嵌入式系统在机器人视觉中的应用

重庆大学硕士学位论文嵌入式系统在机器人视觉中的应用姓名：张帆申请学位级别：硕士专业：模式识别与智能系统指导教师：高富强20050501IS3C44B0XuC/OSIIS3C44B0XIIABSTRACTAnembeddedsystemisaspecialcomputersystemwithvariablesoftwareandhardware.Itisbasedoncomputertechnologyandmainlyservedforapplication.Itisappliedtothesystemwhichhasstrictrequirementsinfunctions,reliability,cost,volume,andpower.Robotvisionsystemisanimportantapplicationofembeddedsysteminrobotstudyfield.Asthefunctionofhuman’svisionsystem,therobotvisionsystemendowstherobotanadvancedsensor,whichcanmaketherobotrespondtosurroundedenvironmentin“intelligent”andflexiblemanner.Thepurposeofrobotvisionsystemistofeedbackthestatusandpositioninformationoftargetoritselfbythewayofimaginelocationandimagineapprehension.Thepurposeofthepaperistodevelopanall-purposeembeddedsystemplatform,onwhichtheoperationsystemcanbestudiedandported.Withtheapplicationofrobotvisionnavigation,intelligentrobottracingstilltargetinsimpleenvironmentcanberealized.Basedonthissystem,theembeddedsystem,robotvisionandnavigation,andintelligentcontrolofrobotcanbestudied.Furthermore,itisawell-developedplatformforthepurposeofupdateanddevelopmentofthesystem.Firstly,thepaperanalyzedthearchitectureofembeddedsystem,anddiscussedthekeytechnologyonitsdesignanddevelopmentcourse.Secondly,forthespecificapplicationofrobotvision,wemadetherequirementanalysisofembeddedsystemanddividedthesystemintodifferentfunctionmodulesusingthemethodofsoftware/hardwareco-design.WeselectedtheS3C44B0Xembeddedmicroprocessorandconfiguredimageacquisitionandmotordriverperipheraldevicestosetupthehardwareplatformofrobotvisionsystem.Also,wemadeanin-depthstudyofembeddedoperationsystemuC/OS-IIwhichwehaveusedandanalyzedthecorearchitectureandimplementedtheportingforthespecifichardwareplatform-S3C44B0Xembeddedmicroprocessor.Finally,basedonrobotvisionsoftware/hardwareplatform,weprogrammedimaginecollectiondriverandimagematchingalgorithmcompliedwiththerequirementsofimagineprocessinginembeddedsystem.Becausewehaveusedmodulesmethodincourseofsystemdesignandimplement,thesystemhasopeningstructureandeasytoupdateandextend.Theresultofexperimentsandtestsshowsthattherobotvisionsystemcanperformproperlyandreliably.Itcantracestilltargetinsimpleenvironment,andachievedtheIIIanticipatedaimofusbasically.Furthermore,theresultofresearchcanstretchtovisionmonitor,intelligenttrafficsystem,andintelligenttoyetc.fieldsandhavewidelyapplyingandflourishingprospect.KeywordsEmbeddedSystem,RobotVision,OperationSystem,ImagineMatching1111.11.21251.2.1PC112816322GPSGSM3PDA45,F-16B-2,1.