三维视觉信息的并行处理研究-信号与信息处理专业论文.docxVIP

摘要摘 摘要 摘 要 从机器人视觉的应用臻求及其发展趋势来酱，如何在实时或准 实黠的承平土实理臻惠豹采集，处理弱耱缝化分析，应是这～领域 研究的重点之～。本论文对水t机器人兰维视觉系统工作原理进行 了全瑟分摄，设计爨了基予多中瞬系统鼹褪觉信号暴榘电路板，并 编写了相应的软件，在此基础上成功地利用FPGA实现了对接口电 路扳上逐辑功畿翳集成，穗密了～静基予DSP与PC视稳娥鹩主扶 模式的并行处理系统方案。 ～7全文分为以下三大部分，在第一部分，首先．综述了机器入筏鬣 传感技术发展的现状，在概括总结水下机器人视觉研究发展状况的 基础上提出本文的研究方向，并对企文的工作进行了简单的介绍。’ 在第二部分里黠具体蚋水下枧器人三维视觉系统结构，扫攒测 量方式、电路检测，计算方法等方面进行了分析，并设计出了视觉 信号慕集宅鼹援，缡写了耀应憋软件，拐步实现了撬觉信惑采集与 处理的并行化。在新的接口电路设计中采用现场可编程逻辑阵列 fFPGA)将覆有的逶闳逻辑器{睾集成鬟一块FPGA中，将系统韵工锋 频率提升，从而提高了计数精度，减小了原电路板的体积、功耗，提 高了系统的W靠性和设计的灵活性，有嗣于辩系统遂行扩充帮舞缀。 同时也缝合自己的安践经验，对FPGA的结构原理和应用歼发作了 扼要的介绍。 最后在蔚蘑工作的基础上提出了一种基予DSP与PC机构成的 主从模式的并行处理系统方案，进一步提高三维视僦系统信息处理 豹精度鞫速爱。魏实现嵌入式三维视觉信患实对处联系统奠定了基 、p 础。／ ，／ ABSTRACTABSTRACT ABSTRACT ABSTRACT The need for real-time or quasi real—time obtaining，processing and intelligentized analysing 3D vision information is an object of interest for research and application of robot vision．This paper discuss the principle of under water 3D vision system in detail．A 3-D signal acquisition card based on multiple interrupt and its software are designed．Furthermore，logic functions on the card are integrated into one FPGA chip successfully．A project of parallel signal processing system with master-slave structure is given in this paper also． The paper is divided into three parts．In the first section，the contemporary development of 3D sensing techniques is reviewed comprehensively and the research direction of the thesis is proposed based on it．A brief introduction to the main work ofthe paper is given in the end ofthis section． In the second part，the studies on system structure of the 3-D vision system of the under water robot and the scanning measurement,control ckcuit calculating method and SO on are given．A vision signal acquisition circuit is schemed and the software is made to implement parallel sampling and processing of the vision information．In the new interface circuit，Field programmable gate array(FPGA)is applied and the original general logic devices are integrated into one FPGA chip．The system