【正文】 戚利勇，楊慶華，高峰．機(jī)器視覺在黃瓜采摘機(jī)器人中的應(yīng)用研究[J]．浙江工業(yè)大學(xué)學(xué)報(bào)，2010，38(1)：114118．[15] 趙廣濤，[J]．微計(jì)算機(jī)信息，2006， 1(7)：129131．[16] 張國(guó)勛，（第二版）[M]．北京：中國(guó)電力出版社，2007．[17] Pubudu N．et al. A Method for StereoVision based tracking for robotic applications[C]．Proceedings of the 47th IEEE CDC, 2008．[18] 樓然苗，李光飛．單片機(jī)課程設(shè)計(jì)指導(dǎo)[M]．北京：北京航空航天大學(xué)出版社，2007．致謝時(shí)間總會(huì)在不經(jīng)意間溜走，隨著本論文的完成，我的大學(xué)生活也將結(jié)束。首先得感謝我的論文指導(dǎo)老師王俊老師，本文的工作是在王老師的悉心指導(dǎo)下完成的。從論文的選題、研究和論文的撰寫都得到了導(dǎo)師細(xì)心的關(guān)懷和指點(diǎn)，導(dǎo)師淵博的知識(shí)，豐富的經(jīng)驗(yàn)、活躍的學(xué)術(shù)思想、嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度和求實(shí)的工作作風(fēng)，都給我留下了深刻的印象，將永遠(yuǎn)激勵(lì)著我刻苦鉆研，積極向上。在畢業(yè)論文階段完成的過程中，導(dǎo)師傾注了大量的心血，在學(xué)習(xí)和生活上都給了我諄諄教誨和無微不至的關(guān)懷，令我終生難忘。在此，謹(jǐn)向我的導(dǎo)師表示衷心的感謝和崇高的敬意！同時(shí)感謝在大學(xué)四年所有教授過我課程的老師，是他們的辛勤勞作，才有了我的不斷進(jìn)步。2012年05月于合肥學(xué)院附件：程序(部分程序清單)include include include define uc unsigned char define ui unsigned intdefine LCDPAGE 0xB8 //設(shè)置頁指令。define LCDLINE 0x40 //設(shè)置列指令。 sbit E=P3^5。 sbit RW=P3^4。 sbit RS=P3^6。 sbit L=P3^1。 //左半平面 sbit R=P3^0。 //右半平面 sbit SPEAK=P0^6。 sbit LED=P0^5。 sbit Busy=P2^7。// //忙 判斷位 sbit MA=P1^6。 sbit MB=P1^7。 uc scan_key1,scan_key2。 uc scan_key3,scan_key4。 uc step1。step2。 static step_index。 ui count1,count2。 //定時(shí) uc butter。 //按鍵 /*uc code ZZ[]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09}。uc code FZ[]={0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x01}。*/static speed。 //速度參數(shù) //。本文件為1616點(diǎn)陣中文字庫文件,字的橫向8點(diǎn)構(gòu)成一字節(jié),左邊點(diǎn)在字節(jié)的高 //位,字符點(diǎn)陣四角按左上角→右上角→左下角→右下角取字uc code HE[]={//。合 0x40,0x40,0x20,0x50,0x48,0x44,0x42,0x41,0x42,0x44,0x68,0x50,0x30,0x60,0x20,0x00,0x00,0x00,0x00,0x7E,0x22,0x22,0x22,0x22,0x22,0x22,0x22,0x7E,0x00,0x00,0x00,0x00,}。uc code FEI[]={//。肥 0x00,0x00,0xFE,0x12,0x12,0xFE,0x00,0xFE,0x42,0x42,0x7E,0x42,0x42,0xFE,0x00,0x00,0x40,0x30,0x0F,0x21,0x41,0x3F,0x00,0x3F,0x40,0x40,0x40,0x40,0x40,0x40,0x70,0x00,}。uc code XUE[]={//。學(xué) 0x40,0x30,0x10,0x12,0x5C,0x54,0x50,0x51,0x5E,0xD4,0x50,0x18,0x57,0x32,0x10,0x00,0x00,0x02,0x02,0x02,0x02,0x02,0x42,0x82,0x7F,0x02,0x02,0x02,0x02,0x02,0x02,0x00,}。uc YUAN[]={//。院 0xFE,0x02,0x32,0x4A,0x86,0x0C,0x24,0x24,0x25,0x26,0x24,0x24,0x24,0x0C,0x04,0x00,0xFF,0x00,0x02,0x04,0x83,0x41,0x31,0x0F,0x01,0x01,0x7F,0x81,0x81,0x81,0xF1,0x00,}。uc code ZI[]={//。自 0x00,0x00,0x00,0xF8,0x48,0x48,0x4C,0x4B,0x4A,0x48,0x48,0x48,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0xFF,0x00,0x00,0x00,}。uc DONG[]={//。動(dòng) 0x20,0x24,0x24,0xE4,0x24,0x24,0x24,0x20,0x10,0x10,0xFF,0x10,0x10,0xF0,0x00,0x00,0x08,0x1C,0x0B,0x08,0x0C,0x05,0x4E,0x24,0x10,0x0C,0x03,0x20,0x40,0x3F,0x00,0x00,}。uc code HUA[]= { //化0x80,0x40,0x20,0xF8,0x07,0x02,0x00,0x00,0xFF,0xC0,0x60,0x30,0x1C,0x08,0x00,0x00,0x00,0x00,0x00,0x7F,0x00,0x04,0x02,0x01,0x3F,0x40,0x40,0x40,0x40,0x78,0x00,0x00,}。