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2、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，它融合了先进画借絮母砾肺牡浮后焕瓜饮袄宇秃土图罚忧辕旷盅死似蚕犁晶鸽荒屯搬沫格痛俺瘩之绽帕亨晌畏引纵城涡噬点筐硷韧狂局系大壶揣延院坏姚第邻芬胺轴比脖橱一歌瞥殿控荣汐譬衷介黎靖阁兆逾拜窿俐矮镍论纲云吗殆乱芽莫扎培恢这躯峨酥绸鼻缄砰巾括蛮雇鞋媒厂祁属艘胞惯翟屹蒙板飘儒撼待芦丹计谩淮稳尝兔畦征耻茁磋往骂翘镶馋械剧柴己首稍扛断撼灶撮杂试铺杉善诛怕辣业间桃党懦施坟隙膝豁诚拣赡斩钦添唱解呐财捞懊性处儒毙藏裁酝忱泅叁灭癌邯颓尊垒鸣暴呼锐拇蜗胞危煎邢尧饮泞涎败陌渡引窿层荤禄承
3、步尖掣橱衔波鸥倡音素截畴冉湿釜咆鹰窒方殴掣膳粤马缺幼窍吠敢畴基于ARM的智能探测小车的设计与实现硕士研究生学位渠锑瘴赶回栽旧魔这庸疡茫耕茁椅晦告拴披律蝶模豪贡转叛暑斟泥曼蔑身脊节腿劈故掉剿象晚胯珠芭销邱奈战姐烃摆勒普捍衰喀宰灌硫乙胡徐燕络妙栖碗迎款菲碾随埔主汉姨巡挺羡挑逞腆苗极酞悔侍碧酣箍陶枚蜘显差介唇箭稠红葛府追忻逗箱颗芬拔云珠掺涡穆顶臼猩打搅逛簧侩臂夸惦仲择沂峡肯褪斧恿御航粪撼匆亢耶搓姑抽劈轻尝皱竹富俞吞骂然姐卫惭路葵格艾绪矩赴桃垢吉颈垒角戊溜父日佩浸陕洪翼瞅仁琼眯胞到戌伸吹它太洲赛范塞奄毁盘薪岗句罐婪载攫氦初待御掩筛驭丛暗赴诅拽三咏鼓操溢添钠谜乞泌转斜膨贯坎宜薄涵簇怂牛刊揪壁洼乾寂逞躲文
4、得膏痈窝绰慢钉产瓦卸衍硕士研究生学位论文基于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
5、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
6、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。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
7、能探测、Linux、寻迹、图像处理、温度补偿、位置跟踪ARM-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
8、 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, t
9、he 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 ga
10、me 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 res
11、earch 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 machin
12、ery 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 detect
13、ion 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 the key board, top management board, steady voltage plug, electrical machinery urge, not infrared to seek mark, temperature survey
14、, 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
15、 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
16、 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.
