【正文】 基于 ARM 的智能探測小車的設(shè)計與實現(xiàn) 中文摘要碩士研究生學(xué)位論文基于 ARM 的智能探測小車的設(shè)計與實現(xiàn)中文摘要隨著國人在嫦娥工程的初步成功和逐步深入，月球探測器的設(shè)計一直吸引著眾多科學(xué)工作者的關(guān)注。智能探測小車屬于機(jī)器人的范疇，它融合了先進(jìn)的嵌入式技術(shù)、傳感器技術(shù)、電子電氣、路徑規(guī)劃、人工智能和自動控制等技術(shù)。機(jī)器人車應(yīng)用領(lǐng)域廣泛，包括自動駕駛、反恐、核電站維護(hù)、未知區(qū)域探測、無人工程產(chǎn)品運輸?shù)鹊?，機(jī)器人控制技術(shù)的發(fā)展必將對人們的生產(chǎn)和生活產(chǎn)生深遠(yuǎn)影響。課題旨在設(shè)計一款具有良好可擴(kuò)展性，模塊化的教育型智能探測小車控制平臺，使其既能夠滿足大專院校學(xué)生開展機(jī)器人比賽的要求，同時又能成為嵌入式課程開發(fā)和項目研究的平臺。本文以 ARM9 處理器和 Linux 操作系統(tǒng)為基礎(chǔ)構(gòu)建了智能探測小車控制平臺的軟硬件系統(tǒng)。本文通過分析國內(nèi)外機(jī)器人的研究現(xiàn)狀，設(shè)計實現(xiàn)了一種低功耗、高性能嵌入式微處理器和嵌入式操作系統(tǒng)相結(jié)合的智能探測小車控制系統(tǒng)。智能探測小車包括視嵌入式核心模塊、主控模塊、電機(jī)驅(qū)動模塊、紅外尋跡模塊、測溫模塊、攝像頭模塊、無線通信模塊等。具體內(nèi)容如下：闡述了智能探測小車的應(yīng)用價值和研究意義，并詳細(xì)的描述了智能探測小車的體系結(jié)構(gòu)。概述了基于 ARM 的智能探測小車控制系統(tǒng)結(jié)構(gòu)。設(shè)計了基于 ARM 的智能探測小車控制系統(tǒng)的硬件平臺。對核心板、主控板、穩(wěn)壓電源、電機(jī)驅(qū)動、紅外尋跡、溫度測量、串口通訊、LED 和蜂鳴器以及其他擴(kuò)展接口等硬件電路分別給出了詳盡的設(shè)計方案。依據(jù) PCB 設(shè)計的原則、抗干擾措施，自行設(shè)計了印刷電路板(PCB)。設(shè)計了基于 ARM 的機(jī)器人小車控制系統(tǒng)的軟件平臺。先將 Linux 操作系統(tǒng)的啟動代碼、內(nèi)核和文件系統(tǒng)移植到 S3C2440A 上。在 Linux 系統(tǒng)中編寫相應(yīng)的設(shè)備和接口驅(qū)動程序，編寫了控制系統(tǒng)主程序群、圖像采集程序群和溫度測試程序等應(yīng)用程序。設(shè)計了上位機(jī)監(jiān)控軟件、相關(guān)通信協(xié)議和數(shù)據(jù)傳送格式。論述了紅外尋跡處理中的 PD 變尺度增量控制算法，圖像處理中的灰度二值化算法以及溫度測試中的環(huán)境溫度補(bǔ)償?shù)葐栴}的解決策略。測試結(jié)果表明，在該控制系統(tǒng)下，智能探測小車具有良好的位置跟蹤和圖像采集處理性能。關(guān)鍵詞：ARM、智能探測、Linux、尋跡、圖像處理、溫度補(bǔ)償、位置跟蹤ARMbased intelligent detection of car design and implementation AbstractARMbased intelligent detection of car design and implementationAbstractWith our initial success in the goddess of the project and gradually, the design of the lunar probes has been drawing large number of scientific workers. Intelligent detection of the car belongs to the category of the robot, the embedded space technology and advanced technology, electrical sensor, the path planning, Artificial intelligence and automatic control and technology. Car in the area of robotics applications, including autopilot and nuclear terrorism, maintenance, the area is detected, the transport and control products, robot development of the people will in the production and life has profound implications.Project aims to design a good scalable, modular intelligent exploration of education car control platform. it is able to meet the tertiary students to carry out a robot the game demands, and became embedded curriculum development and research on the platform. In this paper, ARM9 processor and the Linux operating system for the car was constructed by intelligent control software and hardware detection system.This paper analyzes the status of domestic and international research robot designed and implemented a lowpower, highperformance embedded microprocessors and embedded operating system bines intelligent detection of car control Intelligent detection of the car including looking at the embedded key module, top management module, electrical machinery urge module, infrared to seek mark module, examine warm module, lens module, wireless munication module,etc..The concrete content is as follows:Describes the application of intelligent detection of car value and significance, and a detailed description of the architecture of intelligent detection of car. Overview of ARMbased intelligent detection of car control system structure.ARMbased design of probe car control system of intelligent hardware platform. To Abstract ARMbased intelligent detection of car design and implementationthe key board, top management board, steady voltage plug, electrical machinery urge, not infrared to seek mark, temperature survey, bunches of mouthfuls of munication, LED and buzzer and other expansion interface,etc. circuit of hardware provide the exhaustive design plan respectively. The principle designed according to PCB, antiinterference measure, have designed the printed circuit board (PCB) by oneself.ARMbased robot designed car control system software platform. Start Linux operating system code, kernel, file system transplant S3C2440A to first. Write the corresponding apparatus and interface driver in Linux system, gather procedure group and temperature and test application program such as the procedure after writing main program group of control system, picture.Design, go location plane control software, relevant munication protocol and data transmission form. Expound the fact infrared to seek mark PD deal with, turn into yardstick increment control algorithms, settlement tactics in problems such as the environmental temperature pensation in two value algorithms and temperature of grey level in pattern process are tested,etc.. Test result indicate, under control system this, Intelligent detection of the car have good position follow with the picture gathering the performance of punishing.Keywords：ARM, Intelligent detection, Linux, Seeking the mark, Pattern process, Temperature Compensation, Position to follow 目 錄第一章 緒論 ........................................................................................................................1 引言 ..............................................................................................................................1 選題依據(jù)及研究意義 ..................................................................................................2 本課題的主要目的與工作 ..........................................................................................3第二章 嵌入式系統(tǒng)與智能探測小車的總體概述 ............................................................5 ARM 硬件開發(fā)平臺 ....................................................................................................5 ARM 處理器的體系和結(jié)構(gòu) ..................................................................................5 ARM 操作系統(tǒng) ............................................................................................................7 常見的 ARM 操作系統(tǒng) .........................................................................................7 選擇 Linux 操作系統(tǒng)的原因 ................................................................................8 基于 ARM 的嵌入式系統(tǒng)設(shè)計方法 ...........................................................................9 基于 ARM 的智能探測小車 .....................................................................................10 智能探測小車系統(tǒng)層次結(jié)構(gòu) ............................