The Ground Mobile Robot Visual Information System Design And Implementation

With the development of robot technology, lots of new technologies and achievements of the robot have been applied and promoted in various areas, while, many industries put forward for robot technology more and higher requirements. As an important member of the family of robots, ground mobile robot system has gradually become one of the hotspots of research and development in the robotics disciplines. Ground mobile robot is mainly composed of body structure, main controller, visual information system and carrying mechanical device.As a core part of ground mobile robots, visual information system is not only a simple extension of the human eye, but also the important foundation for robots to extract information from the image of the objective things, the processing and understanding and finally the artificial intelligence. Therefore, ground mobile robot visual information system research has an important theoretical significance.In this paper, a multi-purpose ground mobile robot vision information system is designed and developed based on an actual engineering project. This visual information system is equipped with high-definition visible light camera and uncooled thermal imager, with the support of day and night mode, laser rangefinder accurate ranging of obstacles goal, which can realize the effective detection of the robot peripheral environment in different contexts and assist robot with scene analysis and environmental understanding.The main research work is as follows:(1) Overall design of the vision information system for robot according to the applications requirement. After carrying out a detailed analysis and comparison of these overall programs constructed respectively with several different core processors, TMS320DM648as core processor, with LM3S5956coprocessor system is chosen as the final overall program;(2) Perfect the other details of the system on the basis of design selected. Discusses in detail the working principle of each module in the system design, and briefly design principles of the system PCB hardware;(3) Most of the software design of robot vision information system is studied after the completion of the hardware. System software design includes DSP program design and Cortex-M3MCU program design. DSP program design includes DSP initialization program design and DSP implementation of image scaling algorithms, DSP initialization program design includes EMIFA initialization, video port initialization and EDMA configuration. Image scaling algorithms includes image resampling and cutting. Cortex-M3MCU program design includes chip initialization program and interrupt service routine;(4) After the completion of the system’s hardware and software design, cure procedure into visual information system and analyze the test. The results show that the robot vision information system of this research operates stably, and that the expected design goals and good results were achieved.Ground mobile robot visual information system studied in this paper, realizes completely the robot’s front-end visual, which can effectively collect the basic information of the objective things in different contexts, can be used for a variety of unmanned ground systems and which has a certain engineering practical significance to realize the artificial intelligent machine vision.