I硕士专业学位论文论文题目 基于 ARM 的智能探测小车的设计与实现研究生姓名指导教师姓名专业名称研究方向论文提交日期基于 ARM 的智能探测小车的设计与实现 中文摘要I基于 ARM 的智能探测小车的设计与实现中文摘要随着国人在嫦娥工程的初步成功和逐步深入，月球探测器的设计一直吸引着众多科学工作者的关注智能探测小车属于机器人的范畴，它融合了先进的嵌入式技术、传感器技术、电子电气、路径规划、人工智能和自动控制等技术机器人车应用领域广泛，包括自动驾驶、反恐、核电站维护、未知区域探测、无人工程产品运输等等，机器人控制技术的发展必将对人们的生产和生活产生深远影响课题旨在设计一款具有良好可扩展性，模块化的教育型智能探测小车控制平台，使其既能够满足大专院校学生开展机器人比赛的要求，同时又能成为嵌入式课程开发和项目研究的平台本文以 ARM9 处理器和 Linux 操作系统为基础构建了智能探测小车控制平台的软硬件系统本文通过分析国内外机器人的研究现状，设计实现了一种低功耗、高性能嵌入式微处理器和嵌入式操作系统相结合的智能探测小车控制系统智能探测小车包括视嵌入式核心模块、主控模块、电机驱动模块、红外寻迹模块、测温模块、摄像头模块、无线通信模块等。
具体内容如下：阐述了智能探测小车的应用价值和研究意义，并详细的描述了智能探测小车的体系结构概述了基于 ARM 的智能探测小车控制系统结构设计了基于 ARM 的智能探测小车控制系统的硬件平台对核心板、主控板、稳压电源、电机驱动、红外寻迹、温度测量、串口通讯、LED 和蜂鸣器以及其他扩展接口等硬件电路分别给出了详尽的设计方案依据 PCB 设计的原则、抗干扰措施，自行设计了印刷电路板(PCB)设计了基于 ARM 的机器人小车控制系统的软件平台先将 Linux 操作系统的启动代码、内核和文件系统移植到 S3C2440A 上在 Linux 系统中编写相应的设备和接口驱动程序，编写了控制系统主程序群、图像采集程序群和温度测试程序等应用程序中文摘要 基于 ARM 的智能探测小车的设计与实现II设计了上位机监控软件、相关通信协议和数据传送格式论述了红外寻迹处理中的 PD 变尺度增量控制算法，图像处理中的灰度二值化算法以及温度测试中的环境温度补偿等问题的解决策略测试结果表明，在该控制系统下，智能探测小车具有良好的位置跟踪和图像采集处理性能关键词：ARM、智能探测、Linux、寻迹、图像处理、温度补偿、位置跟踪作 者：王 栋指导教师：陈 蕾ARM-based intelligent detection of car design and implementation AbstractIIIARM-based intelligent detection of car design and implementationAbstractWith our initial success in the goddess of the project and gradually, the design of the lunar probes has been drawing large number of scientific workers. Intelligent detection of the car belongs to the category of the robot, the embedded space technology and advanced technology, electrical sensor, the path planning, Artificial intelligence and automatic control and technology. Car in the area of robotics applications, including autopilot and nuclear terrorism, maintenance, the area is detected, the transport and control products, robot development of the people will in the production and life has profound implications.Project aims to design a good scalable, modular intelligent exploration of education car control platform. it is able to meet the tertiary students to carry out a robot the game demands, and became embedded curriculum development and research on the platform. In this paper, ARM9 processor and the Linux operating system for the car was constructed by intelligent control software and hardware detection system.This paper analyzes the status of domestic and international research robot designed and implemented a low-power, high-performance embedded microprocessors and embedded operating system combines intelligent detection of car control system.Visit Intelligent detection of the car including looking at the embedded key module, top management module, electrical machinery urge module, infrared to seek mark module, examine warm module, lens module, wireless communication module,etc..The concrete content is as follows:Describes the application of intelligent detection of car value and significance, and a detailed description of the architecture of intelligent detection of car. Overview of ARM-based intelligent detection of car control system structure.ARM-based design of probe car control system of intelligent hardware platform. To Abstract ARM-based intelligent detection of car design and implementationIVthe key board, top management board, steady voltage plug, electrical machinery urge, not infrared to seek mark, temperature survey, bunches of mouthfuls of communication, LED and buzzer and other expansion interface,etc. circuit of hardware provide the exhaustive design plan respectively. The principle designed according to PCB, anti-interference measure, have designed the printed circuit board (PCB) by oneself.ARM-based robot designed car control system software platform. Start Linux operating system code, kernel, file system transplant S3C2440A to first. Write the corresponding apparatus and interface driver in Linux system, gather procedure group and temperature and test application program such as the procedure after writing main program group of control system, picture.Design, go location plane control software, relevant communication protocol and data transmission form. Expound the fact infrared to seek mark PD deal with, turn into yardstick increment control algorithms, settlement tactics in problems such as the environmental temperature compensation in two value algorithms and temperature of grey level in pattern process are tested,etc.. Test result indicate, under control system this, Intelligent detection of the car have good position follow with the picture gathering the performance of punishing.Keywords：ARM, Intelligent detection, Linux, Seeking the mark, Pattern process, Temperature Compensation, Position to follow Written by WANG DongSupervised by CHEN Lei目 录第一章 绪论 ........................................................................................................................11.1 引言 ..............................................................................................................................11.2 选题依据及研究意义 ...................................。