Machine Vision Based On Embedded System And Its Application In Robot Control System

Vision is the main information source of human being. With the development of computer technology, machine vision has been successfully used in industry, agriculture, national defence and so on. According to the environment on which it is used, the machine vision can be classified as PC-based system and PLC-based system. Both of them are somewhat expensive, complicated in hardware and software, and large in volume, therefore their application is limited. Presently, the object-oriented microcontroller and embedded system based on microcontroller have been broadly used in various fields because of their small volume, low cost, simple environment of development, convenient use, to be embedded in other object easily, running reliably, etc. If machine vision can be built on the base of microcontroller-based embedded system, its application will be broadened further more, which is the aim of the research work. An important application of machine vision is intelligent control of robot. The actual demand for taking part in the China University Robocon sponsored by CCTV is direct source of the research project.The research is chosen at the connection of machine vision and embedded system, aimed at combining them and designing machine vision system based on embedded system. The result proved that the trying is successful. A machine vision algorithm based on embedded system is brought forward through recalling some algorithms, on the basis of which a hardware and a software system are built. A lot of simulating and experiments proved that the result is good and the objective attained. The dissertation includes six chapters. In the first chapter, machine vision , embedded system and robot are introduced briefly, and then the objective and content of the research work presented. In the second chapter, the hardware system is designed according to the requirements presented in last chapter and the technology of hardware designing which is popular presently. The third chapter is contributed to the research of algorithm, including recalling of machine vision theories and simulating of our methods. The fourth chapter is about the software designing, concerning embedded operating system, machine vision and the robot control. In chapter five, some experiment results on the hardware, algorithm and software have been discussed. In the last chapter, the conclusion is drawn out and some preview and suggestion is given.