Design And Implementation Of The Robotic Visual Framework And A Prototype System

This project is applied to the robot MoRo,which is independently researched and developed by Beijing EwayBot Technology LLC,and is the visual of the robot.The five different functional modules of this visual framework correspondingly are management of algorithms,message mechanisms,calculate the factory,data management,and interprocess communication.According to the commands of Moro,this visual framework correctly requests and circulates vision features,and finally transmits specific format vision data to other parts of the robot system,such as the limb control section.The algorithms are implemented by a variety of visual functions,calling through the interface provided by the framework.Combining different algorithms,multiple functions are implemented,such as humanoid tracking,object recognition.I am majorly responsible for the management of algorithms module,the message mechanism module,data management module and prototype system.During the internship at Beijing EwayBot Technology LLC,the author was involved in the design,development,unit testing,maintenance and version iteration of the visual framework.Specific work is as follows(1)Participate in the discussions of request establishment.According to the requirements of use,analyse the advantages and disadvantages of the previous framework,draft the visual framework specification.(2)Participate and complete the system design of visual framework.Through the analysis of the requirements and the characteristics of various design patterns complete the system design of framework,and involved in drawing UML class diagrams,the main logic of the timing diagrams and writing part of specification document(3)Be responsible for and participate in several module implementations,including the algorithm unit management module,the system internal message mechanism,the data management module and the prototype system.(4)Build a test framework and complete the unit test.Write test cases,build test suites based on test cases,implement test code,and fix bugs based on test results.(5)Maintenance during use.In the process of using the algorithm group is responsible for helping to solve problems,improve the functional requirements of the entire framework,in order to make the system more stable.Since the new visual framework put into use,the number of parallel visual function has increased,the efficiency of the integral robot system has improved.This new vision system improves code reusability and reduces code redundancy.The architecture meets the requirements of high cohesion and low coupling software design principles,which has good reusability and scalability.