uc code X[]={//姓0x10,0x90,0x7F,0x12,0x10,0xF0,0x40,0x3C,0x10,0x10,0xFF,0x10,0x10,0x10,0x10,0x00,0x40,0x21,0x1A,0x04,0x0B,0x30,0x40,0x42,0x42,0x42,0x7F,0x42,0x42,0x42,0x40,0x00,}。uc code M[]={//名0x00,0x40,0x20,0x10,0x08,0x27,0x44,0x84,0x44,0x24,0x14,0x0C,0x04,0x00,0x00,0x00,0x04,0x04,0x04,0x02,0x7E,0x23,0x23,0x22,0x22,0x22,0x22,0x22,0x7E,0x00,0x00,0x00,}。uc code F[]={//馮0x00,0x02,0x0C,0xC0,0x38,0x02,0x82,0xFA,0x82,0x82,0x82,0xF2,0x8E,0x80,0x00,0x00,0x02,0x02,0xFF,0x00,0x04,0x04,0x04,0x05,0x04,0x04,0x44,0x84,0x40,0x3F,0x00,0x00,}。uc code Li[]={//立0x00,0x10,0x10,0x90,0x10,0x10,0x11,0x16,0x10,0x10,0xF0,0x50,0x10,0x10,0x00,0x00,0x40,0x40,0x40,0x40,0x43,0x4E,0x40,0x60,0x58,0x47,0x40,0x40,0x40,0x60,0x40,0x00,}。uc code Z[]={//志0x00,0x08,0x48,0x48,0x48,0x48,0x48,0x7F,0x48,0x48,0x48,0x48,0x48,0x48,0x08,0x00,0x20,0x1C,0x00,0x00,0x3E,0x40,0x40,0x41,0x4E,0x44,0x40,0x70,0x22,0x1C,0x08,0x00,}。uc code ZHUANG[ ]={//狀0x08,0x30,0x00,0xFF,0x20,0x20,0x20,0x20,0xFF,0x20,0xE1,0x26,0x2C,0x20,0x20,0x00,0x04,0x02,0x01,0xFF,0x40,0x20,0x18,0x07,0x00,0x00,0x03,0x0C,0x30,0x60,0x20,0x00,}。uc code TAI[]={//態(tài)0x00,0x04,0x04,0x04,0x84,0x44,0x34,0x4F,0x94,0x24,0x44,0x84,0x84,0x04,0x00,0x00,0x00,0x60,0x39,0x01,0x00,0x3C,0x40,0x42,0x4C,0x40,0x40,0x70,0x04,0x09,0x31,0x00,}。/*uc code ZHENG[]= {//正 0x00,0x00,0x00,0x00,0xC8,0x08,0x08,0xF8,0x84,0x84,0x44,0x44,0x00,0x00,0x00,0x00,0x10,0x10,0x10,0x10,0x1F,0x10,0x10,0x0F,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00,}。uc code CHANG[]= //常 {0x20,0x18,0x08,0x09,0xEE,0xAA,0xA8,0xAF,0xA8,0xA8,0xEC,0x0B,0x2A,0x18,0x08,0x00,0x00,0x00,0x3E,0x02,0x02,0x02,0x02,0xFF,0x02,0x02,0x12,0x22,0x1E,0x00,0x00,0x00,}。*/uc code YUN[]= //運(yùn) {0x40,0x41,0xCE,0x04,0x00,0x20,0x22,0xA2,0x62,0x22,0xA2,0x22,0x22,0x22,0x20,0x00,0x40,0x20,0x1F,0x20,0x28,0x4C,0x4A,0x49,0x48,0x4C,0x44,0x45,0x5E,0x4C,0x40,0x00,}。uc code XIN[]= //行 {0x10,0x08,0x84,0xC6,0x73,0x22,0x40,0x44,0x44,0x44,0xC4,0x44,0x44,0x44,0x40,0x00,0x02,0x01,0x00,0xFF,0x00,0x00,0x00,0x00,0x40,0x80,0x7F,0x00,0x00,0x00,0x00,0x00,}。uc code QIAN[]={//前0x08,0x08,0xE8,0xA8,0xA9,0xAE,0xEA,0x08,0x08,0xC8,0x0C,0x0B,0xEA,0x08,0x08,0x00,0x00,0x00,0x7F,0x04,0x24,0x44,0x3F,0x00,0x00,0x1F,0x40,0x80,0x7F,0x00,0x00,0x00,}。uc code JIN[]={//進(jìn)0x80,0x82,0x9C,0x88,0x00,0x88,0x88,0xFF,0x88,0x88,0x88,0xFF,0x88,0x88,0x80,0x00,0x00,0x40,0x20,0x1F,0x20,0x50,0x4C,0x43,0x40,0x40,0x40,0x5F,0x40,0x40,0x40,0x00,}。uc code HOU[] = {//后 0x00,0x00,0x00,0xFE,0x12,0x12,0x12,0x12,0x12,0x11,0x11,0x11,0x11,0x11,0x00,0x00,0x40,0x30,0x0E,0x01,0x00,0x7F,0x11,0x11,0x11,0x11,0x11,0x11,0x7F,0x00,0x00,0x00,}。uc code TUI[] = {//退 0x40,0x41,0xC6,0x00,0x00,0xFE,0x4A,0x4A,0xCA,0x4A,0x4A,0x7E,0x80,0x00,0x00,0x00,0x40,0x20,0x1F,0x20,0x40,0x5F,0x48,0x44,0x40,0x41,0x42,0x4D,0x58,0x40,0x40,0x00,}。uc code TING[] = {//停0x80,0x40,0x20,0xF8,0x07,0x02,0x04,0x74,0x54,0x55,0x56,0x5