H ! P H A N TfCH CAC Dl£u K I £ N KHOA HOC KY H U A T O6\ Vdl SU P H A T TRiiN C O A K V H U A T " M A T N H A N TAO" Camera ky thuat so Camera sd hifin dang trd nfin hfit sUc phd bifin lpi m i t eua ddi sdng, d i e biet l i khoa hpe ky t h u i t lien Anh sd l i kfit q u i thu t h i p tU camera sd Cudng d sang dupe thu thap qua bd thau kinh v i elm bifin i n h i n g Tin hieu thu dupe sfi dupe sd hda t h i n h I n h sd va luu •Q bd nhd Chit lupng i n h sd phu thudc v i o yfiu td: • Dd p h i n g i i i thfi hifin chi tiet m i I n h md t i ddi Jang • Chit lupng bp sd hda the hien sU trung thUc eiia anh Vdi su p h i t trifin ciia khoa hpe edng nghfi, bd sd hda d i at chat Iupng rat cao va trd t h i n h chuan, vi v i y hifin gudi ta quan t i m nhifiu hon tdi dp p h i n g i l i ctia I n h 90% thdng tin m i ngUdi binh thudng thu n h i n 11 tU m i t Nhu viy, nfiu sU dyng camera l i m thifit bj ludng hfi thdng difiu khifin, ta cd thfi thu duoe rat nhifiu thdng tin tU I n h sd Cie ky t h u i t xCf 1^ i n h v i p h l n mem chuyfin dung ddi dfi phuc vu eho vific khai t h i c cie thdng tin mong mudn t U i n h sd Bin c h i t xd ly i n h sd l i xU ly tin hifiu sd nhieu chifiu, v i mang d l y dii cie tinh chat eda b i i t o i n xCf ly tin hifiu sd Mdt b i i t o i n xU ly I n h sd dupc chia l i m m i n g : Chuan hda I n h (theo cic tifiu ehl khic nhau) v l trich ehpn d i e tinh H Cdc khdu chinh cda xCriy dnh s6 a, Chu6n hoa dnh II budc d l u tien eCia xU ly I n h sd, I I chuyfin ddi, bifin doi i n h theo mdt chuan cho trudc (chuan i n h sing, chuan tuong phin, chuIn m i u sic, ) v i cic q u i trinh Ipc nhieu, them nhieu, Muc dich eiia ehuan hda i n h I I l i m ndi trdi eic thdng tin can khai t h i c d I n h so T Md phdng mdlquan heglifa dophdn gidi vd chdtlHOng thi hiin cua dnh f nghia cda dp phan gidi lUioig, diiu khiin: Anh sd v i dp phan g i i i eua i n h sd rat cd;? nghTa ec kich thudc v i t the tU xa, nhu kich thudc t h i n g , khoing d c h , gdc, Dp p h l n g i l i c i n g ldn thi linh xic eila phfip cang ldn Vi du, mdt v | t thfi cd dd rdng l i 10cm Trfin i n h , ng dd dupc thfi hifin bdi a pixels Ta cd b l n g so sinh H Anh c6 nhieu vd iau loc nhieu H Anh gdc vd dnh sau chinh sang Automation Today / 7, 2 / b Trich chpn dac tinh l i q u i trinh t i c h elc die tinh d n quan t i m tU i n h sd sau dUpc chuin hda Thinh p h i n dupe trich ehpn dd dupe gpi I I vector die tinh Vector die tinh thudng p h i i dat dUpc yfiu elu sau: Vi xii ly ARM9TDM1 180 MHz VixiilyARM9E 200 • Cd kich thudc nhd hon r l t nhifiu so vdi i n h gdc ban dau DSP TMS320C6000 1.2 GHz • Mang h i u hfit thdng tin vi ddi tUpng c i n xfit Vdi tinh ehit trfin, cic vector die tinh sfi thay thfi cho ddl tuang cie b i i t o i n ludng, n h i n d^ng v i ti^ ddng hda Trong cic b i i t o i n xd 1^ I n h Ung dyng ludng, nhin dang v i tU ddng hda, cie cdng cu hd trp xd ly i n h sd thudng dung hifin l i MATLAB, OpenCV v i LabView D i y l i cic p h l n mfim cung elp cho