On Vision System Of Bio-mimetic Robotic Fish Based On Embedded System

Bio-mimetic robotic fish perceives outside world mainly through vision, infrared or other sensors. Especially, with lots of environmental information, vision system have a high efficient and stable as an indispensable part and an important prerequisite for completing the task of tracking. Combined the embedded system with computer vision, the software and hardware of robotic fish vision system are designed in this paper. A thorough study on vision location algorithm of bio-mimetic robotic fish combination is fully discussed in characteristic of the embedded system.Firstly, the background of the research on bio-mimetic robotic fish is introduced. Then the bio-mimetic robotic fish vision system and the main results of this paper are given.Secondly, the main tasks and goals of bio-mimetic robotic fish vision system are summarized, and the hardware design of bio-mimetic robotic fish vision system based on ARM926EJ-S CPU core is presented. The software of the vision system is divided into four layers as guide layer, system layer, support layer and application layer. A bio-mimetic robotic fish vision location algorithm on the bases of embedded systems is put forward. Otsu adaptive threshold segmentation method has been studied in the following. According to the goal missing problem, an adaptive threshold segmentation method based on the target gray centroid in effective previous frame is put forward.Thirdly, a relatively simple camera calibration method on the bases of chessboard is used to achieve the bio-mimetic robotic fish camera calibration, and in accordance with the swimming mechanism of bio-mimetic robotic fish, a method is given initially to correct the bio-mimetic robotic fish head swing. The realization process of robotic vision system on the embedded platform is given, Intel's OpenCV is transplanted into the embedded platform based on ARM9 creatively, which is used to guide the location of the goal. Then U-boot, embedded linux, application programs are compiled by cross-compiler and transplanted.Finally, the contribution of the article is summarized, and the future work is pointed out.