机械手嵌入式视觉系统

Embedded Vision System of Manipulator

设计了一种基于ARM和FPGA技术,针对传送带上块状物料的按规则有序摆放问题,能为机械手提供定位定向数据的嵌入式视觉系统。系统前端通过FPGA驱动传感器采集图像并进行初步处理,后端以ARM9(s3c2440)为主控制器,识别物料目标,计算定位定向数据,将数据发送至机械手控制器,两端并行运算。实验表明该系统能对传送带上物料块快速准确的进行定位和定向,满足精度和实时性要求同时使设备小型化。

An embedded vision system based on technology of ARM and FPGA was designed to resolve the difficulty of sorting lump materials on conveyor. It could provide positioning and orientation data for manipulator. In frontend of the system,FPGA drove image sensor to acquire the images and processed data initially. In backend,the main controller ARM9（ s3c2440） recognized materials,calculated positioning and orientation data,and sent data to manipulator controller. These two parts worked parallelly. The experiments show that this system can orientate lump material on conveyor rapidly and accurately,thus meeting accuracy and real- time demands,and miniaturizing equipments at same time.