毕业设计方案打印样式终稿.docVIP

线阵CCD机器人路径识别系统设计 【摘要】 本设计以 Freescale16 位单片机 MC9S12XS128作为系统控制处理器，MC9S12XS128有16路A/D转换，精度最高可设置为10位，有8路8位PWM，并可两两并联为16位精度PWM,采用基于CCD摄像头获取图像信息。通过软件算法提取路径，识别当前所处位置，控制电机速度，通过光电编码器实时获取机器人速度，形成速度闭环控制。采用 PID 方式对舵机转向进行控制。调试过程中应用2401无线模块与上位机辅助。机器人将通过特定算法分析出前方的路况，并根据路况的不同而为机器人分配以不同的速度，完成机器人路径识别的系统。 类似的机器人可用于设备检测装置，以自主和遥控的方式，代替人对室外设备进行巡测，以便及时发现设备的内部热缺陷、外部机械或电气问题如：异物、损伤、发热、漏油等等，给人员提供诊断设备运行中的事故隐患和故障先兆的有关数据。主要实现机器人动力驱动，根据系统路径规划和遥控指令实现车体的运动控制，包括速度、位置控制。适用于复杂的工业环境、设备监测；可实现全天候不间断的远程监控；采用红外热像监测技术，实现远距离、非接触的设备诊断  Linear array CCD Path Recognition System [Abstract] This design to Freescale16 bit microcontroller MC9S12XS128 as the system control processor MC9S12XS128 16 A / D conversion accuracy can be set to 10, 8-channel 8-bit PWM, can be two to two parallel 16-bit resolution PWM based on the CCD camera to obtain image information while using the LM1881 chip separation of the video signal, he can be isolated from the camera signal DEO parity sync signal O / E and line sync signal HS. Extraction path through the software algorithms, to identify the current location to control the motor speed, real-time access to the robot speed optical encoder to form a closed loop speed control. PID control of the servo steering. 2401 wireless module with the host computer-assisted debugging process. Robot through a specific algorithm to analyze the road ahead, according to different road conditions at different speeds for the robot allocated to complete the identification system of the robot path. Similar robots can be used for equipment, detection devices, autonomous or remote, instead of outdoor equipment, patrol, in order to detect the devices heat defects, external mechanical or electrical problems such as: foreign body, injury, fever, oil spills, etc., to provide the relevant data of the causes of accidents in the operation of diagnostic equipment and fault aura. The main robot power-driven motion control system path planning and remote control commands to achieve the body, including the spee