CN201667032U - Control device of intelligent mobile robot based on ARM and double DSPs - Google Patents
Control device of intelligent mobile robot based on ARM and double DSPs Download PDFInfo
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- CN201667032U CN201667032U CN2010201528479U CN201020152847U CN201667032U CN 201667032 U CN201667032 U CN 201667032U CN 2010201528479 U CN2010201528479 U CN 2010201528479U CN 201020152847 U CN201020152847 U CN 201020152847U CN 201667032 U CN201667032 U CN 201667032U
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Abstract
The utility model belongs to the technical field of advanced manufacturing and automatic control and relates to a control device of an intelligent mobile robot based on an ARM and double DSPs, which comprises a main controller, a camera, a video display, an action execution module of the robot, a plurality of sensors and a liquid crystal display, wherein a video image collected by the camera is divided into two by a video distributor so as to be respectively sent to two DSP microprocessors; the two DSP microprocessors send the processed image to the video display; meanwhile, the two DSP microprocessors transmit the processed image to the main controller; the main controller is an ARM microprocessor; the ARM microprocessor sends commands to the action execution module of the robot according to the detection information sent by each sensor and the image information sent by the DSP microprocessors; and the state information of the robot is displayed on the liquid crystal display. The utility model has the advantages of high efficiency and compact structure, and can be applied to a microsystem.
Description
Technical field
The utility model belongs to advanced to be made and the automatic control technology field, relates to a kind of intelligent mobile robot control device.
Background technology
Traditional mobile robot control system takes based on the industrial control computer of PC framework to guarantee the realization of good information processing power and complicated process algorithm more, problem such as that but industrial control computer exists is bulky, power consumption is high, noise is big, this and mobile robot adopt the serious contradiction that exists between storage battery power supply, working time and mobile robot's the flexible mobility more.
Embedded microcontroller (EMCU), embedded dsp (EDSP) are two big technology branches of embedded technology, the embedded computer system that makes up based on EMCU (as ARM) has high-performance, low-power consumption and the integration of height and extra small volumetric spaces, and supports real time operating system (as WINCE.NET, VXWORKS etc.) and the good program development tools based on PC.EDSP (as TMS320F2812, DM642) has processing data information abilities such as powerful Flame Image Process, motion control.Therefore take the embedded mobile robot control system architecture of ARM+DSP to have performance height, function is strong, low in energy consumption, volume is little advantage, can solve the contradiction of current intelligent mobile robot control system between processing power and power consumption, volume well.
Summary of the invention
The purpose of this utility model is the above-mentioned deficiency that overcomes prior art, and a kind of embedded intelligence control device for moving robot that is applicable to image acquisition and processing is provided.For this reason, adopt following technical scheme:
A kind of intelligent mobile robot control device based on ARM and two-way DSP, comprise master controller, camera, video display, the robot motion execution module, a plurality of sensors, LCD screen, video image by described camera collection is divided into two-way through video distributor, send into two DSP microprocessors respectively, image after two DSP microprocessors will be handled is sent into described video display, two DSP microprocessors send the picture information after handling to described master controller simultaneously, described master controller is the ARM microprocessor, the image information of picking up measurement information and the transmission of described DSP microprocessor that the ARM microprocessor sends according to each sensor, send order to the robot motion execution module, and on LCDs display device people's status information.
As preferred implementation, intelligent mobile robot control device of the present utility model, described DSP microprocessor is DM642; Described ARM microprocessor is S3C2440.
The utility model is based on the embedded mobile robot control control system of ARM+ two-way DSP, ARM is as the master controller of The whole control system, and responsible decision-making to robot, utilize two-way DSP to gather, handle video image, can finish monocular vision navigation and binocular vision respectively with navigation, and take the embedded mobile robot control system architecture of ARM+DSP to have the performance height, function is strong, low in energy consumption, the advantage that volume is little, while intelligent mobile robot control device of the present utility model, interface resource enriches (serial ports, network interface, the USB mouth, audio interface, the SD card, the CAN bus interface) can develop very easily with peripheral hardware and carry out data communication.
Description of drawings
Figure 1A RM+ two-way DSP intelligent mobile robot is totally controlled block diagram.
Fig. 2 intelligent mobile robot control device ARM microprocessor system structured flowchart.
