[電子設(shè)計精品] 智能環(huán)保衛(wèi)士機(jī)器人白色垃圾拾取系統(tǒng) 畢業(yè)論文

A1A0I摘要本文設(shè)計了基于數(shù)字圖像處理和遠(yuǎn)程控制的智能環(huán)保衛(wèi)士機(jī)器人白色垃圾拾取系統(tǒng)。設(shè)計了基于數(shù)字圖像處理技術(shù)的智能白色垃圾識別系統(tǒng)，采用CMOS數(shù)字圖像傳感器識別白色垃圾；采用以太網(wǎng)通信技術(shù)同INTERNET聯(lián)網(wǎng)，實現(xiàn)雙向互通；設(shè)計了斬波恒流細(xì)分步進(jìn)電機(jī)驅(qū)動方案，驅(qū)動機(jī)器人拾取和回收目標(biāo)垃圾；軟件上采取了模糊PID算法，實現(xiàn)靈活的機(jī)器人控制；設(shè)計了最優(yōu)化的垃圾搜尋路線確定算法，使機(jī)器人高效快捷地尋找目標(biāo)垃圾。系統(tǒng)采用數(shù)字圖像處理技術(shù)對白色垃圾圖像進(jìn)行識別，運(yùn)用模糊PID算法的舵機(jī)系統(tǒng)控制電機(jī)驅(qū)動部分，采用步進(jìn)電機(jī)對目標(biāo)垃圾進(jìn)行拾取和回收，同時，根據(jù)服務(wù)性機(jī)器人的特點(diǎn)及G19668G8726，采用G7092線以太網(wǎng)G6521G1849INTERNET網(wǎng)，對機(jī)器人進(jìn)行智能遠(yuǎn)程G6817控?；綠4448G6116了環(huán)保衛(wèi)士機(jī)器人的G17722G1319和電路部分，實現(xiàn)了白色垃圾的識別G451拾取和回收G2163能?；跀?shù)字圖像處理技術(shù)G13479G2524以太網(wǎng)通信技術(shù)的環(huán)保機(jī)器人G1207G7379G6175動人G2159G9177G6207白色垃圾的方案G7171G2499行的。關(guān)鍵詞G726以太網(wǎng)通信；PID模糊算法；圖像采G19610；環(huán)保機(jī)器人A1A0IIABSTRACTG55G75G76G86G68RTG76G70G79EG76G86G71EG86G76G74NEG71G69G68G86EG71G82NG71G76G74G76TG68G79G76G80G68G74EG83RG82G70EG86G86G76NG74G15G76NTEG79G79G76G74ENTRG82G69G82TG86G76NG86TEG68G71G82G73G80G68NG88G68G79G70G79EG68NG76NG74G82G73G75G88G80G68NG90G68G86TEG76NG83G88G69G79G76G70G83G79G68G70EG86G82G73TG75EG90G75G76TEG86G92G86TEG80G17IG71ENTG76G73G76G70G68TG76G82NG69G68G86EG71G82NG71G76G74G76TG68G79G70G68G80ERG68TEG70G75NG82G79G82G74G92TG82G76G71ENTG76G73G92TG75EG90G75G76TETRG68G86G75G15G68G73TERG76G71ENTG76G73G76G70G68TG76G82NG69G92G86ERG89G82G70G82NTRG82G79TG82G83G76G70G78G88G83G82NG74G68RG69G68G74EG68NG71REG70G92G70G79G76NG74TG68RG74ETG86G68NG71G15G69G68G86EG71G82NTG75EG70G75G68RG68G70TERG76G86TG76G70G86G82G73G86ERG89G76G70ERG82G69G82TG86G68NG71G71EG80G68NG71G15NG82TTG75RG82G88G74G75TG75EG82G83ERG68TG76G82NG82G73TG75EG75G68RG71G90G68REG71EG86G76G74NTG82REG68G79G76G93EG55G75EINTERNETG70G82NNEG70TG76G82NG68NG71G76NTEG79G79G76G74ENTG70G82NTRG82G79G17G55G75EG86G92G86TEG80G88G86EG86G76G80G68G74EREG70G82G74NG76TG76G82NTEG70G75NG82G79G82G74G92G15G68NG71G86G83EG70G76G68G79G76G80G68G74EG86G82G73G90G75G76TETRG68G86G75G76G80G68G74EREG70G82G74NG76TG76G82NG68G79G74G82RG76TG75G80G30G90G76TG75G40TG75ERNETNETG90G82RG78G76NG74TEG70G75NG82G79G82G74G92G90G76TG75TG75EINTERNETG15G68NG71G90G76REG79EG86G86G76NTEG79G79G76G74ENTRG82G69G82TG70G82NTRG82G79G30G73G88G93G93G92PIDG68G79G74G82RG76TG75G80G71EG86G76G74NEG71G82G88TG83REG70G76G86G76G82NG15G86TG68G69G76G79G76TG92G82G73TG75ERG88G71G71ERG80G68G70G75G76NEG70G82NTRG82G79G86G92G86TEG80G17G55G75ETEG