基于“创意之星”的颜色识别机器人课设论文

1摘要机器人是高级整合控制论、机械电子、计算机、材料和仿生学的产物。在工业、医学、农业、建筑业甚至军事等领域中均有重要用途。现在，国际上对机器人的概念已经逐渐趋近一致。一般来说，人们都可以接受这种说法，即机器人是靠自身动力和控制能力来实现各种功能的一种机器。联合国标准化组织采纳了美国机器人协会给机器人下的定义“一种可编程和多功能的的操作机；或是为了执行不同的任务而具有可用电脑改变和可编程动作的专门系统。机器人一般G11013执行机G7512、G20549动G16025G13634、G7828G8991G16025G13634和控制系统和G3809G7446机械等组G6116A1机器人能力的G16792G1227标准G2265G6336G7246能，G6363G5875G16285和G5875G11705，G2265G6336G16772G5530、G17828算、G8616G17751、G18504G2047、G2040G7041、G1927G12586、学G1076和G17935G17765G6524G10714等；机能，G6363变G17902G5627、G17902用G5627或G12366G19400G2356有G5627等；物G10714能，G6363力、G17907G5242、可靠G5627、联用G5627、G4563G2641等。G3252G8504，可以说机器人G4613是具有生物功能的实际G12366G19400G17828行工具。G7424G12699G6164G1183G13473的G20080G14406G16794G2047机器人是一G1022具有G20080G14406G16794G2047和G16833G19911控制等G12628G2345功能的G7246能机器人。G4439能G3827G16794G2047G13430G15025G13523G989种G20080G14406，G5194G1000能G3827G1363用G16833G19911控制G1866G17828动。关键字机器人；G20080G14406G16794G2047；G16833G19911控制；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；COLORIDENTIFICATION；SPEECHIDENTIFICATION3目录引言11颜色识别机器人结构设计A39A41A42A43A44A45A46A47A4811颜色识别机器人的功能要求112颜色识别机器人的组成与功能A49A50A51A52A53A54A55A56A54A55A56A57121颜色识别机器人的系统组成A58A59A60A61A62A63A64A65A63A64A65A66122颜色识别机器人的组成器件213颜色识别机器人的搭建3131运动系统的搭建3132视觉系统的搭建3133听觉系统的搭建414CDS5500舵机的设置32颜色识别机器人的原理分析A67A68A69A70A71A72A73A74A7521视觉系统的原理分析A76A77A78A79A80A81A82A83A81A82A83A8422听觉系统的原理分析A76A77A78A79A80A81A82A83A81A82A83A843程序设计631设计思路7311系统功能模块划分7312系统流程图分析832程序设计9321编写程序9322颜色阈值标定1233程序调试A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A86A87331A88A89A90A91A92A93A94A95A96A97A98A99A100A101A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A86A1024总结16参考文献A10317附录A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A105A106A105A106A107A108A109A110A111A112A113A114A1151A116A11744A1161引言随着科技的进步，机器人技术已经处于腾飞的时代。我们从广泛意义上理解所谓的智能机器人，它给人的最深刻的印象是一个独特的进行自我控制的“活物”。其实，这个自控“活物”的主要器官并没有像真正的人那样微妙而复杂。智能机器人具备形形色色的内部信息传感器和外部信息传感器，如视觉、听觉、触觉、嗅觉。除具有感受器外，它还有效应器，作为作用于周围环境的手段。这就是筋肉，或称自整步电动机，它们使手、脚、长鼻子、触角等动起来。颜色识别机器人就是一个是基于G256G2031意G1055G7155G257机器人技术基G11796，使用NORTHSTARG5332G2469环境G16786G16757的G12628G2345的智能机器人。G256G2031意G1055G7155G257是一G12193G8181G3371G2282机器人G13464G1226，其特G9869是G13464G6116机器人的G2520G12193G19658G1226是G17902用、G2499G18337G13464的，G2520个G19658G1226G1055G19400有G13491一的G17842G6521G7053G5347，G19658G1226G1055G19400G2499G1209自G11013G13464G2524，从而G7512G5326G1998G2520G12193G2520样的机器人G7512G3423。NORTHSTAR是一个G3282形G2282G1144G1126机器人控制G12255G5219G5332G2469G5049具。