Fig. 3 intelligent mobile robot control device DSP microprocessor system structured flowchart.
Embodiment
Introduce intelligent mobile robot control device of the present utility model in detail below in conjunction with accompanying drawing and example.
Be the real-time and the robustness of continental embankment or maneuvering target tracking under the raising complex scene, omni-directional visual image servopackage adopts the two DSP processing hardware platforms of modularization.Referring to Fig. 1, intelligent mobile robot control device of the present utility model comprises DSP that a camera, video distributor, two models are DM642, video display, ARM microprocessor, robot motion execution module etc.Behind the camera collection video image, be divided into two-way through video distributor, a DSP is given on each road, and the video output of two DSP is received on the same video display to be shown.The DSP video output that video display can switch two-way shows.Dsp processor is mainly used in maneuvering target identification, location and following calculation, carry out the location navigation task of conventional cruise mode, receive the maneuvering target information of sending by the master controller arm processor simultaneously, carry out the pose comprehensive estimate of coordinate transform and continental embankment, mobile robot and maneuvering target, and the result exported to master controller ARM, arm processor moves according to the information Control robot that DSP transmits.
Master controller ARM can give the zones of different of two-way DSP transmitting control commands by its acquisition process image, handle 0 to 180 degree such as DSP1, DSP2 handles 180 to 360 degree, DSP just can accelerate to handle the speed of image like this, a video display can show the video input of two passages, want to see the output image of that DSP, it is just passable only need to switch to corresponding passage.
One the road or two-way DM642 go out the current position coordinates of robot according to the data computation that master controller sends, and send to master controller by serial ports, master controller is according to the data message that receives, control robot action execution module is carried out corresponding action, simultaneously robot each sensor acquisition to information via send master controller to after handling, master controller also links to each other with another LCDs of robot, master controller can also be with position coordinates, the information of treated each sensor acquisition sends to display screen, people by this display screen can be real-time the status information of obtaining robot and target.
Master controller of the present utility model adopts the S3C2440 microprocessor based on the ARM9 kernel, and S3C2440 is 16/32 reduced instruction set computer microprocessor, be to be high performance-price ratio, and low-power consumption, high performance embedded system is used and the microcontroller that provides.The stable operation of S3C2440 processor frequencies reaches as high as 530MHz at 405MHz, adds 64M SDRAM, has guaranteed system's response speed fast from hardware.With reference to figure 2, the ARN control hardware system of intelligent mobile robot control device of the present utility model mainly forms very convenient system development by power module, storer (RAM (SRAM), DRAM, FLASH etc.) module, interface (serial ports, USB, network interface, audio interface, CAN interface etc.) module, man-machine interaction (LCD, touch-screen etc.) module.Master controller ARM adopts Windows CE operating system, and Windows CE is one 32, multithreading, multi-task operation system.The decision-making that S3C2440 is responsible for robot by serial ports 1, serial ports B by serial ports 2 and first via DM642 carries out data communication, serial ports B by the serial ports 3 and the second road DM642 carries out data communication, and the I/O mouth by separately carries out data communication between the two-way DM642.
Two-way DSP is used for the video image that collects is handled, DSP has powerful image-capable, intelligent mobile robot control device of the present utility model adopts TMS320DM642 as picture processing chip, with reference to figure 3, TMS320DM642 (being called for short DM642) is the best a fixed DSP of performance in the TMS320C6000 series, design based on Veloci TI second generation high-performance very long instruction word VLIW (the Very Long Instruction Word) framework of TIX exploitation, chip adopts the structure of two-level cache, can support a series of powerful peripheral hardwares.DM642 has resource on a large amount of sheets: 64-bit external memory interface, reinforced dma controller, 16/32 HPI interface, iic bus, GPIO, multimedia card controller, USB, multi-channel audio interface, 10/100Mbs Ethernet, management data input/output module etc., it is the multimedia processor of a superior performance, be the first-selection of design digital audio/video disposal system, can well finish with master controller communicate by letter and to the processing of video image.
