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

中图分类号: 

• TP242