开源低成本虚拟激光键盘

虚拟键盘第二代已经推出,点击此处了解

简介

使用激光将一个虚拟的键盘投射在桌面上并能正常使用是非常Cool的事情。不过现成的产品相对还比较贵。

这里我们很荣幸向大家介绍由我们团队成员设计的开源低成本的虚拟激光键盘方案! 通过本方案,您也可制作出自己的虚拟激光键盘来:)

我们的开源版本支持多搭10个按键的键盘事件输入,支持组合键和输入法。可以与一个标准键盘外设那样在Windows和MacOS下面工作。


此外,它也可以作为一个多点触摸板来使用,并能感知手指的“压力”:


演示视频

http://v.youku.com/v_show/id_XMzIwMDc1Mjgw.html

工作原理

低成本激光投射虚拟键盘的设计制作-上(原理和硬件)

http://www.csksoft.net/blog/post/lowcost.laserkbd_part1.html

低成本激光投射虚拟键盘的设计制作-下(算法与实现)

http://www.csksoft.net/blog/post/lowcost.laserkbd_part2.html

我们的设计基于了PC机上进行的计算机视觉来处理按键事件。采用了一个由摄像头和激光器组成的测距系统工作。

本设计所需要的硬件非常简单,只需要3个核心部件即可实现:一个摄像头、一个激光器以及投射键盘图案的投射激光。这也是正是低成本的奥秘所在了。

当用户在桌上“按下”一个虚拟的按键后,手指上反射的激光信号会被摄像头捕捉。随后安装在PC/Mac上的信号处理软件就会进行最核心的工作:通过反射的激光光斑定位用户的指尖位置,并求出对应的按键:

如何制造一台?

最简单省力的办法是购买套件自己组装。目前 DFRobot 正帮助我们进行这类DIY套件的生产和销售。该套件中包含了所有所需的元件,并且我们也为它设计了一个详细的教程来指导你进行组装调试。

期待属于您自己的激光键盘制作诞生:)

套件链接:

http://www.dfrobot.com.cn/index.php?route=product/product&product_id=759

配套的使用文档:

配套的信号处理软件:

源代码:

代码许可:

在不做特殊说明前提下,这里给出的代码均使用LGPL授权。

Git Repos:

https://github.com/robopeak/laserkbd

注意:我们对提供的代码质量不做出任何保证,Play at your own risk. 😛

如何编译源代码?

参考这篇教程

Open Source Laser Projection Keyboard

NEW! The Laser Keyboard Kit II now available, click here for details.

Introduction

The idea of projecting a virtual keyboard using a laser is very cool. But currently the existing product is a little bit expensive.

Here, we introduce our opensource and low-cost laser keyboard design! Now you can DIY your own laser projection keyboard 🙂

Our design supports mutiple key inputs (up to 10 keys) and works just like a normal keyboard on Windows and MacOS.


Besides, it can also be used as a multi-touch sketch pad:


Demo Video

Please watch the following video to see how it works:)
http://vimeo.com/65279983

Mechanism

Currently the detailed version is written in Chinese, they will be translated to English soon.

Click the following links if you want to try the Google Translated version:

The Design and Implementation of a low cost laser projection keyboard, PART I

http://www.csksoft.net/blog/post/lowcost.laserkbd_part1.html (Google Translated here)

The Design and Implementation of a low cost laser projection keyboard, PART II

http://www.csksoft.net/blog/post/lowcost.laserkbd_part2.html (Google Translated here)

——

Our laser projection keyboard relies on Computer Vision processing algoritms to work. A  camera-laser system is used to perform distance measuring tasks.

The keyboard hardware is very simple, only three parts are required: one camera, one laser to project the keyboard pattern and a line laser for key input detection. That’s the secret of low cost. 🙂

When a user presses a “virtual key”, the reflected laser light will be captured by the camera. And a signal processing software installed on the PC/Mac performs all the critical jobs: recognizing the user’s finger top, perform distance measurement and mapping the position of the user finger top to the related key value.

How to build one?

The easiest way is to order a DIY kit. Currently DFRobot is helping us to provide the DIY kit of our low cost laser keyboard design. The kit includes all the stuffs you will need to build a laser projection keyboard.  Also it will provide you a detailed guide to help you during the assembly process.