G3324NORTHSTARG1025，G17902G17819G21748G7643的G6314动G12879G1296G17935G17765G7706的控G1226和G4557控G1226G1582G12628G2345G5483G4658G5627G16786G13634，就G2499G1209G5567G6475的G13546G1901机器人控制G12255G5219。G12255G5219G13546G17765G4448G2530，G2499G1209G13546G16805并G991G17745G2052机器人控制器G1025G17828行。1颜色识别机器人结构设计颜色识别机器人是一个具有颜色识别和G16833G19911控制等G12628G2345G2163能的智能机器人，是使用G2031意G1055G7155机器人部G1226G6657G5326的G1852G2533G17828动机器人。其特G9869是使用G1852G2533G17730，G2499G1209G1231意G7053G2533行进，G6657G18209G6680像G3848G2499G1209进行颜色识别G1209G2462G21626G1823G20130进行G16833G19911控制，并G1000G13479G7512G4579G5051G17743G1427。11颜色识别机器人功能要求G708G20G709基G7424G2163能G726机器人G2499G1209识别G13430G15025G1016G12193颜色，识别G2052G13430色，G2029G2081进，识别G2052G15025色G2029G1584G8502，识别G2052其G1194G7588一G12193颜色，能G3827G1582G1998G11468应的动作。G708G21G709G6205G4649G2163能G726G5415机器人G3324行进的G17819G12255G1025，G17767G1849G16833G19911信息，G7693G6466G16833G19911G1582G1998G11468应的动作。如G256G7254G1584G257G256G2081进G25712颜色识别机器人的组成及功能G20G17G21G17G20颜色识别机器人的系统组成颜色识别机器人G11013G989部G2010G13007G13491G13464G6116，G2010别为G726G103G17828动G13007G13491G727用于控制机器人进行G1231意G7053G2533的G17828动。A107A108A109A110A111A112A113A114A1152A116A11744A1162G103视觉G13007G13491G727用于G18331G19610G3282像信息，G4557机器人G17828动进行颜色识别。G103听觉G13007G13491G727用于G18331G19610G16833G19911信息，G4557机器人G17828动进行G16833G19911控制。G20G17G21G17G21颜色识别机器人的组成器件颜色识别机器人的主要G13464G6116器G1226G1209G2462G2163能如G991所G12046G726G708G20MULTIFLEXA118A119G21PXAG2170控制器G20个G727MULTIFLEXA118A119G21PXAG2170控制器具有高G17828算能力、低G2163耗、体积G4579，控制G1209G2462数G6466G6521口丰富，G5332G2469G12628G2345等特G9869，是专为智能机器人控制而G16786G16757的。MULTIFLEXA118A119G21PXAG2170控制器的详细G2163能如G991所G12046G726G4448G1852支持MULTIFLEXA120A121G21AVR控制器G1852部G2163能MARVELLXSCALEPXAG2170533MHZ，3G21位处理器，G206MNORFLASH,G20G218MNANDFLASH,64MSDRAMLINUX操作G13007G134914个USBHOST，G20个G2000BPSG1209太网端口、WIFIG8181G3371插槽G20个G21626G1823G20130G6521口，G20个立体声G19911频G17767G1998G6521口支持G6680像G3848作为视觉传感器，G21626G1823G20130作为听觉传感器G21CDS550舵机4个G727CDS550G4658于一G12193G19610电机、伺服驱动、总线G5347G17902讯G6521口为一体的G19610G6116伺服G2345元，主要用于微G3423机器人的关节、G17730子、履带驱动，也G2499用于其它G12628G2345位G13634控制场G2524。如G3282G20所G12046。CDS550G18331用半双G5049串行异步总线进行控制，每个舵机都有自己G2345独的ID号，G3324机器人G7512G3423G6657G5326时需要G4557ID号进行G18209G13634，G1209免机器人的G7588些关节的ID号G18337叠。CDS550有主用的调试环境ROBOTSERVOTERMINAL，G3324这个环境G991，G2499G1209G16786G13634舵机ID、皮特率、G5049作G8181G5347、速度哦限制、角度限制、电压限制等等。