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重庆大学本科学生毕业设计(论文)探测机器人视觉随动系统的软件设计学生:xx学号:xx指导教师:xx专业:xx重庆大学自动化学院二OO八年六月GraduationDesign(Thesis)ofChongqingUniversityTheSoftwareDesignofDynamicSystemofDetectionRobotUndergraduate:XiaXiaodongSupervisor:Assit-Prof.XieZhaoliMajor:AutomationCollegeofAutomationChongqingUniversityJune2008重庆大学本科学生毕业设计(论文)中文摘要I摘要目前机器人越来越多的应用于非制造业,与制造业相比,其主要特点是工作环境的非结构化和不确定性,这对机器人提出了更高的要求,需要机器人具备行走功能、对外感知能力以及局部的自主规划能力等。因此,对探测移动机器人的研究正成为一个重要的热点。探测移动机器人能够按照存储在其内部的地图信息,或根据外部环境所提供的一些引导信号(即通过对环境的实时探测所获得的信息)规划出一条路径,在没有人工干预的情况下完成目标任务。针对以上特点,本文设计了探测机器人的视觉随动机构,并基于DSP对视觉随动系统进行了软件设计。前期工作中,主要进行器件选型、分析、选购工作,包括CCD传感器、DSP、U形架和伺服马达。以此为基础,设计出探测机器人的视觉随动机构。CCD器件的灵敏度很高,光谱敏感波段也很宽,把光学图像转换成电信号输出,经图象采集卡处理得到数字视频信号,DSP控制器对其进行运算、处理,产生相应PWM波,对伺服马达进行控制,带动视觉机构的旋转。通过软件设计,实现视觉系统的随动控制。最后,通过系统调试,改进了一系列的问题,实现了对视觉传感器的很好的随动控制。关键词:探测机器人,视觉随动系统,DSP,伺服马达,软件设计重庆大学本科学生毕业设计(论文)ABSTRACTIIABSTRACTCurrentlythereisanincreasingnumberofrobotsusedinnon-manufacturingsector.Comparedtothemanufacturingsector,itsmainfeatureistheunstructuredworkenvironmentanduncertainty.Thisputforwardhigherrequirementsonrobots.so,Robotsneedtohavethewalkingfunction,theexternalperceptionandtheabilityoflocalautonomy,suchasplanningcapacity.Therefore,thedetectionofmobilerobotisbecomingamajorhotspots.Themobile-detectrobotisabletoPlanawayaccordingtothemapinformationstoredinitselforbasedontheexternalenvironmentprovidedbysomeguidancesignalsandcompletetasksintheabsenceofinterventionofhunmanbeings.Fortheabovecharacteristics,thispaperwilldesignthevisualdynamicexplorationofrobot,andtheDSP-basedvisualservocontrolofthesoftwaredesign.ThePreparatoryworkismainlyfordeviceselection,analysis,purchasing,includingCCDsensors,DSP,U-shapedframeandservomotors.Onthisbasis,designedtodetecttherobotwiththedynamicvisualbody.thedeviceofCCDhashighsensitivity,thespectrumisalsosensitivetoawide-band.changeTheopticalimageelectricalsignalsoutput.thoughtheprocessingoftheimageacquisitioncard,digitalvideosignal,DSPcontrollerprocessandoperateonittoproducePWMwave.Theservomotorcontrolleadtherotationofvisualbodyrealizethedynamiccontrolofthevisionsystem.Finally,thesystemdebugandimproveaseriesofissueandtherealizationofthevisionsensorwithagooddynamiccontrol.Keywords:Detectingrobot,Withvisionsystem,DSP,ServoMotors,Thesoftwaredesign重庆大学本科学生毕业设计(论文)目录III目录中文摘要...................................................................................................ⅠABSTRACT..............................................................................................Ⅱ1绪论.........................................................................................................11.2国内外研究现状.......................................................................................11.3课题的目的和意义....................................................................................21.4课题的研究内容.......................................................................................21.5本章小节................................................................................................32视觉随动系统简介................................................................................42.1视觉机构................................................................................................42.1.1摄像机..............................................................................................42.1.2视频输入处理器SAA7111.....................................................................52.2随动机构................................................................................................82.3DSP简介...............................................................................................102.4本章小结...............................................................................................113视觉随动系统的软件设计...................................................................133.1编程环境CCS2000...................................................................................133.2伺服马达控制原理...................................................................................143.3视觉随动系统控制原理.............................................................................163.4软件设计流程图......................................................................................163.4.1主程序流程图....................................................................................163.4.2SAA7111初始化流程图.......................................................................193.4.3PWM产生流程图及子程序...................................................................193.5本章小结...............................................................................................204系统调试...............................................................................................215结论.....................................................................................................226致谢.......................................................................................................23参考文献...................................................................................................24重庆大学本科学生毕业设计(论文)1绪论11绪论1.1引言众所周知,恶劣环境下的人工作业是很危险的,比如:煤矿井下容易发生塌方、透水等事故,管道的检测维修难度极
本文标题:重庆大学本科毕业论文范文解析
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