基于“創(chuàng)意之星”的顏色識(shí)別機(jī)器人課設(shè)論文

1摘要機(jī)器人是高級(jí)整合控制論、機(jī)械電子、計(jì)算機(jī)、材料和仿生學(xué)的產(chǎn)物。在工業(yè)、醫(yī)學(xué)、農(nóng)業(yè)、建筑業(yè)甚至軍事等領(lǐng)域中均有重要用途?，F(xiàn)在，國(guó)際上對(duì)機(jī)器人的概念已經(jīng)逐漸趨近一致。一般來(lái)說(shuō)，人們都可以接受這種說(shuō)法，即機(jī)器人是靠自身動(dòng)力和控制能力來(lái)實(shí)現(xiàn)各種功能的一種機(jī)器。聯(lián)合國(guó)標(biāo)準(zhǔn)化組織采納了美國(guó)機(jī)器人協(xié)會(huì)給機(jī)器人下的定義“一種可編程和多功能的的操作機(jī)；或是為了執(zhí)行不同的任務(wù)而具有可用電腦改變和可編程動(dòng)作的專(zhuān)門(mén)系統(tǒng)。機(jī)器人一般G11013執(zhí)行機(jī)G7512、G20549動(dòng)G16025G13634、G7828G8991G16025G13634和控制系統(tǒng)和G3809G7446機(jī)械等組G6116A1機(jī)器人能力的G16792G1227標(biāo)準(zhǔn)G2265G6336G7246能，G6363G5875G16285和G5875G11705，G2265G6336G16772G5530、G17828算、G8616G17751、G18504G2047、G2040G7041、G1927G12586、學(xué)G1076和G17935G17765G6524G10714等；機(jī)能，G6363變G17902G5627、G17902用G5627或G12366G19400G2356有G5627等；物G10714能，G6363力、G17907G5242、可靠G5627、聯(lián)用G5627、G4563G2641等。G3252G8504，可以說(shuō)機(jī)器人G4613是具有生物功能的實(shí)際G12366G19400G17828行工具。G7424G12699G6164G1183G13473的G20080G14406G16794G2047機(jī)器人是一G1022具有G20080G14406G16794G2047和G16833G19911控制等G12628G2345功能的G7246能機(jī)器人。G4439能G3827G16794G2047G13430G15025G13523G989種G20080G14406，G5194G1000能G3827G1363用G16833G19911控制G1866G17828動(dòng)。關(guān)鍵字機(jī)器人；G20080G14406G16794G2047；G16833G19911控制；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；COLORIDENTIFICATION；SPEECHIDENTIFICATION3目錄引言11顏色識(shí)別機(jī)器人結(jié)構(gòu)設(shè)計(jì)A39A41A42A43A44A45A46A47A4811顏色識(shí)別機(jī)器人的功能要求112顏色識(shí)別機(jī)器人的組成與功能A49A50A51A52A53A54A55A56A54A55A56A57121顏色識(shí)別機(jī)器人的系統(tǒng)組成A58A59A60A61A62A63A64A65A63A64A65A66122顏色識(shí)別機(jī)器人的組成器件213顏色識(shí)別機(jī)器人的搭建3131運(yùn)動(dòng)系統(tǒng)的搭建3132視覺(jué)系統(tǒng)的搭建3133聽(tīng)覺(jué)系統(tǒng)的搭建414CDS5500舵機(jī)的設(shè)置32顏色識(shí)別機(jī)器人的原理分析A67A68A69A70A71A72A73A74A7521視覺(jué)系統(tǒng)的原理分析A76A77A78A79A80A81A82A83A81A82A83A8422聽(tīng)覺(jué)系統(tǒng)的原理分析A76A77A78A79A80A81A82A83A81A82A83A843程序設(shè)計(jì)631設(shè)計(jì)思路7311系統(tǒng)功能模塊劃分7312系統(tǒng)流程圖分析832程序設(shè)計(jì)9321編寫(xiě)程序9322顏色閾值標(biāo)定1233程序調(diào)試A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A86A87331A88A89A90A91A92A93A94A95A96A97A98A99A100A101A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A85A86A1024總結(jié)16參考文獻(xiàn)A10317附錄A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A104A105A106A105A106A107A108A109A110A111A112A113A114A1151A116A11744A1161引言隨著科技的進(jìn)步，機(jī)器人技術(shù)已經(jīng)處于騰飛的時(shí)代。