本文的移動(dòng)機(jī)器人采用的視覺(jué)系統(tǒng)是基于CMUcam3攝像頭,它由卡耐基梅隆大學(xué)開(kāi)發(fā)。是一個(gè)低成本、可編程、適合實(shí)時(shí)處理的嵌入式彩色視覺(jué)系統(tǒng)。它包括三個(gè)主要構(gòu)件:COMS光學(xué)傳感器,先進(jìn)先出隊(duì)列和60 MHz ARM處理器。該連接方式允許能從攝像頭的視頻流中直接提取出數(shù)據(jù),然后傳遞給車(chē)載計(jì)算機(jī)用于后續(xù)數(shù)據(jù)處理。它通過(guò)標(biāo)準(zhǔn)的RS232串行端口和車(chē)載計(jì)算機(jī)相連。
視覺(jué)系統(tǒng)固定在一個(gè)云臺(tái)機(jī)構(gòu)上,一起安裝位于機(jī)器人的前上端,如圖3所示。云臺(tái)包括兩個(gè)配件,底層配件由一伺服電機(jī)驅(qū)動(dòng),能在y方向上轉(zhuǎn)動(dòng)180°;上層配件由另一伺服電機(jī)驅(qū)動(dòng),能在x方向上轉(zhuǎn)動(dòng)180°;云臺(tái)采用的Hitec伺服電機(jī)能在很快速率下帶動(dòng)輕質(zhì)量的視覺(jué)攝像頭運(yùn)動(dòng),從而保持?jǐn)z像頭持續(xù)瞄準(zhǔn)目標(biāo)。伺服電機(jī)的脈沖寬度范圍是0.5ms和2.5ms。兩伺服電機(jī)由USBSSC32路舵機(jī)控制板單獨(dú)控制。
圖3 彩色視覺(jué)系統(tǒng)
廈門(mén)興潤(rùn)星貿(mào)易有限公司
主營(yíng)：世界知名品牌的PLC 、DCS 系統(tǒng)備件 模塊
①Allen-Bradley(美國(guó)AB)系列產(chǎn)品》
②Schneider(施耐德電氣)系列產(chǎn)品》
③General electric(通用電氣)系列產(chǎn)品》
④Westinghouse（美國(guó)西屋）系列產(chǎn)品》
⑤SIEMENS(西門(mén)子系列產(chǎn)品)
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█--誠(chéng)心誠(chéng)意--█
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Robots、Panasonic Robots、MOTOMAN Robots
⑦estinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、MAX1000系統(tǒng)備件
⑧Invensys Foxboro（福克斯波羅）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場(chǎng)輸入/輸出模塊）順序控制、梯
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Invensys Triconex: 冗余容錯(cuò)控制系統(tǒng)、基于三重模件冗余（TMR）結(jié)構(gòu)的最現(xiàn)代化的容錯(cuò)控制器
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⑾Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列
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