A Design Of Vision System Based On Service Robot

As the intelligent robotics system, in which many subject theories and technologies are involved, it embodies the highest meaning automotive today. With the development of economics and science, the application of robotics has become more and more broadly. Many kinds of robots applied in different fields have been shown in front of people, Robots with specific functions began to walk into human's lives. In the intelligent robot system, the vision system plays a very important role that is independently relied to get the most of external information. In this paper, a vision system has been primary designed according to a certain intelligent robot. In order to realize the design, the firmware and software of vision system have been constructed. Main works listed below have been finished in the paper.In firmware, all the circuits of the system have been designed, and become PCB to be debugged:(1) Adopt a CMOS image sensor to get the external information, use the color sensor, FIFO memory and the CPLD logic control to realize a typical image acquisition system.(2) Adopt DSP tms320vc5509a to be the image processing and CPU. Use the DSP, extended memory SDRAM and the boot load flash chip, realize a image processing and CPU system.(3) Adopt a TFT LCD to directly display the external information and the result of the vision tracing. A power circuit has been designed for LCD.(4) All the circuits of the system have been designed, and all the circuits have been fabricated to PCB, assembled all PCB and debug them successfully.In software:(1) Adopt threshold value to do the color recognition, and simultaneously use the seed-filling to do the image segregation.(2) Adopt a vision tracing system without marking. Apply the timely image Jacobian matrix to do the self-adaptive control. Utilize the feedback of 2-D image...