我們從廣泛意義上理解所謂的智能機(jī)器人，它給人的最深刻的印象是一個(gè)獨(dú)特的進(jìn)行自我控制的“活物”。其實(shí)，這個(gè)自控“活物”的主要器官并沒(méi)有像真正的人那樣微妙而復(fù)雜。智能機(jī)器人具備形形色色的內(nèi)部信息傳感器和外部信息傳感器，如視覺(jué)、聽(tīng)覺(jué)、觸覺(jué)、嗅覺(jué)。除具有感受器外，它還有效應(yīng)器，作為作用于周?chē)h(huán)境的手段。這就是筋肉，或稱(chēng)自整步電動(dòng)機(jī)，它們使手、腳、長(zhǎng)鼻子、觸角等動(dòng)起來(lái)。顏色識(shí)別機(jī)器人就是一個(gè)是基于G256G2031意G1055G7155G257機(jī)器人技術(shù)基G11796，使用NORTHSTARG5332G2469環(huán)境G16786G16757的G12628G2345的智能機(jī)器人。G256G2031意G1055G7155G257是一G12193G8181G3371G2282機(jī)器人G13464G1226，其特G9869是G13464G6116機(jī)器人的G2520G12193G19658G1226是G17902用、G2499G18337G13464的，G2520個(gè)G19658G1226G1055G19400有G13491一的G17842G6521G7053G5347，G19658G1226G1055G19400G2499G1209自G11013G13464G2524，從而G7512G5326G1998G2520G12193G2520樣的機(jī)器人G7512G3423。NORTHSTAR是一個(gè)G3282形G2282G1144G1126機(jī)器人控制G12255G5219G5332G2469G5049具。G3324NORTHSTARG1025，G17902G17819G21748G7643的G6314動(dòng)G12879G1296G17935G17765G7706的控G1226和G4557控G1226G1582G12628G2345G5483G4658G5627G16786G13634，就G2499G1209G5567G6475的G13546G1901機(jī)器人控制G12255G5219。G12255G5219G13546G17765G4448G2530，G2499G1209G13546G16805并G991G17745G2052機(jī)器人控制器G1025G17828行。1顏色識(shí)別機(jī)器人結(jié)構(gòu)設(shè)計(jì)顏色識(shí)別機(jī)器人是一個(gè)具有顏色識(shí)別和G16833G19911控制等G12628G2345G2163能的智能機(jī)器人，是使用G2031意G1055G7155機(jī)器人部G1226G6657G5326的G1852G2533G17828動(dòng)機(jī)器人。其特G9869是使用G1852G2533G17730，G2499G1209G1231意G7053G2533行進(jìn)，G6657G18209G6680像G3848G2499G1209進(jìn)行顏色識(shí)別G1209G2462G21626G1823G20130進(jìn)行G16833G19911控制，并G1000G13479G7512G4579G5051G17743G1427。11顏色識(shí)別機(jī)器人功能要求G708G20G709基G7424G2163能G726機(jī)器人G2499G1209識(shí)別G13430G15025G1016G12193顏色，識(shí)別G2052G13430色，G2029G2081進(jìn)，識(shí)別G2052G15025色G2029G1584G8502，識(shí)別G2052其G1194G7588一G12193顏色，能G3827G1582G1998G11468應(yīng)的動(dòng)作。G708G21G709G6205G4649G2163能G726G5415機(jī)器人G3324行進(jìn)的G17819G12255G1025，G17767G1849G16833G19911信息，G7693G6466G16833G19911G1582G1998G11468應(yīng)的動(dòng)作。