基于NI LabVIEW的自动割草机

2011年12月09日12:19:44 本网站我要评论(2)字号：T | T | T

西储大学的学生设计了一种自动割草机，通过限定割草路径来割草，并避开障碍。该小组集合了传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器" title="传感器">传感器，控制算法，系统控制和图像处理进行工程实践。2010年6月，该小组获得了第七届导航学会（ION）自动割草机竞赛第一名。以下介绍了他们是如何做到的。

学生被要求在一个学期内，快速组合机器人设计所需的工程组件。机器人的控制系统要求兼容部件的连接，包括传感器和制动器的结合，控制算法，以及先进的图像处理。NI LabVIEW 软件为学生提供了一个完整的工程实践开发环境。

硬件API

使用NI 9401 C系列数字I/O模块，小组利用编码器来测量速度和位置。通过与硬件的紧密结合，他们可以快速的从多个传感器中获得数据。分析库

为了确定机器人的状态，该小组采用了数学函数进行卡尔曼滤波。他们利用了LabVIEW 内置的数学函数，对传感器测量的数据进行了内联分析。自定义用户界面

为了检测到障碍物，学生利用NI视觉软件进行采集，处理并显示来自摄像头的图像。利用用户界面，学生通过色彩和视觉纹理来识别障碍。部署目标

机器人采用嵌入式实时处理器和现场可编程门阵列（FPGA）实现高级控制。模块化I/O系统与传感器和制动器连接，来进行实时图像处理。技术方法

学生利用FPGA技术的优点来采集时序要求严格的数据，以控制机器人。与VHDL相比，LabVIEW 图形化编程简化了嵌入式FPGA程序编程的复杂性。设计方法

为了整合现有的代码，学生采用了调用库函数节点，将ANSI C中开发的算法合并到LabVIEW程序中。结合LabVIEW中的多种编程方式，学生实现了代码重用和开发优化。

基于NI LabVIEW的自动割草机

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