86TG68NG71G71G68TG68G68NG68G79G92G86G76G86G15TG75EG76G71ENTG76G73G76G70G68TG76G82NG83RG82G70EG86G86G82G73TG75EG90G75G76TETRG68G86G75G15G90G75G76TETRG68G86G75G82NTG75EG76G71ENTG76G73G76G70G68TG76G82NG82G73G80G82REG68G70G70G88RG68TETG82G80EETTG75ENEEG71G86G82G73G82RG71G76NG68RG92G83EG82G83G79EG30G68NG71G76NTRG76G68G79G86G15G76NTEG79G79G76G74ENTRG82G69G82TG90G82RG78ENG89G76RG82NG80ENTG73G68G86TREG86G83G82NG86EG15G92G82G88G70G68NG68G70G75G76EG89EG70G79EG68NG68NG71EG73G73G76G70G76ENTENG89G76RG82NG80ENTG17G37G68G86EG71G82NTG75EG71G76G74G76TG68G79G70G68G80ERG68REG70G82G74NG76TG76G82NTEG70G75NG82G79G82G74G92TG82G76G71ENTG76G73G92TG75EG90G75G76TETRG68G86G75G15G40TG75ERNETG70G82G80G80G88NG76G70G68TG76G82NTEG70G75NG82G79G82G74G92G70G82NTRG82G79TG75EENG89G76RG82NG80ENTG68G79RG82G69G82TG86G92G86TEG80G76G86G73EG68G86G76G69G79EG17KEYWORDSG40TG75ERNETG30PIDG41G88G93G93G92G68G79G74G82RG76TG75G80G30IG80G68G74EG36G70G84G88G76G86G76TG76G82NG40NG89G76RG82NG80ENTG68G79G53G82G69G82TG86A3A2I目錄G6700G16213G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17I目G5417G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17IG12544G980G12468G13502G16782G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G20G17G20本系統(tǒng)設(shè)計的G5859G1053G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G20G17G21環(huán)保機(jī)器人G6117G3281的G2469G4649G2081G7235G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G20G17G22G3281G1881G3818技術(shù)G8712G5191G8616G17751分G7524G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G20G17G23環(huán)保機(jī)器人G3324G6117G3281G2469G4649G17247G2195G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G20G17G24G16782文G13479G7512G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G22G12544G1120G12468環(huán)保機(jī)器人系統(tǒng)分G7524以及G11840件設(shè)G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G23G21G17G20系統(tǒng)G2163能G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G23G21G17G21系統(tǒng)G13464G6116G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G23G21G17G22系統(tǒng)G1183G13473G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G25G21G17G22G17G20G1039控器模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G26G21G17G22G17G21圖像采G19610模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G26G21G17G22G17G22通信模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G20G21G17G22G17G23電機(jī)模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G24G21G17G22G17G24舵機(jī)模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G25G21G17G22G17G25電G9316模G3371G