基于 DSP 图像处理和 HPI 通信接口的采摘机器人设计

摘要

为了提高采摘机器人的智能化程度，降低设计和制造成本，提高机器人的通信能力，提出了一种基于HPI 接口和 DSP 系统的新型采摘机器人。该机器人将嵌入式 DSP 系统和 ARM 控制器利用 HPI 接口有效地结合起来，利用图像 DSP 系统对采集图像进行处理，实现目标的定位，从而提高了嵌入式系统的运算能力；利用 ARM控制器对执行末端进行控制，实现了机械臂的准确定位和控制；使用滤波器对通信过程的干扰信号进行降噪处理，从而提高了整个系统的稳定性和可靠性。最后，对采摘机器人的通信能力进行了测试，结果表明：IIR 滤波器可以有效的滤除干扰信号，通信较为稳定，从而验证了嵌入式 DSP 系统和 HPI 通信接口在采摘机器人设计上使用的可行性。%In order to improve the level of intelligent robot, reduce design and manufacturing costs, improve the commu-nication ability of the robot, it proposes a new harvesting robot system based on HPI interface and DSP. The robot will be embedded DSP system and arm controller by using HPI interface effectively combined and image processing system based on DSP for image acquisition and processing. It achieves the goal orientation, so as to improve the operational capability of the embedded system. As to the end effect or control, to achieve accurate positioning and control of manipulator based on ARM controller, it uses the filter to the communication process interference signal de noise processing, so as to im-prove the stability and reliability of the whole system. Finally, the picking robot communication ability was tested. Ac-cording to the test result, IIR filter can effectively filter out the interference signal to be a more stable communication, thus validating the embedded system and DSP HPI in picking robot design was used on the feasibility.