We are looking forward to see your own version of the laser keyboard:)

Product Link:

http://www.dfrobot.com/index.php?route=product/product&product_id=931

Related Documents:

Signal Processing Software:

The Source Code:

License Issue:

All the source code is licensed under LGPL by default.

Git Repos:

https://github.com/robopeak/laserkbd

NOTICE: no warranty for the sourcecode and the related software.

How to build from the source code?

Please refer to this article.

RP-LIDAR: Low Cost 5hz 360 deg LIDAR

We are proud to announce our 5hz 360degree 2d Laser Scanner (LIDAR): RPLIDAR.

LIDAR is one of the ideal sensor to perform robot indoor localization (such as the SLAM algorithm). Also, LIDAR can be used to implement 3D scene scan and modeling. But currently the existing product is very expensive (>$2000 USD). The high cost of the current products prevents LIDAR to be applied in the daily home usage and it is hard for a robotic hobbyist to afford one.

Figure: An indoor map created by LIDAR based SLAM (from the book: Probabilistic Robotics)

RPLIDAR is built by low cost design, the price of the final product will be much lower than the existing products. The ranger system is based on triangualtion, it provides precise measurement (refer to the following spec for details). Thanks to the high speed vision system designed by RoboPeak, RPLIDAR only costs 0.4 millisecond to perform a single measure. The high speed sampling rate enables RPLIDAR to have a 5.5hz scan rate with 360 sample points in each cycle. The performance should be good enough for indoor robotic SLAM.

Sample Images & Videos

Engineer Sample:

Scan Result:

Scan Video:

Key Specifications

NOTE: As our design is changing, the following specifications are subjected to be changed without further notice. Please refer to the datasheet attached with the final product.

How to get one?

We have just finished several the engineer samples, a massive production will be scheduled. We are looking for factorys to cooperate with us in the massive production stage.

How to contact us?

Please email to support <AT> robopeak.com

RP-LIDAR: 5hz 360度二维激光雷达

很荣幸向大家介绍由RoboPeak团队研制的5hz 360度二维激光雷达:Rplidar。

激光雷达是目前进行机器人室内定位(如SLAM等算法)的最佳传感器,同时也可用于3D场景扫描、安全保障、障碍规避等用途。但以往激光雷达产品的均达到万元级别,售价不菲,阻碍了它在家用市场以及爱好者中的普及。

图:基于激光雷达进行的SLAM定位算法产生的地图(图片摘录自:Probabilistic Robotics一书)

RPLIDAR采用了低成本的设计工艺,大幅度的降低了激光雷达的制造成本。并且使用三角测距技术,可以实现6米内的精确测距(具体规格见后文),同时配合我们团队研发的高速视觉处理系统,RPLIDAR每次测距仅需0.4ms,从而实现了5hz 360点/周 的扫描频率,可以在室内轮式机器人中工作出色,足以胜任SLAM等算法的要求。 我们期待RPLIDAR可以改善目前激光雷达难以在民用市场和爱好者中的普及问题。

RPLIDAR扫描结果样本

样机照片:


扫描结果图:


RPLIDAR扫描视频:

核心规格指标

注:因样机性能在不断调整当中,具体的性能指标以最终分发的产品数据手册为准。这里列出的规格指标仅供参考使用。我们对今后的性能规格变动将不在此另行通知。

接口情况:

测距原理:

额外信息/如何获取?

目前我们完成了样机的试产和性能验收,接下来将进行量产尝试。我们欢迎有能力的厂家与我们联系合作量产事宜。具体细节请联系我们。

联系方式(email):support <AT> robopeak.com

RoboPeak Mini型机器人将在新车间做演示和介绍

RoboPeak Mini (RPMini)机器人是我们团队开发的小型化机器人开发/应用平台。虽然去年的各类展会中我们都做过它的展示,不过还没有系统地对外进行介绍。

为此,RPmini将在2013.3.13日(周三)晚在上海新车间做现场演示,并且我们将围绕它向大家分享其中的制作经验,并首次披露其开发过程的细节信息。欢迎捧场,感谢新车间提供的机会:-)