3G1852G2533G177304个G7274G6680像G3848G20个G7275G21626G1823G20130G20个G7276G19658G1226若干G727A122A123A124A125A126A127A128A129A1303A131A13244A1313G3282G2013颜色识别机器人的搭建使用G2031意G1055G7155机器人的部G1226，G2499G1209G17743易地G6657G5326一个包含G17828动，视觉，听觉G989个部G2010的智能机器人。131运动系统的搭建（1）将四个G1852G2533G17730G6657G18209四个舵机，用G17842G6521G19658G1226安装G6116一个G2499G1209G1231意G7053G2533G17828动的底盘G727G708G21G709G3324底盘上安装控制器，固定好。G7083G709将四个舵机串联起来G6521G2052控制器的机器人舵机G6521口。G20G173G17G21视觉系统的搭建（1）使用G2031意G1055G7155的LG21G20部G1226G6657G5326一个G6680像G3848的G3848部G727G708G21G709将G6680像G3848固定G3324G6657G5326好的G3848部G727（3）将G6680像G3848的USBG6521G2052控制器的G1231意USBG6521口G20G173G17G21听觉系统的搭建将G21626G1823G20130G6521口G6521G2052控制器的G21626G1823G20130G17767G1849G6521口。14CDS5500舵机的设置CDS5500的基G11796G2454数G16786G13634、G1457G6264G2454数调节、G5627能G8991试都G2499G1209G17902G17819ROBOTSECOTERMINALG17731G1226来实G10628。步G20600如G991所G12046G726G708G20G709G6183G5332G17731G1226，将舵机G994电G14053G17842G6521G727G708G21G709G7609G6226舵机，G16786G13634舵机的G2454数G1209G2462G18209G13634ID号G727A122A123A124A125A126A127A128A129A1304A131A13244A1314图2图3需要G8892意的是G726每个CDS5500需要使用G993用IDG30每串CDS5500的数G18339G993能太G3822，最A133A134A135A136A137A138A139A140A1415A142A14344A1425好是6个G1209G991。正G5132G5049作G991G2345个CDS5500的电G8756G2499能G17810G2052G2100MAG97G20A，G3593G17728电G8981G2499G17810G2052G21G175A，G2345G134646个CDS5500的G5049作电G8981G2499能G17810G205238A。这样的电G8981G1262G16765舵机线G2469G9921，并G1147G10995G8616G17751G3835的电压G19489，最G2530一个CDS5500G2499能G3252为G8851G17896舵机线的G2010压而G4560G14280G5049作电压G17819低，CDS5500G3324电压G17819低时G1262G1998G10628复位、数G6466G17902讯G993正G5132等G10378G1929。2颜色识别机器人的原理分析21视觉系统的原理分析机器视觉G13007G13491主要G11013G989部G2010G13464G6116G726G3282像的G14731G2474、G3282像的处理和G2010G7524、G17767G1998或G7186G12046。G3282像的G14731G2474实G19481上是将G15999G8991物体的G2499视G2282G3282像和内G3324特G5461G17728G6454G6116能G15999G16757算机处理的一G13007G2027数G6466，它主要G11013G989部G2010G13464G6116G726G10043G7138，G3282像G13870G9978形G6116，G3282像G11842定和形G6116G6680像机G17767G1998信号。视觉信息的处理技术主要G1393G17194于G3282像处理G7053G8873，它包G6336G3282像G3698G5390、数G6466G13546G11733和传G17767、G5191G9381、G17805G13548G19172G2282、G2010G2118、特G5461G6289G2474、G3282像识别G994理解等内G4493。经G17819这些处理G2530，G17767G1998G3282像的G17148G18339G5483G2052G11468G5415G12255度的G6925G2904，G7094G6925G2904G1114G3282像的视觉效G7536，G2460G1427于G16757算机G4557G3282像进行G2010G7524、处理和识别。机器人视觉G13007G13491主要是G2045用颜色、形G10378等信息来识别环境G11458G7643。