Design Of Visual Servo Control System Based On The ARM Crawling Robot

In recent years, along with the computer technology and digital control technology fastdevelopment, many factories want to reduce labor costs and improve efficiency, so a varietyof motion control systems have been produced, the system is developed towards a diversifiedfunctions、intelligent direction, especially the cost of computer reduces greatly, so now a lotof motion control systems are developed based on the of PC and motion control card, withvarious project requirements, there are many types of motion control cards, this system canrealize the complex motion control, also can provide functions such as image acquisition、friendly human-machine interface and other functions，But these systems have to be facedwith a large volume and high cost. With the development of various low-power, high-performance microprocessors, there are a lot of motion control systems are developed basedon microprocessor together with special timing counter or other motion control chips, byvirtue of it’s small size、low price、high ratio of performance to price, this design has shownthe strong vitality, it will have a very broad market prospect. To some extent, the performanceof the motion control system is not inferior to personal computer. Now all kinds of embeddedcontrollers can provide extremely rich functions, such as LCD display interface, TTL orRS232communication interface, AD interface, CAN interface, USB interface and so on. Inthis paper, the systerm is an embedded visual servo motion control system that amicroprocessor is used as the core controller.The S3C2440chip is used as the main chip of the motion control system, its frequencycan reach to400MHZ，82C54chip is chosen as the motion control chip, the chip can beallowed up to10MHZ reference pulse input，and can provide16-bit divide and countingfunctions, An interrupt signal is output when the count is complete, it can meet ourrequirements. In order to facilitate the operation of the operator, we also design a wirelessremote controller. When the basic hardware platform is determined, We also developedsoftware in the embedded operating, the development of our system is based on thedevelopment of embedded operating systems, so we need to build up an embeddeddevelopment platform, including BootLoader transplantation, Linux operating systemtransplantation, the making of the root file system. We install the virtual machine software onPC computer to simulate a Linux operating system as our development environment. Thehardware part is classified into the motion control module and attitude acquisition module, thesoftware is mainly classified into applications and drivers. In order to ensure the reliability of wireless remote controller, we need to make the appropriate hardware and software design forremote control, hardware is mainly divided into key module、display module、wirelesstransmitter module, the software is divided into software design of the HD7279and softwaredesign of12832. The goal of the system is to design a low-cost, low-power, miniaturizationcutting robot，the system has high practical value in the curved groove cutting applications.