Research On Multi-Channel Visual Platform Of Intelligent Robot Based On DAVINCI Technology

According to the requirements of the national 863 project "robot modular architecture design", we design the intelligent robot multi-channel visual platform based on Davinci technology in this dissertation. This platform achieved image and video for real-time filter and edge detection pretreatment, realized automatic calibration of single channel camera and binocular cameras and realize 3d orientation of target point by binocular cameras. The platform supports Linux operating system, makes it easily to be expand by generic interface. It has very important significance to enhance intelligent robot visual processing ability and reduce robot PC visual processing pressure.This thesis mainly makes the following works: multi-channel visual platform's hardware design, programming framework the platform software design based on Davinci technology, single binocular automatic calibration and target three positioning of research and related experiments.In the multi-channel visual platform in the hardware set, design a multichannel video input, AV terminals analog video output, Ethernet interface circuit, master-slave USB interface circuit and RS232 serial port for part of interface circuit, signal level conversion and hardware extended CPLD circuit and system power supply module circuit in the base of TMS0320DM6446 chip CPU core board of TI company.In software design based on the platform Davinci technology programming framework, based the hardware Uboot and embedded Linux system transplantation and Settings, design XDM - XDAIS conform with the standards of DSP end real-time image filtering, edge detection and reversed color, zoom image preprocessing procedure. Design the ARM program, video for input and output port control, DSP end of scheduling algorithm and the communication control Based on Codec engine, and design the PC control programs and more user-friendly interface based of VC++.In a single binocular automatic calibration and target three positioning, analysis and establishes the model of single binocular camera, design single binocular camera calibration procedures based on OpenCV automatically, analyses the target point three positioning the principle, design the DSP based on binocular calibration parameter target three localization algorithm procedures wrote algorithm Ethernet scheduler in the ARM, and realized real-time PC display through the communication.In the experiment, the multichannel visual platform can collect real-time, pretreatment and display of single channel or multimodal images, realize the automatic calibration single binocular camera, realize target accurately orientation eyes. Platform can achieve communications with PC through a serial port and the Ethernet and realize friendly graphical user interface and transfer of data by U dish by USB.This dissertation preliminary reached multi-channel visual platform for intelligent design requirement and laid a foundation for the robot platform service thorough research and application.