【作者】 刘龙；

【导师】 潘峥嵘；

【作者基本信息】 兰州理工大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 在移动机器人相关技术的研究中,导航技术是其核心,在实际应用中,只需在路面上画出路径引导线,机器人就可以通过视觉导航系统来控制自身行走。本课题针对机器人控制器前端的输入信号进行研究。通过对输入信号结构的设置以及输入信号的抗干扰处理给控制器输入实时、精确、高速、稳定的图像信息,为路径跟踪系统提供了保证。本课题研的在移动机器人采集信息处理过程中,首先用集成电路搭建硬件电路实现CCD所需要的时序脉冲。然后用CPLD搭建机器人图像采集硬件电路,接着对地面引导线的图像信息进行数据采集。最后对采集的信息进行抗干扰处理。对信号的过滤、检测、预测等,都要广泛地用到滤波器。其中数字滤波器具有稳定性高、精度高、设计灵活、实现方便等许多突出的优点,避免了模拟滤波器所无法克服的电压漂移、温度漂移和噪声等问题,因而随着数字技术的发展,用数字技术实现滤波器的功能越来越受到人们的注意和广泛的应用。本文通过修改最大噪声宽度就可以实现噪声的滤除,节省了系统的硬件资源,大大提高了系统的柔性和经济行。本文还通过比较两种可滤除噪声的滤波器。在实际应用中,还提出了使用FIR滤波器更具有实际意义,为了更好的验证仿真结果的正确性,文中应用了MATLAB和VHDL联合仿真方法对设计的电路进行仿真测试,结果达到设计指标。仿真结果表明,本论文设计的滤波器硬件规模较小,是对DA设计方法的一种发展改进,改进后系统最高时钟频率达到了100MHz以上。同时只要将查找表进行相应的改动,就能分别实现低通、高通、带通FIR滤波器,体现了设计的灵活性。更多还原

【Abstract】 In the mobile robot technology related to research, navigation technology is its core, in practical application, simply guide the path on the road to draw lines, the robot can through visual navigation system to control their own walk. The topic for the front of the robot controller input signal for research. Based on the input signal and set up the structure of the input signal interference to the controller handling the importation of real-time, accurate, high-speed, the stability of the image information, for the path tracking system to provide a guarantee.The subject of the inquiry in the mobile robot in the process of collecting information processing, the first integrated circuit structures with hardware circuits required by the CCD timing pulse. Then CPLD structures robot image acquisition hardware circuit, and then guide lines on the surface of the image data acquisition. Finally, the collection of information dealing with anti-jamming. The signal filtering, detection, forecast, widely used to filter. One digital filter with high stability, high accuracy and design flexibility, and convenience, and many other prominent advantages and avoid a simulation of the filter can not be overcome by the voltage drift, drift and noise and other issues, as a result of the development of digital technology, Digital technology filter function more and more people’s attention and a wide range of applications.In this paper, through the revision of the biggest noise on the width of the filter out noise can be achieved, a saving of the hardware resources, greatly improving the system of flexible and economic lines. It also can be filtered out by comparing the two types of noise filter. In practical application, also proposed the use of FIR filter more practical significance, in order to better verify the accuracy of the simulation results, the text of the joint MATLAB and VHDL simulation of the circuit design of the simulation test results to design specifications. The simulation results show that the design of the filter paper hardware smaller, the DA is designed to improve the development of a method to improve the system clock frequency of 100 MHz to achieve the above. Just look at the same time table and make the appropriate changes, respectively, will be able to achieve low pass, high-pass, band-pass FIR filter, reflects the design flexibility.更多还原