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G20G27G12544G989G12468系統(tǒng)軟件設(shè)計G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G19G22G17G20系統(tǒng)軟件G5049G1328流程G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G19G22G17G20G17G20G43CSG20G21G59G708圖像采G19610及處理G709G5049G1328流程G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G19A3A2IIG22G17G20G17G21G59G42G36G55G40G708電機(jī)控制及以太網(wǎng)通信G709G5049G1328流程G17G17G17G17G17G17G17G17G17G17G17G17G21G22G22G17G21系統(tǒng)軟件實現(xiàn)及算法分G7524G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G23G22G17G21G17G20圖像采G19610系統(tǒng)及數(shù)據(jù)處理G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G23G22G17G21G17G21G6564高系統(tǒng)的G5049G1328G17907G10587G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G26G12544G3247G12468G16809G20576及數(shù)據(jù)分G7524G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G27G23G17G20模糊PID控制G3324電機(jī)G1025的G16809G20576G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G27G23G17G21以太網(wǎng)通信G16809G20576數(shù)據(jù)G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G28G23G17G21G17G20G12461點(diǎn)數(shù)目G11G49G12對通信G5322G17843的G5445G2721G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G21G28G23G17G21G17G21通信G17907G10587對通信G5322G17843的G5445G2721G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G22G19G23G17G21G17G22G6925G2904以太網(wǎng)實時特性G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G22G20G23G17G22數(shù)據(jù)G13479G7536分G7524G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G22G21G13479G7475G16833G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G22G22G2454考文獻(xiàn)G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17I致謝G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17G17I1第一章緒論11本系統(tǒng)設(shè)計的意義本系統(tǒng)設(shè)計出了G980個能G3324特定場所，按高效的路徑進(jìn)行搜索，實現(xiàn)預(yù)定垃圾搜索識別，然后拾取目標(biāo)垃圾的環(huán)保智能小G17722。實現(xiàn)智能機(jī)器人G1207G7379G6175動人G2159來對街道G451公園等大G1025小型G5191面場所的白色垃圾的G9177潔環(huán)保G5049G1328。12環(huán)保機(jī)器人我國的發(fā)展前景目G2081市場上銷售的保潔機(jī)器人有北京利而浦電器有限責(zé)任公司的福瑪特保潔機(jī)器人G451浙江海星電子科技有限公司的G43G36CG21智能吸塵器G451深圳銀星智能電器有限公司的G78G89G27家用G9177潔機(jī)器人G451臺灣公司的QQG21保潔機(jī)器人G451上海羅寶公司的羅寶智能吸塵器機(jī)器人等。服務(wù)機(jī)器人G3324家庭G1025的應(yīng)用G7171其G2469G4649的G980個重G16213方向，G2195必涉及到智能傳感器單元的應(yīng)用G451通信協(xié)議G6521口G451G7092線通信網(wǎng)絡(luò)等技術(shù)，這也G7171服務(wù)機(jī)器人技術(shù)G3324廣G1053上的應(yīng)用，并有G2499能帶動服務(wù)機(jī)器人G3324家用領(lǐng)域的產(chǎn)業(yè)應(yīng)用。