- 367 - http://www.sj-ce.org Scientific Journal of Control Engineering December 2013, Volume 3, Issue 6, PP.367-373 Design of Image Acquisition System for Robot Navigation Application Based on FPGA Peng Wang 1 † , Jixiang Li 2 , Yuan Zhang 1 , Xin Li 1 1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China 2. College of Automation, Harbin University of Science and Technology, Harbin 150080, China † Email: [email protected]Abstract Considering the influence of the environment for the robot to perform tasks, the outdoor robot navigation requirements were analyzed, design scheme of the acquisition module for vision navigation system was determined. In the design, FPGA ping-pong operation method was used. The OV9650 camera module, EP4CE15 main control chip module and auxiliary module (clock unit and a storage unit) were completed with module method, and the software design of the system was completed, including the control module and image acquisition module. Finally, the simulation of data transfer was carried on. Simulation results show that the embedded real-time image acquisition is stable. Keywords: Robot; Image Acquisition; FPGA; Ping-pong Operation 面向机器人导航应用的 FPGA 图像采集系统设计 * 王鹏 1 ,李吉祥 2 ,张元 1 ,李鑫 1 1.哈尔滨理工大学 机械学院,黑龙江 哈尔滨 150080 2. 哈尔滨理工大学 自动化学院,黑龙江 哈尔滨 150080 摘 要:考虑环境对机器人执行既定任务的影响,通过对室外机器人导航需求的分析,确定其视觉导航系统的采集模块 设计方案。在设计中,采用基于 FPGA 的乒乓操作的思想。以模块法的方式完成 OV9650 摄像头模块、EP4CE15 主控芯 片模块及辅助电路模块(时钟单元和存储单元)的硬件电路设计,并完成系统软件设计,包括控制模块和图像信息采集 模块。最后进行了数据传送仿真测试,结果显示可以实现实时的嵌入式图像采集。 关键词: 机器人;图像采集;FPGA;兵乓操作 引言 室外机器人完成工作的现场环境多为非结构性环境。这使得机器人必须满足稳定性的要求,第一,机 大朵采用左右对称结构,避免机器人重心左右偏置;第二,在非平坦结构环境下,机器人机体工作时的稳 定度不能影响到图像采集设备采集到的图像质量;第三,机器人能够按设计要求执行既定任务。对室外机 器人而言,增加其搜索信息的能力主要有两种方式。方式一,增加传统图像采集设备,主要针对的是具有 人工远程控制的机器人而言,增加摄像采集设备,方式二,增加导航系统,主要应用于嵌入式下具有智能 自主控制能力的搜救机器人,通过导航系统采集并处理图像信息,并根据处理后的图像信息作为机器人后 续工作的依据 [1] 。为了更好的完成任务,机器人的图像采集系统应该保证图像信息采集的完整性和采集时间 的持续性。 * 基金项目:国家自然科学基金(51105122),黑龙江省教育厅科学技术研究项目资助(12521097),黑龙江省自然科学基金 (F201242),中国博士后科学基金面上项目(2012M520760)
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- 367 -
http://www.sj-ce.org
Scientific Journal of Control Engineering December 2013, Volume 3, Issue 6, PP.367-373
Design of Image Acquisition System for Robot
Navigation Application Based on FPGA Peng Wang
1†, Jixiang Li2, Yuan Zhang
1, Xin Li
1
1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
2. College of Automation, Harbin University of Science and Technology, Harbin 150080, China