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1、分类号 密 级 U D C 编 号 硕 士 学 位 论 文题目 基于嵌入式的机器人视觉伺服寻迹系统研究 （英文）The Research of Robot Vision Servoing Tracking System Based on Embedded System 研 究 生 姓 名: 指导教师姓名、职务: 高工 申 请 学 位 门 类: 工学硕士 学 科、专 业: 机械电子工程 提 交 论 文 日 期: 论 文 答 辩 日 期: lw摘 要机器视觉和嵌入式系统是机器人领域研究的热点。随着计算机技术的发展，机器视觉在工农业生产和国防等领域已得到成功的应用。根据运行环境的不同，机器视觉系统可
2、分为PC-BASED 系统和 PLC-BASED 系统。由于这两种系统成本都相对较高、软硬件系统相对复杂、体积相对较大，因此，在应用中受到一定的限制。与此同时，面向基于32位单片机的嵌入式系统以其体积小，价格适中，运用灵活等优点在各领域得到广泛的应用。因此，如果能将机器视觉建立在嵌入式系统平台上，将极大地拓展机器视觉的应用范围，这就是本文研究的目的。机器人的智能控制是机器视觉的典型应用，我校参加全国大学生机器人电视大赛的实际需要是本课题的直接来源。本课题是嵌入式系统与机器视觉的交叉选题，试图将机器视觉和嵌入式系统综合用于竞赛机器人的运动控制。为此构建了一个嵌入式机器人视觉伺服寻迹系统的平台，完
3、成了相关的硬件和软件设计及制作，设计制作的试验平台能够动态的获取、处理和分析视频图像数据，将分析结果反馈于机器人本体驱动电机，实现机器人本体的自主动态寻迹，且其误差精度能得到很好的保证。本论文主要围绕以下五个部分进行阐述：(1)在论述嵌入式系统，机器视觉的特点与应用领域，发展历程趋势，以及与机器人技术关联基础上，引出本论文的背景、意义和主要研究内容。(2)详细介绍设计的伺服系统的硬件组成，阐述有关核心部件如内控控制器和内存布局原理及其规划设计，NandFlash控制器原理及其规划设计，视频采集模块设计和电机驱动模块的设计。(3)从嵌入式系统软件组成，即操作系统，支撑软件，应用软件三个方面进行展
4、开就软件设计过程与实现给与详细的阐述，主要包括基于NandFlash的Bootloader设计，视频采集模块驱动和电机驱动程序编写，C/OS-II与CGUI整合与移植，任务优先级划定，界面窗口编写等。(4)改进和提出两种基于灰度一维投影匹配的偏移量检测算法，并给出相应的MatLab仿真结果，对设计的轮式机器人本体试验平台的构成进行了简单的描述，并就两种算法在平台上的试验结果给予详细的讨论；(5)对所做的研究工作进行了总结，对进课题不足及进一步的研究提出了展望。关键词:嵌入式系统 机器视觉 视觉寻迹 机器人 ABSTRACTMachine vision and embedded system a
5、re both the research hotspots in robot research area. With the development of computer technology, machine vision has been successful applied in many areas, such as industry and national defence and so on. Basing on environment variety, robot vision system is classified as PC-BASED system and PLC-BA
6、SED system, which is both limited in application because of high fees, complexity and large volume. Meanwhile, embedded system based on 32bit MCU is gradually popular because of the low volume, medium fees and flexity and so on. Then if there is a robot vision system based on embedded system, the ap
7、plied range of robot vision will be greatly improved. Its also the research purpose of this paper. The intelligent control of robot is typical application of robot vision, the actual demand for taking part in the China University Robocon sponsored by CCTV is direct source of the research project.The
8、 research is chosen basing on embedded system and robot machine, the combination of machine and embedded system is attempted to used to controlling contest robot, embedded robot vision servoing platform is designed and both relative hardware and software is realized. Experiment reveals that the plat
9、form can dynamically acquire, process and analysis visual image, then the result of analysis is feed back to the motors that drive the robot to realize automatic dynamic tracking,meanwhile trackings precision is very well.The paper is detailed in five sections as follow. Section I presents the appli
10、cable field, development history and relationship with robot technology of embedded system and machine vision, and then papers background, significance and mainly content is introduced. Section II details the component designing of vision servoing system, and the design of the memory control map and
11、 nandflash map of core board is described, meanwhile introduces hardware design of vision collecting modules and motor drivers. Sections III states the procedure of system development and realization of servoing system in aspects as following that is operating system software, support software, and
12、application software, mainly including the design of boot loader basing on NandFlash, the programming of vision collecting function and the programming of motor driver function, the porting of CGUI combing with C/OS-II, the classification of the priority of tasks designed and graphic user interface
13、programming. Section IV proposes two methods of vision tracking based on template match algorithm using one dimensional gray projection, and simulation of them is deals with by Matlab7.0, and describes the component of designed experiment platform, on which the experiment result of the two algorithm
14、s based is in details. Section last concludes all job in this paper and presents some faults and improvement aspects of the vision servoing platform designed. Keywords: Embedded system; Robot vision; Vision tracking; Robot 第一章 绪 论11.1 引言11.2嵌入式系统概述11.2.1 嵌入式系统特点与应用领域11.2.2 嵌入式系统发展历程与趋势31.2.3 嵌入式系统与机器人技术41.3 机器视觉概述51.3.1 机器视觉系统构成与应用领域51.3.2 机器视觉发展历程与趋势71.3.3 机器视觉与机器人技术81.4 课题的提出与意义91.5 全文的内容与结构10第二章 系统硬件设计122.1 系统总体结构122.2 系统核心模块132.2.1 核心板功能模块132.2.2 内存控制器142.2.3 Nand Flash控制器152.3 视频数据采集模块182.3.1 视频采集卡原理及与SBC-2410连接182.3.2 视频采集卡寄存器寻址202.4 电机驱动模块202.5 电源模块222.6 本章小结22第三章 系统软件设计24
