计算机工程 ›› 2007, Vol. 33 ›› Issue (21): 268-269,.doi: 10.3969/j.issn.1000-3428.2007.21.095

• 开发研究与设计技术 • 上一篇    下一篇

基于S3C44B0X与线阵CCD自主巡线机器人系统

刘溯奇,郝卫东,杨谋刚,林添成   

  1. (桂林电子科技大学机器人中心,桂林541004)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-11-05 发布日期:2007-11-05

Wheeled Robot System of Detecting Line Based on S3C44B0X and Linear CCD

LIU Su-qi, HAO Wei-dong, YANG Mou-gang, LIN Tian-cheng   

  1. (Center of Robot, Guilin University of Electronic Technology, Guilin 541004)
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-11-05 Published:2007-11-05

摘要: 设计了一种应用于自主巡线机器人的新型巡线技术。该机器人系统主要由目标图像采集模块、图像处理模块以及驱动电机模块等组成,阐述了线阵CCD采集目标图像的工作原理和驱动脉冲的产生原理,ARM芯片S3C44B0X的软硬件设计和系统其他模块的具体操作。经实践证明,该系统实时性强、稳定性好、控制精度高。

关键词: S3C44B0X, 线阵CCD, 图像处理, 巡线

Abstract: The traditional detecting line like photoelectricity detect-line is often affected by the environment light and the situation around. This paper provides a new way to detect the line applied in the self-determination detect-line robot. The system includes target-image collecting module, image processing module, drive motor module and so on. The collecting principle of target image of the linear CCD, the principle of the generation for the driver pulse, the hardware and software design of the S3C44B0X and the operation of other parts are explained. Experiments show that the system has good real-time capability, stabilization and high control accuracy.

Key words: S3C44B0X, linear CCD, image processing, detecting line

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