G3281G1881，以海爾和聯(lián)想牽頭G6116立的網(wǎng)絡(luò)家電G13464織都推出了其實施應(yīng)用的標(biāo)準(zhǔn)和規(guī)范，如海爾G19610團(tuán)G451G9177華同方G451G1025G3281網(wǎng)通等G2469起G13464建了家庭網(wǎng)絡(luò)標(biāo)準(zhǔn)產(chǎn)業(yè)聯(lián)盟E家佳G11IG55G82NG43G82G80EG12，并由海爾G19610團(tuán)推出了“卡薩帝”G11CG68G86G68RTEG12品牌的UG43G82G80E網(wǎng)絡(luò)家電產(chǎn)品。環(huán)保機(jī)器人G7171現(xiàn)今科技應(yīng)用領(lǐng)域的朝陽產(chǎn)業(yè)，G3324未來的服務(wù)性機(jī)器人G2469G4649領(lǐng)域G1025G2081G7235廣闊，有待進(jìn)G980步大G2159推廣和實現(xiàn)。A6A4A8A9A5213國內(nèi)外技術(shù)水平比較分析根據(jù)WG55G40C評估G13479G7536，環(huán)保機(jī)器人室G3818導(dǎo)航G451機(jī)器人G1319系G13479G7512G11控制G451機(jī)G7512和計算的G19610G6116G12G451以及部分服務(wù)和個人機(jī)器人領(lǐng)域，美G3281始終保持領(lǐng)先地G1313G726G7097本和G19901G3281G3324機(jī)器人G12239動技術(shù)G451人G5430機(jī)器人和部分服務(wù)和個人機(jī)器人G11G2265G6336G4101G1060G12領(lǐng)域處于領(lǐng)先G1313G13634。G8443G8966G3324G13479G7512化環(huán)G3671的G12239動技術(shù)，G2265G6336G3490市G1144通領(lǐng)域保持領(lǐng)先。G8443G8966G17836G3324G2173G13781和家庭服務(wù)機(jī)器人領(lǐng)域G17176G2173了重大計G2022。G9607大利G1134G3324定G1313和導(dǎo)航的理G16782和應(yīng)用方面G1867有優(yōu)G2195。G6117G3281G4410術(shù)G11040和G1237業(yè)G11040G3324G27G25G22計G2022和G3281家G14270然科G4410基G18341等G20045目的G6915持G991，先后G19036對上G17860技術(shù)進(jìn)行G6927G1863，并取G5483大G18339G11752G12362G6116G7536。G1306G1552G5483G6363出的G7171，上G17860G11752G12362G6116G7536大都G1584G11053G3324理G16782G11752G12362G4630面，并G8821有G4570G11752G12362G6116G7536G3324產(chǎn)品技術(shù)上G1319現(xiàn)出來。G1186G6116G7536應(yīng)用上G11487，G6117G3281的服務(wù)機(jī)器人G1039G16213以吸塵器機(jī)器人和G6957G13958G5191臺G1038G1039。14環(huán)保機(jī)器人在我國發(fā)展趨勢G13449G16278G3281G1881G3818服務(wù)機(jī)器人的G2469G4649，G2499以G2469現(xiàn)服務(wù)機(jī)器人G3324G6117G3281G1867有廣闊的市場G12366G19400。G20330先G7171G13781G21848化G12050G1262和G8543G11154人服務(wù)對服務(wù)機(jī)器人的市場G19668G8726。目G2081G6117G3281G25G19G4693以上人口G5062G17241G17819G5647人口的G20G19G8，預(yù)計到G21G19G20G24G5192G3281G13781G5192人口G5647數(shù)G4570G17810到G21G1171人，人口的G13781G21848化G19394G20076G4570G6116G1038G1025G3281面G1032的G2081所未有的G7044G6373G6124；G8504G3818，G6117G3281G8543G11154人G2356G5647人口G8616重G1313G4633G1852G1002G11040G17751高G3281家G1055G2027。G2499以預(yù)計，G3324G993遠(yuǎn)的G4570來，G13781G5192人和G8543G11154人的G6264理G4570G6116G1038G12050G1262的G980個重G16213G17139G6297G19668G16213G980大G6221G6264理機(jī)器人G6564G1391G16844如取G10301G451G2902G20289G451G13775G1082等服務(wù)，G5122G2173G451G10043G20050G13781G5192人和G8543G11154人的G7097G5132G10995活，G6564高G1194G1216的G10995活G17148G18339，G1186而G1955G4581G12050G1262對G6264理人G2604的數(shù)G18339和G16213G8726。