Research And Design Of Ssl Vision System Based On Fpga

The RoboCup is an international robot soccer competition, which encourages the study of artificial intelligence and related fields. The soccer robot vision system as the main perception equipment, its performance is good or bad performance of the robot to play a decisive role to play.With the growing role of machine vision significantly, people are more and more in-depth study of image processing. As a small team league of soccer robot vision system for recognition accuracy, real-time, as well as the adaptability of on-site environmental requirements, making it a good platform for machine vision research.The purpose of this project is to develop one for the Hubei University of Technology team of soccer robots using a working prototype of the visual system. Because the existing small group of soccer robot vision system is usually using computer processing image.when computer to conduct collection of the image data, it processes various algorithms to image, image processing required for computing a large number of takes up CPU resources and time, thus affecting the recognition of real-time response.And because soccer robot rapid movement and intense confrontation, require video capture frequency of 30 frames/s, which must be completed within 16ms of visual information processing, communication, action planning and a series of tasks to form the next cycle race strategy, which the real-time visual system put forward higher requirements for some time a high complexity algorithm and CPU-time is very difficult to direct performce.Therefore, this article proposed FPGA-based vision system. In this paper, as a platform FPGA, using VHDL language was designed and implemented an algorithm based on the YCbCr color space. The system not only meets the real-time vision system, stability and accuracy of demand, but also provide flexibility for the system may be based on the need configure logic functions meeting the demand within the system. Moreover, FPGA-based vision system has significantly reduced the size of the visual system, but also contribute to system stability, carry and debugging.At last,we test the vision system by RoboCup small team league.Experiments show that the feasibility of soccer robot vision system satisfies the request of real-time, precision, flexibility and stability.It has a bright future in application prospects.