双目三维定位的视频运动检测控制系统设计  

Binocular Vision Based 3-D Positioning Motion Control System Design

作　　者：张衍儒[1] 武颍[2] 

机构地区：[1]山东大学 [2]哈尔滨工程大学

出　　处：《单片机与嵌入式系统应用》2009年第7期57-60,共4页Microcontrollers & Embedded Systems

基　　金：国家863项目低电压驱动水中多功能微型仿生机器人系统研究(No.2006AA04Z248)

摘　　要：针对TI公司的视频处理芯片TMS320DM642设计一款视频检测运动控制卡,采用CPLD图像采集,运用视频解码芯片SAA7111和视频编码芯片SAA7105实现采集图像的编解码过程,从而实现对32路舵机的并行控制。此款控制卡可以进行颜色识别,实现双目三维定位,可应用在移动机器人领域。主控程序采用DSP/BIOS嵌入式实时操作系统,实现控制卡对目标形心的实时标定,以及发送对32路舵机并行控制的相关命令,从而实现对目标物体的实时视频追踪与抓取。The design is based on TMS320DM642 video processing chip,and CPLD is used as the processor to deal with images captured by camera,so as to trace the target object. Video decoder chip SAA7111 and video encoder chip SAA7105 are used to process the image,in order to control the 32-way steering gear. Color recognition method based on binocular vision is applied as the object detecting algorithm.DSP/BIOS embedded real-time operating system is used,while the manipulator serves as the actuator,and real-time tracing towards the target object in three-dimensional space is realized.

关 键 词：TMS320DM642 CPLD DSP/BIOS 双目视觉 三维定位 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]