G1209机器人G4557颜色的识别为G1375G726G5415G6680像G3848G14731G5483G5437色G3282像G1209G2530，机器人上的G4896G1849G16757算机G13007G13491将G8181G6323视频信号数G4395G2282，将像G13044G7693G6466颜色G2010G6116G1016部G2010G726感G1864G17271的像G13044G708G6640G13046的G11458G7643颜色G709和G993感G1864G17271的像G13044G708G13984G7235颜色G709。G9994G2530，G4557这些感G1864G17271的像G13044进行RG42B颜色G2010G18339的G2317G18209。为G1114G1955G4581环境G1821G5390度的G5445G2721，G2499G6238RG42B颜色G3507G12366G19400G17728G2282G2052HIS颜色G12366G19400。其G1025，线G5627色G5437G19420G1552G8873是用线G5627G5191G19766G6238色G5437G12366G19400G2010G2118G5332来，其G19420G1552的G11842定G2499G18331用G11464G6521G2474G19420G1552和G17902G17819自动G16769G13463来G14731G2474G11458G7643颜色G14551围等G7053G8873，也G2499G1209G18331用G12082经网G13488和G3822G2454数G1927G12586G7653G7053G8873来进行自G4410G1076，G1209G14731G5483G2524G17878的G19420G1552G727而用最G17829G18063G3507G2010G12879G8873G2010G2118G3282像时，G2029G2045用G19594G4658度G2001数，G2375G7693G6466最G3835的G19594G4658度来G2040G7041这个颜色G4658于G2750个G12879G727G19420G1552G2533G18339G8873是G1820使用一G13464G1119G1820G11842定的G19420G1552G2533G18339来G6238色G5437G1552G3324色G5437G12366G19400G1025的位G13634来G2040G7041其G4658于G2750G12193颜色。G3324G12255G5219G1025，G14731G5483的G3282像数G6466是一个一G13512的数G13464，原始的G3282像数G6466G17902G5132是RG42BG214格G5347，G2375每G989个G4395节一个像G13044，G989个G4395节G2010别是该像G13044G13430色、绿色、G15025色的颜色G2010G18339G1552。G3324RG42B颜色G12366G19400G991一般很难排除G1821G10043的G5445G2721，G3252为G3324亮度突变的环境里，G989个颜色G2010G18339都G1262剧烈变G2282，所G1209RG42BG3282像G993G17878G2524用来G1582颜色区G2010。G5132规的G1582G8873是将这个G3282像数G13464G17728G6454G2052HSIG12366G19400去。HSIG2375色调HUE、色饱和度SATURATION、和亮度INTENSITY，A144A145A146A147A148A149A150A151A1526A153A15444A1536其G1025G2081G1016项受亮度的G5445G2721很G4579，G2520G12193颜色G3324色度HUEG2010G18339的G7053G2533上是G17842续均匀G2010布的，是极好的颜色G7643定坐G7643G13007。G4557画G19766G1025所有像G13044进行G17728G6454G2530，G1393次G4557G2520G9869的HG1552进行检G7609，符G2524G7643定G14551围要求的就作为有效G9869，否G2029为无效G9869。遍历G4448整幅G3282像的像G13044G1055G2530，就将所有有效G9869的X和Y求和G2474G5191均G1552，这样G2499G1209G5483G2052该颜色区G3507G3324画G19766G1025的颜色G17148心的坐G7643。G2045用G5483G2052的坐G7643G2375G2499G16786G16757控制机器人的G17828动。22听觉系统的原理分析听觉G13007G13491G17828用的是G16833G19911识别技术。G16833G19911识别是G994机器进行G16833G19911G1144G8981，G16765机器G7138白您说什么，这是人们长期G1209来梦寐G1209求的G1119情。G16833G19911识别技术就是G16765机器G17902G17819识别和理解G17819G12255，G6238G16833G19911信号G17728变为G11468应的文G7424或命令的一G12193技术。G16833G19911识别是一门G1144叉G4410科，G17829二十年来，G16833G19911识别技术G2474G5483G7186著进步，G5332始从实验室走G2533市场。