The Research On Vision Track System And Design Of Control System Of Guiding Robot

The service robots are developing in world; moreover China's robot technology has been included in the National Medium and Long-term Science and Technology Development Planning. It will promote the scientific and technological progress and development of China's social services, manufacturing, education, entertainment industry and related industries to encourage and support the development of robot industry. Therefore, the robot research has important practical and applied significance. About 80% of information which human obtained from the external world is gotten through vision. Vision is the same important for robots. Vision system is able to have a certain awareness and homologous response for external things. Hence vision system level determines its intelligent system level. And intelligentized robot is the main direction for future development of service robot. In this paper, the guiding robot's vision and control system is researched, and a hardware as well as software design of robot's vision and control system is given.Firstly, the research status of service robot and robot vision at home and abroad is introduced. On these bases, guiding robot's vision system is researched. TMS320VC5509A is used as a core processor; program and data storage circuits are extended. Both of them and vision sense subsystem construct a robot vision hardware system. According to vision system hardware condition, vision algorithm is designed. In this paper, those popular vision track and recognition principles and algorithms are contrasted. And general frame difference method, centroid method and template recognition method is described in detail. On this basis, searching window and binary template is put forward and taken by reducing the complexity of vision algorithm and the requirement of storage space.Secondly, in this paper, robot control system is designed. The 32-bit embedded ARM7TDMI processor, S3C44B0X, is used as the core processor of the control system. It has characteristics of high performance, plentiful interfaces and convenient transplantation and extension, so the storage circuit, power circuit, JTAG interface and the peripheral circuits of step motor control circuit, IIC interface circuit are designed. The design and debugging of hardware are done.Thirdly, in the application software design, OOA and OOD are used to elevate the reuse rate and shorten the development cycle. According to the structure of the robot, UML is used to conduct unified analysis and design the vision system and control system for improving the efficiency of parallel. Rational Rose Realtime is adopted to design a static model of the use case diagram, class diagram, package diagram and dynamic modeling in state transition diagram, swim lane diagram. The step motor control program is designed on these bases. The uCLinux is used as embedded operating system in control system. IIC and step motor driver design are completed. And those programs are debugged on the board.Finally, experiments of robot vision and control system are done. The experiments show that the design of the visual system and control system can better meet the use requirement of the guiding robot.