其G8437G5415G2081，G19555G11540G3490市化的現(xiàn)G16949G7097G11422G2164G2107，G3490市面G12227G7097G11422G2164大，G11468應(yīng)的G3490市環(huán)衛(wèi)G5049G1328G18339G19555G3490市的G2469G4649而G7097G11422G3698大。G3324公G1861場所，特別G7171G3324公園G183363人流G18339G17751大，對G9177潔程G5242G16213G8726G17751高的場所，G993G1177G19668G16213定時G9177潔，而G1000G16213G8726G19555時G5045G17935，G9177潔G4581G18339白色垃圾。本G1328品G11752G2469G7100G3324設(shè)計G980個能G1207G7379環(huán)衛(wèi)G5049人G4448G6116公G1861場所的G5045G17935任務(wù)并G9177理垃圾的智能環(huán)保機(jī)器人，以保持G5045G17935場所G19555時保持G980個G9177潔的環(huán)G3671，G6564高環(huán)G3671G9177潔效G10587，同時G1955G4581G12050G1262G9177潔G2604的數(shù)G18339和G5049G1328G18339，G14422省人G2159，G1186而G6564高現(xiàn)今人群G10995活的舒適G5242，以及同G14270然環(huán)G3671保持G980個和諧的G1863系。15論文結(jié)構(gòu)本文闡G17860以以太網(wǎng)G1038通信，基于數(shù)字?jǐn)z像頭識別的環(huán)保衛(wèi)士機(jī)器人的系統(tǒng)設(shè)計。系統(tǒng)采用圖像識別技術(shù)以及特殊圖像算法對白色垃圾圖像識別，以太網(wǎng)通信技術(shù)同INTERNET聯(lián)網(wǎng)，并對機(jī)器人進(jìn)行G7092線智能控制。采用模糊PID算法設(shè)計了搞精G5242，穩(wěn)定性的舵機(jī)控制系統(tǒng)，系統(tǒng)地G1186理G16782分G7524到G11840件設(shè)計，給出了G11468應(yīng)G1867G1319的設(shè)計方案和模擬仿真。A6A11A8A12A7A10A13A14A15A16A17A18A19A20A21A22A23A24A254第二章環(huán)保機(jī)器人系統(tǒng)分析以及硬件設(shè)21系統(tǒng)功能本課G20076的目標(biāo)G7171設(shè)計G980個能實現(xiàn)G3324特定G5191面場所，按高效的搜索路徑進(jìn)行搜索，實現(xiàn)垃圾搜索識別，然后拾取目標(biāo)的環(huán)保智能小G17722，G11752G12362G1881容大致G2265G6336以G991G989個方面G726G708G20G709目標(biāo)識別G726即垃圾的識別，G19668G16213G3324確定背G7235環(huán)G3671G991識別滿足G16213G8726的目標(biāo)。G8504G1038執(zhí)行拾取回收的G2081G6564條件。G708G21G709目標(biāo)拾取與回收G726G3324識別出目標(biāo)G1055后，G19668G16213跟蹤目標(biāo)并拾取。G708G22G709定G1313與規(guī)G2022搜索路徑G726對G980定區(qū)域G1881的G5045G17935，G19668G16213定G1313小G17722的G5415G2081G1313G13634，并決定如何高效的搜索G4448該區(qū)域。22系統(tǒng)組成本系統(tǒng)選用G41G53G40G40SCG36LG40公司的G20G25G1313雙核微控制器MCG28SG20G21G59G40PG20G19G19G1328G1038G1039控芯片，選用數(shù)字CMOS圖像傳感器OVG25G25G21G19獲取環(huán)G3671信息。微控制器G1881G13634兩G3371處理器芯片，分別G7171SG20G21G59處理器和G59G42G36G55G40處理器。SG20G21G59處理器G17139責(zé)G4448G6116采G19610攝圖像，獲取環(huán)G3671信息，根據(jù)白色垃圾特征，進(jìn)行特征匹配等G5049G1328，以G4448G6116G14270動垃圾識別。G59G42G36G55G40處理器G4448G6116G17722的G12239動控制G451拾取垃圾機(jī)G7512控制以及通信任務(wù)，控制系統(tǒng)框圖如圖G21G20所示。垃圾拾取機(jī)G7512的設(shè)計基于模糊PID算法控制舵機(jī)驅(qū)動并G4448G6116垃圾回收，采用步進(jìn)電機(jī)驅(qū)動小G17722G12239動，以方便定G1313，機(jī)G7512俯視簡圖如圖G21G21所示。5A28A29A30A31A26A27A32A33A33A29A30A29A34A35A36A37A38A39A40A41A42A43A33A44A45A46A47A48A49A44A46A50A51A52A53A54A55A56A52A57A57A58A59A60A47A48A49W5100A61A62A63A64A65A66A67A68A69A70A71A72A49CMOSA67A68A71A72A490V6620A73A74A47A48A65A66A75A53A50A76A77A75A53A50A78A79A80A81A82A83A84A85A34A35A38A39A40A26A27A86A87A88A89A90A91A92A93A94623系統(tǒng)介紹本系統(tǒng)依G8437通G17819六個模G3371進(jìn)行G1183G13473，分別G7171G1039控器模G3371G451圖像采G19610模G3371G451通信模G3371G451電機(jī)驅(qū)動模G3371G451舵機(jī)模G3371以及電G9316模G3371。