人们预G16757，未来G200年内，G16833G19911识别术将进G1849G5049业、家电、G17902信、汽车电子、医疗、家庭服务、消费电子G1147品等G2520个领G3507。G16833G19911识别技术所涉G2462的领G3507包G6336G726信号处理、G8181G5347识别、概率论和信息论G2469声机理和听觉机理、人G5049智能等等。G7693G6466识别的G4557象G993同，G16833G19911识别G1231务G3835体G2499G2010为3G12879，G2375孤立词识G708ISOLATEDWORDRECOGNITIONG709，关键词识别G708或称关键词检G1998，KEYWORDSPOTTINGG709和G17842续G16833G19911识别。其G1025，孤立词识别的G1231务是识别G1119G1820已知的孤立的词，如G256G5332机G257G256关机G257等G727G17842续G16833G19911识别的G1231务G2029是识别G1231意的G17842续G16833G19911，如一个句子或一段话G727G17842续G16833G19911G8981G1025的关键词检G8991针G4557的是G17842续G16833G19911，但它并G993识别G1852部文G4395，而只是检G8991已知的若干关键词G3324何处G1998G10628，如G3324一段话G1025只检G8991G256G16757算机G257、G256世界G257这G1016个词。G7693G6466是否针G4557特定G2469G19911人，G2499G1209G6238G16833G19911识别技术G2010为特定人G16833G19911识别和非特定人G16833G19911识别，G2081者只能识别一个或几个人的G16833G19911，而G2530者G2029G2499G1209G15999G1231何人使用。G7186G9994，非特定人G16833G19911识别G13007G13491更符G2524实G19481需要，但它要G8616针G4557特定人的识别困难G5483G3822。G256G2031意G1055G7155G257的G16833G19911识别引擎是孤立词识别G708ISOLATEDWORDRECOGNITIONG709。3程序设计31设计思路A144A145A146A147A148A149A150A151A1527A153A15444A1537311系统功能模块划分G13007G13491G2163能G2010为G1016个G8181G3371G726G708G20G709颜色控制G8181G3371G5415G6680像G3848G18331G19610G2052G13430色信息时，G5483G1998G13430色区G3507G3324画G19766G1025的坐G7643，G2045用这个坐G7643控制机器人G5332始G2081进G17828动G727G5415G6680像G3848G18331G19610G2052G15025色信息时，G5483G1998G15025色区G3507G3324画G19766G1025的坐G7643，G2045用这个坐G7643控制机器人G1582G1998G11468应的动作，G2375G1820G2530退G21秒G2530，继续G2081进G727G5415G6680像G3848G18331G19610G2052绿色信息时，G5483G1998绿色区G3507G3324画G19766G1025的坐G7643，G2045用这个坐G7643控制机器人G1584G8502G17828动。G708G21G709G16833G19911控制G8181G3371G5415机器人G3324行进的G17819G12255G1025，G17902G17819G21626G1823G20130G17767G1849G16833G19911，如G7536G17767G1849G256G7254G1584G257G2029机器人G7254G1584G17828动G727再G17767G1849G256G2081进G257G2029机器人继续G2081进。312系统流程图分析颜色控制G8181G3371G8981G12255G3282A144A145A146A147A148A149A150A151A1528A153A15444A1538A155A156A157A158A159A160A144A145A146A147A148A149A150A151A1529A153A15444A153932程序设计321编写程序G708G20G709G6183G5332NORTHSTARG5332G2469G17731G1226，新G5326G5049G12255G708G21G709G16786G13634舵机G7083G709添加控G1226，G16786G13634G2454数G7084G709G17842线G7085G709G13546G16805A144A145A146A147A148A149A150A151A15210A153A15444A15310A161A162A163A164A165A166A167A168A169A161A162A163A164A166A167A168A169A170A171A172A173A174A175A176A177A178A171A172A173A174A176A177A170A179A180A181A182A183A184A185A186A18711A188A18944A18811A190A191A173A174A175A176A190A191A173A174A170A179A180A181A182A183A184A185A186A18712A188A18944A18812322颜色阈值标定G12255G5219G16786G16757G4448G6116，G3324G17828行G1055G2081，我们需要G4557G11458G7643颜色G19420G1552G14551围进行手动G7643定。