健康服务机器人室内导航视觉传感器研究与开发
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摘要
针对健康服务机器人室内导航的应用需求,设计出一种基于STM32F429的嵌入式导航视觉传感器,内嵌500万像素CMOS图像传感器和拥有高性能无线SOC的ESP8266,此次开发的视觉传感器,不是一般的CMOS图像传感器,而是综合了图像感知、图像处理、无线通信及节电唤醒等等功能于一体的智能化微型装置,即眼睛加大脑;测试,该导航视觉传感器能够以每秒3次的速度向服务机器人发送位置,完全满足室内移动机器人的移动需求。
Aimed at the demand of indoor navigation and location for health service robots,the embedded vision sensor was designed which contained image sensor of 5 million pixel CMOS,high performance wireless SOC ESP8266.This vision sensor is not general CMOS image sensor,it is an intelligent micro device,making up of image perception,image processing,wireless communication,power saving,wake up and so on.It can be described as eyes and brain.According to the experiment,this vision sensor can send the information of position to health service robots at the speed of 3 times per second,which can fully achieve the mobile demand of indoor robots.
Aimed at the demand of indoor navigation and location for health service robots,the embedded vision sensor was designed which contained image sensor of 5 million pixel CMOS,high performance wireless SOC ESP8266.This vision sensor is not general CMOS image sensor,it is an intelligent micro device,making up of image perception,image processing,wireless communication,power saving,wake up and so on.It can be described as eyes and brain.According to the experiment,this vision sensor can send the information of position to health service robots at the speed of 3 times per second,which can fully achieve the mobile demand of indoor robots.
引文
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[2]侯朋岐.移动机器人路径规划与二维地图构建研究[D].大连:大连海事大学,2016.
[3]饶家龙.基于STM32F4与CPLD的嵌入式运动控制器的研究与开发[D].重庆:重庆大学,2013.
[4]Fan D,Zhao J.The design of Image transmission system Based on STM32F429ZI[A].International Conference on Machinery,Materials and Computer[C].ACM,2018.
[5]余义德,王飞.基于SDHC卡阵列的大容量存储系统设计[J].应用科技,2011,38(12):36-39.
[6]王晨辉,吴悦,杨凯.基于STM32的多通道数据采集系统设计[J].电子技术应用,2016,42(1):51-53.
[7]张帆.具有RFID和WIFI控制的密码锁设计[J].电子世界,2016(20):156-158.
[8]Gao M,Liu Y,Huang J,et al.Design of the automatic jacquard control system based on STM32F407[A].International Conference on Information Science,Electronics and Electrical Engineering[C].IEEE,2014:1143-1146.
[9]赵伟超.基于FPGA和Cortex-M4的图像采集系统设计[D].洛阳:河南科技大学,2015.
[10]Fan H B,Kang W Q,Xian M.Electricity acquisition system design based on STM32F103[J].Advanced Materials Research,2014,1049-1050:638-641.