面向机器人导航应用的FPGA图像采集系统设计

Design of Image Acquisition System for Robot Navigation Application Based on FPGA

考虑环境对机器人执行既定任务的影响，通过对室外机器人导航需求的分析，确定其视觉导航系统的采集模块设计方案。在设计中，采用基于FPGA的乒乓操作的思想。以模块法的方式完成OV9650摄像头模块、EP4CEl5主控芯片模块及辅助电路模块（时钟单元和存储单元）的硬件电路设计，并完成系统软件设计，包括控制模块和图像信息采集模块。最后进行了数据传送仿真测试，结果显示可以实现实时的嵌入式图像采集。

Considering the influence of the environment for the robot to perform tasks, the outdoor robot navigation requirements were analyzed, design scheme of the acquisition module for vision navigation system was determined. In the design, FPGA ping-pong operation method was used. The OV9650 camera module, EP4CE15 main control chip module and auxiliary module （clock unit and a storage unit） were completed with module method, and the software design of the system was completed, including the control module and image acquisition module. Finally, the simulation of data transfer was carried on. Simulation results show that the embedded real-time image acquisition is stable.