颜色G7643定的G11458的是为G1114将颜色G7643记G1998来，将G13984G7235G1025G11468G17829的颜色去除掉，实G10628机器人G4557G11458G7643颜色的识别，如G7536这一步没G1582好，机器人G3324实G19481G17828行时G2499能G1998G10628误识别的情G1929。将机器人G994PC用网线G17842G6521起来，G6183G5332机器人G5332关，稍等G210秒左右，待机器人控制器的G13007G13491启动G4448毕，双击G8981G12255G3282里的VISIONG12366G19400，G3324弹G1998的G4658G5627G7706里G9869击G256OPENCAMERAG257按钮，界G19766上G1262G7186G12046机器人看G2052的G3282像。勾选G256二G1552G2282G257选项G7706，G3282像G1025的有效像G13044将G1262用G13430色G7643记G1998来，G6314动画G19766G991G7053的G19420G1552G14551围G9381杆，画G19766G1025的G7643记G1262实时变动。A192A193A194A195A196A197A198A199A20013A201A20244A20113G6925变HG1552G14551围，将G6925变G7643定的颜色G19420G1552G727G6925变SG1552G14551围，将G6925变G4557色饱和度的要求，G17902G5132用于排除G13984G7235G1025G11468G17829颜色的干扰。调整好的颜色G19420G1552如G991所G12046G726G708G20G709G13430色G726HMAX38HMIN0SMAXG2155SMING20G21G21IMAXG2155IMING2008G708G21G709G15025色G726HMAXG2133HMING207G21SMAXG2155SMIN68IMAXG2155IMING206A192A193A194A195A196A197A198A199A20014A201A20244A20114G7083G709绿色G726HMAXG2050HMIN87SMAXG2155SMIN45IMAXG2155IMIN6333程序调试和运行所有G5049作G13479G7475G1055G2530，就G2499G1209G13546G16805并G991G17745G2052机器人上进行验G16789G1114。步G20600如G991所G12046G726G708G20G709G9869击NORTHSTARG5049具G7651上的G13546G16805按钮，G7609看OUTPUTWINDOW里G19766的G13546G16805信息，G6564G12046G256COMPLILESUCCEEDEDG17G17G17G5说G7138G13546G16805G6116G2163。A192A193A194A195A196A197A198A199A20015A201A20244A20115G7082G709G9869击G5049具G7651上的G991G17745按钮，G7609看OUTPUTWINDOW里G19766的G13546G16805信息，G6564G12046G256DOWNLOADINGSUCCEEDEDG257说G7138G991G17745G6116G2163。G7083G709将机器人G6930G3324地上，将G11458G7643颜色G6930G3324机器人G19766G208110G2412G12871G1998，G9869击G5049具G7651上的G17828行按钮，机器人G1427G5332始按G10043我们G16786G16757的G17935G17765G17828行起来。试着G6925变颜色，或G17767G1849G16833G19911，G7609看机器人是否像预G16757那样G17828动。331程序运行出现的问题和解决办法G708G20G709G11013于变G18339G16786G13634G1209G2462G17842线的G19394G20076，使G5483G13546G16805G3845G17145。解G1927G7053G8873G726G2520个控G1226G1393次排G7609，将G16786G13634的变G18339G16786G13634好，未G17842G6521的线G17842G6521好。G708G21G709G11013于网G13488G17842G6521没有G17842G6521好，使G5483G991G17745G3845G17145。解G1927G7053G8873G726将网线G17842G6521好，G16786G13634IP地G3348，G9869击NORTHSTARG17731G1226的G256网G13488G17842G6521G257，G7186G12046G256G17842G6521G6116G2163G257G2375G2499。G7083G709舵机G1782