G5647G1319G11840件電路圖如圖G21G22所示。100PFC27100PFC2633V12Y317734MHZ100PFC29100PFC301KR29123456789101112131415161718192021222324252627282930313233343536373839404142434445464748D9OV6620SGNDMULTSDASCLDEVDDDEGNDY0Y1Y2Y3Y4Y5Y6Y7PCLKDOVDDDOGNDDGNDDVDDXCLK2XCLK1U0U1U2U3U4U5U6U7HREFFODDVSYNCAGDNDADVDDVTOIICBVRCAP3VRCAP1PWDNAVDDAGNDASUBVACAP2FREXAGCENRSTSVDD1234JP10100PFC19100PFC18SCK0MK1KR241KR185VVRHVDDA1AN17PAD14PAD15AN16PAD13PAD14PAD15PAD05PAD19PAD09PAD08VTOGNDVDDPD7PD5PD6PCLKVDDX3GNDY7Y5Y6Y0Y1Y2Y3Y4WD5WD6WD7WOPM1WOPM2WOPM0WSENWSCSWMOS0WMOS1WMISOXCLKSMODBMODAECLKGNDVDDX2RESETVDDRGNDGNDEXTALXTALVDDPLLVSYNCHREFLED4LHSYNCCHSYNCPODDPWDNRSTTRQROMCTLVDDX1CC/CC1CC/CC3CCTLCH/FCSDACSCLTESTSSOSCK0MOS10MISO0PS2PS3AN18AN19AN20AN21AN22AN23GNDPP3PP1ENSTEERCRSTCEN1CEN2CEN3CEN4CCLK1CCLK2CCLK3CCLK4VDDFGNDPT4PT5PT6PT7BKGDVDDX4GND3V3AWGNDRXIPRXIN1VSATXOPTXONWGND1V8OUT3V3DWGNDWGND1V8DWGND3V3DWD7WD6WGNDXTLPXTLN1V8DTXLEDRXLEDCOLLEDFDXLED1V8DWGNDSPDLEDLNKLEDWOPM1WOPM2WOPM0WD0WD1WD2WD3WD4WD5WMISOWMOOSISCSWSCLKWSENWGNDIYD1KR331KR281KR251KR2018PFC2218PFC2112Y225MHZRHINRHIPTXONTXOP1KR211KR223V3ALNKLEDFDXLED3V3APP31PP22PP13PP04PJ25PK66PK37PK28PK19PK010PT011PT112PT213PT314VDDP15VSS116PT417PT518PT619PT720PK521PK422PJ123PJ024MODC25VDDX426VSSX427PC028PC129PC230PC331PB032PB133PB234PB335PB436PA073PA174PA275PA376PA477PA578PA679PA780VSSX381PD483PD584PD685PD786VDD87VSS288AN0089AN0890AN0191AN0992AN0293AN1094AN0395AN1196AN0497AN1298AN0599AN13100AN06101AN14102AN07103AN15104AN16105AN17106VDDA1107VRH108VDDX382PB537PB638PB739PC440PC541PC642PC743PH744PH645PH546PH447PE748PE649PE550PE451VSSX252VDDX253RESET54VDDR55VSS356VSSPLL57EXTAL58XTAL59VDDPLL60PH361PH262PH163PH064PD065PD166PD267PD368PE369PE270PE171PE072VRL109VSSA1110PAD18111PAD19112PAD20113PAD21114PAD22115PAD23116PM7117PM6118PS0119PS1120PS2121PS3122PS4123PS5124PS6125SS0126TEST127PJ7128PJ6129PJ5130PJ4131PM5132PM4133PM3134PM2135PM1136PM0137VSSX1138VDDX1139PK7140PP7141PP6142PP5143PP4144U1MC9S12XEP100RESTBG1VCC3V3A2NC3GNDA4RXIP5RXIN6VCC1V8A7TXOP8TXON9GNDA101V8OUT11VDD3V3D12GNDD13GNDD14VCCIV8D15VCCIV8D16GNDD17VCC3V3D18DATA719DATA620DAT521DAT422DAT323DAT224DAT125DAT026MISO27MOSI28SCS29SCLK30SEN31GNDD32VCC1V8D33TESTMODE334TESTMODE235TESTMODE136TESTMODE037ADDR1438ADDR1339ADDR1240NC60ADDR1141ADDR1242GNND43VCC3V3D44ADDR945ADDR846ADDR747ADDR648ADDR549ADDR450ADDR351ADDR252ADDR153ADDR054CS55INT56WR57RD58RESET59NC61NC62OPMODE063OPMODE164OPMODE265LINKLED66SPDLED67GNDD68VCC1V8D69FDXLED70COLLED71RXLED72TXLED73VCC1V8D74XILN75XTLP76GNDD77NC78NC79NC80U3W51005612349101112U2A95A96A97A985VCANTXDCANRXD1KR231KR261KR271KR19100PFC24100PFC2812JP4231S1SWSPDTD112V100PFC7100PFC812V10MHL21KR151KR16D7100PFC13100PFC14100PFC1533VSHDN1VIN2SW3FB4GND5GND6GND7GND8D5100PFC111KR91KR71KR61KR5D410MHL1100PFC6D2D3100PFC12100PFC16100PFC4100PFC5DS11KR2VIN2BOOT1VSW3SHDNB4SYNC5VC6GND7VFB8D612V5V12Y116MHZ22PFC2322PFC20100PFC251K12345678161514131211109R101K12345678161514131211109R115VPAD15PAD14PAD08PAD09PAD14PAD19PAD12PAD0512345678JP1GNDCHFCEN2CRSTCCLK2CC/CC2CCTL12345678JP2GNDCHFCEN4CRSTCCLK4CC/CC4CCTL12345678JP5GNDCHFCEN1CRSTCCLK1CC/CC1CCTL12345678JP6GNDCHFCEN3CRSTCCLK3CC/CC3CCTL12345678JP7GNDENSTEERPP1PP3PP5PP7123456JP8PT6PT7PT4PT5GNDGND5V5KR145KR17100PFCA9910V100PFC17CLOCK45678312D8NE5551KR81KR41KR31KR1100PFC1100PFC2100PFC3123456789101112131415161718192021222324JP35V5V5V5VHREFFODDVSYNCPWDNGNDGNDGNDGNDGNDVTO5VRSTSDASCLY0Y1Y2Y3Y4Y5Y6Y7PCLKVACAP2VACAP3VACAP1FREXMULTAGCENIICBASUBAGNDSGNDADGNDDEGNDDOGNDDGND123456789101112131415161718192021222324JP9HREFPODDVSYNCPWDN5VCSDACHSYNCY0Y2Y4Y6GNDVT0RSTCSCLGNDY1Y3Y5Y7PCLK1KR125V100PFC10100PFC9VREF1KR135V1KR301KR3212JP12100PFC33100PFC32CANH7CANL6RS8GND2TXD1RXD4VREF5VCC3U4PCA82C250CANTXDCANRXDVCC1KR31100PFC315V100PFC345VCLKRSTC/CCH/FVREFMISENAMISENB5VMISENAMISENB1234JP11SYNC1HOME2GND3SENSE24SENSE15INH16INH27A8B9C10D11VDD12CONTROL13OSC14ENABLE15VREF16CW/CCW17CLOCK18HALF/FULL19REST20D10L297SENB1SENA2GND3OUT14OUT25OUT36OUT47ENB8ENA9IN110IN211IN312IN413VSS14VS15D1L298EAABAB100PFC39100PFC35100PFC3610MHL35V100PFC37CAP100PFC3810MHL45V12JP13HEADER25V100PFC44100PFC40100PFC4110MHL55V100PFC42CAP100PFC4310MHL65V100PFC49100PFC45100PFC4610MHL75V100PFC47CAP100PFC4810MHL85VVRLCC/CC5GNDCC/CC3A33A29A30A100A26A27A101A102A89A90A103A104A337G21G17G22G17G20G1039控器模G3371本系統(tǒng)以MCG28SG20G21G59G40PG20G19G19G1038核心控制器的控制板原理圖，G1186而協(xié)調(diào)控制各個模G3371G1055G19400的G5049G1328，如圖G21G23G7171G1039控芯片電路原理圖。1234JP10100PFC19100PFC18SCK0MK1KR241KR185VVRHVDDA1AN17PAD14PAD15AN16PAD13PAD14PAD15PAD05PAD19PAD09PAD08VTOGNDVDDPD7PD5PD6PCLKVDDX3GNDY7Y5Y6Y0Y1Y2Y3Y4WD5WD6WD7WOPM1WOPM2WOPM0WSENWSCSWMOS0WMOS1WMISOXCLKSMODBMODAECLKGNDVDDX2RESETVDDRGNDGNDEXTALXTALVDDPLLVSYNCHREFLED4LHSYNCCHSYNCPODDPWDNRSTTRQROMCTLVDDX1CC/CC1CC/CC3CCTLCH/FCSDACSCLTESTSSOSCK0MOS10MISO0PS2PS3AN18AN19AN20AN21AN22AN23GNDPP31PP22PP13PP04PJ25PK66PK37PK28PK19PK010PT011PT112PT213PT314VDDP1