RPmini配备了多种传感器,诸如陀螺仪、加速计、电子罗盘、超声波测距仪等,并且采用72Mhz主频的32位ARM处理器。使用者可以使用蓝牙无线与RPmini进行控制并且进行远程编程。

同时RPmini内置了Dead Reckon、带有Kalman filter的Heading估算等算法,大幅度简化了使用者的门槛,无需为细节算法操心。

RPmini可以通过PC、Android、iOS设备进行人工遥控以及编程控制,并且含有配套SDK。
移动设备控制终端截图

另外我们还为RPmini设计了基于视觉定位的全局导航扩展,以及采用WIFI的远程视频传输能力。

一些视频与照片:

2012年北京创客嘉年华的宣传视频:

星盘视觉定位系统:

第一人称视频遥控扩展:

无额外标记的视觉定位:

自然魔方-2011上海国际科学艺术展RoboPeak参展作品

在本届上海国际科学与艺术展(http://www.science-art.com.cn/article.php?id=7162)上,我们团队很荣幸参与其中,参展作品为-《自然魔方》。

展览时间为5.13至5.23,展览位于浦东展览馆,免费开放。我们展位在4楼A厅,欢迎大家前去参观和体验🙂

——————

现场视频:http://www.tudou.com/programs/view/sQhnXxlNPBw/

作品简介

立体魔方Qube是RoboPeak团队对于物联网在家庭使用以及智能玩具领域的前瞻性探索,每个魔方都配备各种传感器,不断得采集外界信息,并通过无线芯片将信息与其他的魔方进行分享和交流。这是一个充满智能化物件的环境。可以说,物与物、人与物之间都是紧密相连着。

现场人与魔方的互动

绚丽多彩的魔方

我们的展位

技术介绍:

本作品是我们对2.4Ghz传感器网络以及创意电子的一次应用尝试,采用AVR+RoboPeak开发的ArduinoLite实现。我们将会在今后发布关于自然魔方的更多细节。

Arduino-Lite Development Reference Manual

(中文版请点击这里)

Please refer to the following documents for the introduction and usage of Arduino-Lite:

Arduino-Lite keeps most interfaces provided by Arduino. For the reference manual of these interfaces, please refer to the Doc on Arduino Official website: http://arduino.cc/en/Reference/HomePage

Besides, you can use all the functions provided by avr-gcc, e.g. _delay_ms() (make sure to include related head files).

Index:

Functions/Macros added by Arduino-Lite

Basic IO

PWM output & control

Analog Signal Capturing(ADC)

Sleep & Delay

Interrupt handling & Control

Serial Port Communication

Debugging support

Text Formatting

Continue reading Arduino-Lite Development Reference Manual

RoboPeak USB Connector – 免驱动USB的AVR/51 ISP编程器

English Version will be ready soon, you may refer to the project website for details first:

http://code.google.com/p/rp-usb-connector/

这里我们很荣幸向大家分享RoboPeak团队开发并使用的免驱动USB的AVR/51 ISP编程器: RoboPeak USB Connector。他的硬件和固件设计已经完全开源,配合Arduino-Lite使用会有很多便利,希望能对各位AVR/Arduino开发者和爱好者有所帮助。

项目主页:http://code.google.com/p/rp-usb-connector/

仅使用单个Atmega88芯片制作,采用USB-HID协议,无需任何驱动可以运行在Windows任意版本(包括64位版本)、Linux、MacOS。相比USBasp编程器(目前尚未良好支持Vista和Windows7),他的优势是显而易见的。

Continue reading RoboPeak USB Connector – 免驱动USB的AVR/51 ISP编程器

Arduino-Lite开发参考文档

(Click here for the English Version)

关于Arduino-Lite的相关介绍和使用,请参考:

Arduino-Lite保留了Arduino固件库中的大部分接口,这些接口可以参考Arduino的文档:http://arduino.cc/en/Reference/HomePage
另外,任何avr-gcc提供的函数,例如_delay_ms()都可以在Arduino-Lite中使用(需要引用相关头文件)。

快速入口:

Arduino-Lite新增函数/宏

基本IO引脚控制

PWM输出控制

模拟量采集(ADC)

睡眠和延迟

中断处理和管理

串口通讯

调试功能

文本格式化

Continue reading Arduino-Lite开发参考文档