Claims (3)
1. intelligent mobile robot control device based on ARM and two-way DSP, comprise master controller, camera, video display, the robot motion execution module, a plurality of sensors, LCDs, it is characterized in that, video image by described camera collection is divided into two-way through video distributor, send into two DSP microprocessors respectively, image after two DSP microprocessors will be handled is sent into described video display, two DSP microprocessors send the picture information after handling to described master controller simultaneously, described master controller is the ARM microprocessor, the image information that detection information that the ARM microprocessor sends according to each sensor and described DSP microprocessor transmit, send order to the robot motion execution module, and on LCDs display device people's status information.
2. intelligent mobile robot control device according to claim 1 is characterized in that, described DSP microprocessor is DM642.
3. intelligent mobile robot control device according to claim 1 is characterized in that, described ARM microprocessor is S3C2440.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201528479U CN201667032U (en) | 2010-04-08 | 2010-04-08 | Control device of intelligent mobile robot based on ARM and double DSPs |
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| CN2010201528479U CN201667032U (en) | 2010-04-08 | 2010-04-08 | Control device of intelligent mobile robot based on ARM and double DSPs |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360190A (en) * | 2011-08-18 | 2012-02-22 | 广东工业大学 | Humanoid robot control system |
| CN102645334A (en) * | 2012-04-23 | 2012-08-22 | 华北电力大学 | State monitoring device for wind generating set |
| CN102849140A (en) * | 2012-09-28 | 2013-01-02 | 河北工业大学 | Multi-moving-mode bionic moving robot |
| CN103914071A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation path recognition system of grain combine harvester |
| CN104020784A (en) * | 2014-05-21 | 2014-09-03 | 燕山大学 | Automatic positioning mounting system for monocular vision detection |
| CN104820418A (en) * | 2015-04-22 | 2015-08-05 | 遨博（北京）智能科技有限公司 | Embedded vision system for mechanical arm and method of use |
| CN105957090A (en) * | 2016-05-17 | 2016-09-21 | 中国地质大学（武汉） | Monocular vision pose measurement method and system based on Davinci technology |
| CN109889753A (en) * | 2019-01-30 | 2019-06-14 | 广东工业大学 | Binocular camera shooting system and its application method |
| CN114845071A (en) * | 2022-07-04 | 2022-08-02 | 北原科技(深圳)有限公司 | Single-camera multi-channel USB video output system and hardware upgrading method |
-
2010
- 2010-04-08 CN CN2010201528479U patent/CN201667032U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360190A (en) * | 2011-08-18 | 2012-02-22 | 广东工业大学 | Humanoid robot control system |
| CN102645334A (en) * | 2012-04-23 | 2012-08-22 | 华北电力大学 | State monitoring device for wind generating set |
| CN102849140B (en) * | 2012-09-28 | 2014-12-10 | 河北工业大学 | Multi-moving-mode bionic moving robot |
| CN102849140A (en) * | 2012-09-28 | 2013-01-02 | 河北工业大学 | Multi-moving-mode bionic moving robot |
| CN103914071B (en) * | 2014-04-02 | 2017-08-29 | 中国农业大学 | A kind of vision guided navigation path identifying system for grain combine |
| CN103914071A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation path recognition system of grain combine harvester |
| CN104020784A (en) * | 2014-05-21 | 2014-09-03 | 燕山大学 | Automatic positioning mounting system for monocular vision detection |
| CN104020784B (en) * | 2014-05-21 | 2017-01-11 | 燕山大学 | Automatic positioning mounting system for monocular vision detection |
| CN104820418A (en) * | 2015-04-22 | 2015-08-05 | 遨博（北京）智能科技有限公司 | Embedded vision system for mechanical arm and method of use |
| CN105957090A (en) * | 2016-05-17 | 2016-09-21 | 中国地质大学（武汉） | Monocular vision pose measurement method and system based on Davinci technology |
| CN105957090B (en) * | 2016-05-17 | 2018-07-31 | 中国地质大学（武汉） | A kind of monocular vision pose measuring method and system based on Davinci technology |
| CN109889753A (en) * | 2019-01-30 | 2019-06-14 | 广东工业大学 | Binocular camera shooting system and its application method |
| CN109889753B (en) * | 2019-01-30 | 2021-05-28 | 广东工业大学 | Binocular camera system and application method thereof |
| CN114845071A (en) * | 2022-07-04 | 2022-08-02 | 北原科技(深圳)有限公司 | Single-camera multi-channel USB video output system and hardware upgrading method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101208 Termination date: 20110408 |