Embedded Robot Vision System Research Based On DSP

Robotic vision can increase high-tech ingredient and improve the diction precision of robot. It is an important issue in industrial automation and has drawn particular attentions. Also, it is of a great importance in the area of national defense and space flight, tick automatic track and identification of mobile target, navigation for self-governing tank, automatic landing for cabin of lunar module, and vision control of space robot.The text aims at the issue of intelligent robot based on mechanical vision, a solution for robotic vision based on DSP has been proposed, compared with the traditional method of image acquisition card-PC-terminal control unit model, this system shows the advantages of small volume, low cost, low power dissipation, strong real-time performance. Introduced the main performance of the core processor TMS320C6713 and gave a detailed description for the system hardware structure, including the interface between DSP and video decoder, image data cache, SDRAM, Flash. The software of the image acquisition and process system has been given. Introduced the related image process algorithms and provided the results of the image process. Optimized the system software, the main methods include decreasing CPU loading by QDMA, software pipelining, programming key codes by assembly language. Improved the speed of image process, solved the problem of the real-time property for the system. In the end, introduced the CAN bus communication module, including the introduce of the CAN bus communication protocol and the hardware and software of the system.