CPLD based robot visual guidance system
A technology of robot vision and navigation system, applied in the field of robot vision navigation system based on CPLD, can solve the problems of controller speed limitation, effect of affecting robot navigation, low precision, etc., and achieve the effect of overcoming slow speed
Inactive Publication Date: 2009-05-13
LANZHOU UNIVERSITY OF TECHNOLOGY
View PDF4 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0002] In the existing technology, the control system of robot visual navigation is usually based on single-chip microcomputer or DSP as the core, CPLD is used as the peripheral device, and the control algorithm is implemented by software, so that the speed of the controller is limited, which can no longer meet the requirements of the development of robot technology. need
Secondly, the input of the controller is the feature value of the image, which requires image processing. The existing image processing technology has the characteristics of slow speed and inaccurate feature extraction, which makes the path tracking speed of the robot slow and the accuracy is not high.
Furthermore, in the existing visual navigation technology, the optimal path is found by laying white lines or other single-color lines with a certain contrast with the ground on the ground, and by setting road signs. This method is very easy. If the road sign information is lost, the robot cannot obtain its own location information, which will affect the effect of robot navigation
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0010] Such as figure 1 Shown, system of the present invention is made up of color linear array CCD sensor 1, A / D converter 2, CPLD processing control circuit 3, external memory 4, drive circuit 5; The signal output end of color linear array CCD sensor 1 is connected to The signal input end of A / D converter 2, the clock signal input end of color linear array CCD sensor 1 is connected to the clock signal output end of CPLD processing control circuit 3, the data output end of A / D converter 2 is connected to CPLD processing control Circuit 3 data input ends, the clock signal input end of A / D converter 2 is connected to the clock signal output end of CPLD processing control circuit 3, the data input end of CPLD processing control circuit 3 is connected to the data output end of external memory 4, CPLD The signal output terminal of the processing control circuit 3 is connected to the signal input terminal of the drive circuit 5 .
[0011] Such as figure 2 Shown, the CPLD process...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The CPLD-based robotic vision navigation system comprises a color linear-array CCD sensor with output end connected with the input of two AD converters, a CPLD process and control circuit with clock signal output port connected with sensor clock signal input port and data input port connected with an ADC data output end and clock signal output end connected with another ADC (2) signal input port, an exterior memory with output end connected with the data input port of CPLD circuit, and a drive circuit with input port connected with CPLD signal output end. .
Description
technical field [0001] The invention relates to a robot visual navigation system, in particular to a CPLD-based robot visual navigation system, specifically, a robot navigates by identifying and tracking a colored path laid on the ground. Background technique [0002] In the existing technology, the control system of robot visual navigation is usually based on single-chip microcomputer or DSP as the core, CPLD is used as the peripheral device, and the control algorithm is implemented by software, so that the speed of the controller is limited, which can no longer meet the requirements of the development of robot technology. need. Secondly, the input of the controller is the feature value of the image, which requires image processing. The existing image processing technology has the characteristics of slow speed and inaccurate feature extraction, which makes the path tracking speed of the robot slow and the accuracy is not high. Furthermore, in the existing visual navigation...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26G01C21/34
Inventor 潘峥嵘杜宝强陈若珠徐猛张宁朱翔曲培娟
Owner LANZHOU UNIVERSITY OF TECHNOLOGY