2.2303CPUInternet90Internet132090SOC(SystemOnChip)1.320241.3.1RobotVision1.1141.1Fig1.1theSystemofRobotVision12341.3.233361158816162WIENER34SSDAFFTSSDASSDA161.3.32729206020702080,UECTakayukiCMUS.ThrunMinervaUBCStephenDavidMITMargritt206070,2080,1987(UBM)VaMoRs,VaMoRs20km96km/h171.412uC/OS-IIS3C44B0XuC/OS-II3SSDAJPEG2822.13I/OAPIBSP2.12.1Fig2.1ArchitectureofEmbeddedSystem,,EPROMEEPROM(FlashMemory)ROMSDRAMI/OHALBSP29Flash4ARMRISCARMARMARMARMARMARM7ARM9ARM9EARM10EARM11SecurCoreInterStrongARMXscaleARM78123452.22102.2.1UnixWindowsLinux1RAM2,2113PC45,,KBKB2.2.2WindowsCEPalmOSVxWorksWindowsCEWindowsPalmOS3ComPDAAPIVxWorksWindRiver15212uCLinuxuC/OS-IIuC/OS-IIuClinuxuC/OS-IIuClinuxMicro-Control-LinuxLinuxLinuxLinuxLinuxMMU()18APIMMUTCP/IP52.32.3.1/123/213452.3.2ROMRAMFLASH0x0RAM0x0ROMFLASHROM0x0I/OC1I/ORAM2ROMRWZI0ROMZI214ZI2.3.3/2.4121516ANSICC++VxWorksWindRiverTornadoVxWorksPlatformBuilderWindowsCEIDEWindowsCEADSARMDeveloperSuitARM215ADSCC++ADSWindowsROMARM()2.22.2Fig2.2theEnvironmentofDesignandDevelopmentofEmbeddedSystem2.5JTAGPC//31633.13.1ARM7TDMIS3C44B0XLCDRS2322MBFLASHUSBPWMJTAG8MBSDRAMPC3.1Fig3.1BlockDiagramofHardwareArchitectureS3C44BOXARM7TDMI32RISC2MBFLASH8MBSDRAMFLASHSDRAMSDRAMFLASH317SDRAMPWMRS232USBJTAGRS232PCPCJTAGLCDRS232PCLCDLCD3.2S3C44B0X91014ARMRISCThumb16/ARM328/16ARMARM3.2.1ARMARMARM1ARMARMWinCELinuxARM720TMMUMemoryManagementUnitARMARM720TARM920T318ARM922TARM946TStrong-ARMMMUARM7TDMIMMUWindowsCELinuxuC/OS-IIuCLinuxMMUARM7TDMIuC/OS-IIuCLinuxMMUuC/OS-IIMMUARM2ARMARM70.9MIPS/MHzARM720MHz-133MHzARM91.1MIPS/MHzARM9100MHz-233MHzARM10700MHzARMUSBUARTDSP3ARM4ARMARMUSBIISLCDRTCADCDACDSPUSBPWMDACUARTS3C44BOXARM7TDMI16/32RISC66MHz3193.2.2S3C44BOXS3C44B0XARM7TMDIT16ThumbDMMultiplierIICES3C44B0XARM7TMDI18KB2.5VARM7TDMICPU2FP/FDO/SDRAM32DMA1DMA1DMALCD42UART1SIO1I2C1IIS55PWM1671I/O8810ADC7PLL83.2.3S3C44BOXS3C44B0X71usrARM2fiq3irq4svc5(abt)6sys7undS3C44B0X3206PrivilegedModes5ExceptionModes3.2ARMFig3.2RegisterOrganizationinARMState15R0R147S3C44BOXARMThumbARM32Thumb16ThumbARMARM304032ARMARM32ARMARMARM321Thumb16ThumbARM32ARMARMARM16ThumbThumb3.33.3.1S3C44B0XS3C44B0X141/2832MB256MB38/16/3248Bank0Bank5ROMSRAMBank6Bank7ROMSRAMFP/EDO/SDRAM571Bank7S3C44B0X3.3SROMROMSRAM3.3S3C44B0XFig3.3S3C44B0XMemoryMapafterReset3.3.22MB/4MB/8MB/16/MB32MB2MB/4MB/8MB/16/MB32MB28MBSROM(nGCS0)SROM(nGCS5)SROM(nGCS4)SROM(nGCS3)SROM(nGCS2)SROM(nGCS1)SROM/DRAM/SDRAM(nGCS6)SROM/DRAM/SDRAM(nGCS7)0x0000_00000x01c0_00000x0200_00000x0400_00000x0600_00000x0800_00000x0a00_00000x0c00_00000x0e00_00000x1000_00