Image Processing And Servo Control Integrated System Design

Nowadays, getting visual information as a feed back is an effective way for closed-loop control, witch has got an important science value and an abroad application future As one of the important ways to get information form outside world,vision has been the necessary condition for intelligent control.Visual servo system based on automatic target recognition and tracking is the hotspot in this field,which is important for the search,development and application of intelligent robot control and infrared missile.Our country has been dropped behind a little.The search of intelligent robot controlled by vision is just on the launch and the ability of precision striking,anti-jamming and intelligent control is all dragged behind American,Russia etc.However,the computer science and information technology is developing rapidly in our country recently,and this give us an opportunity to catch up.This thesis has analyzed the recent situation of the robot visual servo system,infrared imaging missile and the correlative arithmetic and raised such questions as following:1.Because of the interference from background,the effect of simple arithmetic is not satisfied.For improving the adaptability and intelligent,complex arithmetic or even a large arithmetic base is necessary.But now,the ratio of operation resource is a little low,witch causes the difficulty for processing when in the complex environment.2. The existing realization lacks of Soc design and is not suitable for the application that has strict limits in function, cost,volume,power consume etc.3.The existing systems are lack of universal hardware and this shortcoming will cause a lot of changes when the system is modified for another use.4.There is a problem for single core DSP that when to call jump instruct frequently,the efficiency of system will drop.So aiming at these problems,this thesis researched the integrated system of image process and servocontrol.Then it raised a design,whose hardware is simple and software structure is flexible.This design is universal enough so as to be used in robot control,automatic weld,automatic recognition,infrared missile etc. The research work contained as follows:1. Give an introduction of the correlative arithmetic of automatic target recognition and tracking,which focus on the Kalman filter,threshold method etc. And then,make a compare and analysis on these arithmetic in the aspects of realization condition and difficult,wich is the theory basis of the practice use.2. Based on the research of the automatic target recognize and tracking,quantilisly analyzed the existing systems.After comparison and analysis, a design based on the high integrated double core DSP was raised.In the thesis,the detail design about video port, program RAM,data RAM,PCB board,clock and mode was given.3. Design the software structure based on blocking and ASOS concept.Aiming at the differences in the processing ability of ARM and DSP, a task-distribute mechanism designed for double core DSP was raised in order to improve the ratio of the operating resource At the stone time, the thesis discussed how to boot program by flash.4. Analyze and give the realization method for classic image process.Then program with C and optimize the code for a fast operation speed.The results were given and analyzed.In order to test the performance of the system,a method was given in the thesis.With the help of Code Composer Studio Version and Simulator,we can make a compare with the single core system.After analyze the test results got with the CSC and Simulator,we reached the conclusion that the design of this double core system has improved the performance of the existing system.