Design And Implementation Of Robot Based On FPGA Target Recognition

Target recognition plays a very important role in machine vision and artificial intelligence.Since it is recognized that the massive data of the image is to be processed in real time,an FPGA with parallel processing data capability is selected.After analyzing and researching,this paper designs a robot system based on FPGA target recognition.The system is divided into two parts:hardware design and.software design.The hardware design is divided into the hardware design of the robot vision system and the hardware design of the robot mobile system.The hardware design of the robot vision system is based on EP4CE6F17C8 as the core processor,Which has designed the power supply circuit,the OV7670 camera interface circuit,the SDRAM memory circuit,the 7-inch TFT LCD interface circuit,the USRAT serial interface circuit and so on.The hardware design of the robot mobile system is ATmega64 MCU as the core controller,which has designed the power circuit,the motor drive circuit,the USART serial interface circuit and so on.Hardware design is reasonable,in order to make the software smoothly.The software design is divided into robot vision system and robot mobile system.The robot vision system uses the OV7670 camera to collect the image data,the collection of image data written to the SDRAM,and then read out the data from the SDRAM using the color threshold algorithm in the RGB space to identify the target and calculate the target shape heart coordinates,and finally the centric coordinates through the US ART serial port sent to main control board on the robot mobile system.The robot mobile system is based on Atmega64 MCU as the core processor,through the USART serial port to receive the target centric coordinates,difference between the coordinates of the target centric and the center field of the LCD screen,through the PID control algorithm output the corresponding PWM to control the crawler robot accurate tracking target.