ngudi sCf dung cie edng eu eung nhu cic thu vifin cO b i n cho vific xd ly, n h i n dang cic ddi tUpng tU hinh i n h dfi phuc vu cho cie mue dich ludng - difiu khifin tUddng 2.3 SU P H A T TRI£'N C U A C A C H £ T H N G P H A N COTNG, VI XlT LV oi xd ly i n h sd, eln p h l i thuc hifin cic thao t i c tinh t o i n phdc tap, cac edng thde r l t cdng kfinh Dfi dng dung dupc xU ly i n h sd edng nghifip, c i n thiet p h i i cd he thdng p h i n cUng d i p Ung dUpe vdi luong thdng tin rat Idn ma I n h sd thu nhin ve Vdi mdt i n h O.SMegaPixels, hfi thdng se xCr ly 300.000 g i i trj eho mdi i n h Vdi ludng video 30 khung hinh/giay, mdi frame la 0.3megapixels, moi gily hfi thdng p h i i xCf ly 300.000 x 30 = 9.000.000 diem i n h mdi giiy Do do, di Ung dung dupe xd ly anh sd ludng, difiu khien, c i n thifit p h i i cd sU p h i t tnen du manh eua eic he thdng vi xCf ly, he thdng truyfin dan dU lieu v i he thdng lUu trd ddlieu a Hi thong PC-VixCtly Trong cic he thdng Idn, PC dupe sCf dung l i m bd dieu khifin trung t i m thu t h i p xd ly anh sd va dUa quyfit djnh Vdi PC, ehung ta t i n dung dupe tdc dd xU ly cao, dn dinh, phu hop cho viec tinh t o i n vdi khdi lupng Idn, tich hpp giao dien v i kfit ndi vdi cac thiet bj va hfi thdng khic Trong cic he thdng nhd sU dung camera (robot, cac may cd kich thudc be, ), vifie dUa PC v i o l i mdt g i l i phap khdng phu hpp vdi thUc te vi PC k h i cdng kenh, va qua nhieu t i i nguyen tU PC khdng e l n dung dfin Vi v i y , ta e l n p h i i tao c i c hfi thdng vi xd ly nhd gpn, chuyfin dung de thay thfi eho PC Dieu dd ddi hdi eic ddng vi xCf ly p h i i ed tde dd r l t cao, he thdng bd nhd Idn, cdng s u i t tifiu thu be v l k h i n i n g thifit ke l i p r i p mach don g i i n Hien nay, vdi sp p h i t trifin eOa eic hp vi xd ly, DSP, FPGA, ehung ta d l cd the thiet ke cic he thdng nhung cd the sii dung cho xd ly i n h Cic ldi xd ly tdc dp cao thudng dung hifin I I : ARM (32bit), DSP (32bit), FPGA Vi xCf ly vdi tdc dp 180MHz giay ed thfi xd ly dupc 180.000.000 lenh v i cd thfi thda man dupe cie yfiu d u tinh t o i n phUc tap ciia xd ly i n h 30 Tu dong hoa / 7,2012 LOI XU Toe ly MHz # • DSI' IMS32(lVC5510A-200 400 MHz » b.Cdchith6nglinitrO Hi^n cic hfi thdng luu trU d i p h i t trifin r i t manh vi d^t dupe dUdc dung lupng r l t ldn Trfin thi trudng da xuai hi^n phd bifin elc d cUng cd dung lUpng tU hang trim C& tdi h i n g TB vdi mUc g i i rfi v i c h i t luong cao Vi viy, vi^ luu trd i n h sd d i khdng cdn l i v i n dfi hifin c Hi th6ng truydn dan Vdi hfi thdng camera IMP, thi lupng thdng tin rti camera truyfin di l i 3MB/s; vdi he thdng 2MP, li/ong thdng tin truyfin di l i 6MB/s Ta t h l y r i n g lupng thong tin I n h sd truyen t i i I I r l t Idn, dd e l n p h l i cd hfi tiling truyfin d i n phu hpp Hifin elc phuong phap truyfin d i n blng cip quang, qua mang Ethernet, dfiu da cho phep truyfin dat thflng tin I n h cd megapixel vdi khoing cich va tde dp ngiydiiKi dupe eli thifin 2.4 Sii ph