【作者】 孙鹏亮；

【导师】 徐炳吉；

【作者基本信息】 中国地质大学（北京） ， 检测技术与自动化装置， 2010， 硕士

【摘要】 近年来机器人大赛在国内受到广泛的关注和欢迎,各高校和单位都以此为契机,为本校的机器人爱好者提供一个良好的动手操作平台,展现自己学校科研能力的舞台。但从整体上看,我国的机器人技术与国外先进国家还存在一定的差距,尤其是用于足球比赛的机器人,由于目前我国的视觉追踪用机器人主要还是以单片机为主,所以在运算速度和精确度上还存在一定的问题。本文主要是通过FPGA(现场可编程门阵列)及外围配套电路来对摄像头采集的图像进行处理,根据自己的图像处理算法对每帧图像进行颜色判断,进而实现侦测目标的目的。由于FPGA在运算速度和准确度上与单片机相比具有一定的优势,其对视觉图像的处理取得了良好的效果,因此更容易被大家所认可。在FPGA对所采集的图像进行处理分析后,再与单片机进行通讯,将处理结果传递给单片机,之后单片机再根据处理结果对目标物体的大小和距离进行判断,如果在满足形状上的要求外,被认定为是目标,则根据图像在屏幕上的位置进行距离和方位进行判断,再由单片机产生的PWM波形驱动舵机旋转以实现对目标的追踪。由于FPGA在图像处理上具有速度上的优势,因此可以实现对每一帧画面的连续判断,这样可以通过连续的采集和连续的判断,再通过信号连续传递后实现动态性追踪。这就能够避免在踢球的过程中,由于足球被踢走后还去足球原来所在的位置去寻找的缺点。使整个寻找和追踪过程更加准确和流畅,为快速接近目标完成动作提供了可靠的保障。本文机器人的自由度选择为18自由度,这样可以基本满足仿人的效果。可以实现人类通过各个关节的组合运动完成的行走,转向,射门等动作。使整个运动过程更能满足在比赛过程中的各种动作需要。更多还原

【Abstract】 Robot Contest has got a lot of attention and welcome in recent years. All colleges take it as an opportunity to provide a good hands-on scientific research platform for the school’s robotics enthusiasts and demonstrate the ability of scientific research of school. But as a whole, compare with advanced country our robot technology still has some gaps. Especially for soccer matches robot, as ours visual tracking robot is primarily based on singlechip, so in computing speed and precision still have problems.In this paper, through the FPGA (Field-Programmable Gate Array) and external matching circuit to the camera collected image, and according to their own image processing algorithm to determine the color of image of each frame, so as to realize the purpose of detecting targets. As the FPGA in the computation speed and accuracy has some advantages compared to singlechip, and the good results of the visual processing, so easily approved by everyone.Collected in the FPGA on the image processing and analysis, after that will communicate with the singlechip and handle the results passed to the singlechip, then the singlechip will deal with the results based on the target object’s size and distance judgments, if the shape to meet the requirements, was identified as a goal, then based on the image on the screen of the position to judge the distance and direction, the singlechip generate PWM wave to drive steering engine to achieve the target tracking.As the FPGA has the advantage of speed in image processing, it can achieve a continuously judge to each frame, so it can be a continuous sampling and continuous judgments, and then pass through the signal to realize dynamic nature of continuous tracking. This can avoid going to the original location to find the football after the ball has been kicked out during the game. This make sure that the entire process of finding and tracking become more accurately and smoothly, that provides reliable protection for fast close to the target. This paper adopts 18 degrees of freedom, so that can basically meet the imitation. It can achieve walking, turning, shooting etc by a combination of various joints. To meet the various actions required in the contest.更多还原