如G256G7254G1584G257G256G2081進(jìn)G25712顏色識(shí)別機(jī)器人的組成及功能G20G17G21G17G20顏色識(shí)別機(jī)器人的系統(tǒng)組成顏色識(shí)別機(jī)器人G11013G989部G2010G13007G13491G13464G6116，G2010別為G726G103G17828動(dòng)G13007G13491G727用于控制機(jī)器人進(jìn)行G1231意G7053G2533的G17828動(dòng)。A107A108A109A110A111A112A113A114A1152A116A11744A1162G103視覺(jué)G13007G13491G727用于G18331G19610G3282像信息，G4557機(jī)器人G17828動(dòng)進(jìn)行顏色識(shí)別。G103聽(tīng)覺(jué)G13007G13491G727用于G18331G19610G16833G19911信息，G4557機(jī)器人G17828動(dòng)進(jìn)行G16833G19911控制。G20G17G21G17G21顏色識(shí)別機(jī)器人的組成器件顏色識(shí)別機(jī)器人的主要G13464G6116器G1226G1209G2462G2163能如G991所G12046G726G708G20MULTIFLEXA118A119G21PXAG2170控制器G20個(gè)G727MULTIFLEXA118A119G21PXAG2170控制器具有高G17828算能力、低G2163耗、體積G4579，控制G1209G2462數(shù)G6466G6521口豐富，G5332G2469G12628G2345等特G9869，是專(zhuān)為智能機(jī)器人控制而G16786G16757的。MULTIFLEXA118A119G21PXAG2170控制器的詳細(xì)G2163能如G991所G12046G726G4448G1852支持MULTIFLEXA120A121G21AVR控制器G1852部G2163能MARVELLXSCALEPXAG2170533MHZ，3G21位處理器，G206MNORFLASH,G20G218MNANDFLASH,64MSDRAMLINUX操作G13007G134914個(gè)USBHOST，G20個(gè)G2000BPSG1209太網(wǎng)端口、WIFIG8181G3371插槽G20個(gè)G21626G1823G20130G6521口，G20個(gè)立體聲G19911頻G17767G1998G6521口支持G6680像G3848作為視覺(jué)傳感器，G21626G1823G20130作為聽(tīng)覺(jué)傳感器G21CDS550舵機(jī)4個(gè)G727CDS550G4658于一G12193G19610電機(jī)、伺服驅(qū)動(dòng)、總線G5347G17902訊G6521口為一體的G19610G6116伺服G2345元，主要用于微G3423機(jī)器人的關(guān)節(jié)、G17730子、履帶驅(qū)動(dòng)，也G2499用于其它G12628G2345位G13634控制場(chǎng)G2524。如G3282G20所G12046。CDS550G18331用半雙G5049串行異步總線進(jìn)行控制，每個(gè)舵機(jī)都有自己G2345獨(dú)的ID號(hào)，G3324機(jī)器人G7512G3423G6657G5326時(shí)需要G4557ID號(hào)進(jìn)行G18209G13634，G1209免機(jī)器人的G7588些關(guān)節(jié)的ID號(hào)G18337疊。CDS550有主用的調(diào)試環(huán)境ROBOTSERVOTERMINAL，G3324這個(gè)環(huán)境G991，G2499G1209G16786G13634舵機(jī)ID、皮特率、G5049作G8181G5347、速度哦限制、角度限制、電壓限制等等。3G1852G2533G177304個(gè)G7274G6680像G3848G20個(gè)G7275G21626G1823G20130G20個(gè)G7276G19658G1226若干G727A122A123A124A125A126A127A128A129A1303A131A13244A1313G3282G2013顏色識(shí)別機(jī)器人的搭建使用G2031意G1055G7155機(jī)器人的部G1226，G2499G1209G17743易地G6657G5326一個(gè)包含G17828動(dòng)，視覺(jué)，聽(tīng)覺(jué)G989個(gè)部G2010的智能機(jī)器人。131運(yùn)動(dòng)系統(tǒng)的搭建（1）將四個(gè)G1852G2533G17730G6657G18209四個(gè)舵機(jī)，用G17842G6521G19658G1226安裝G6116一個(gè)G2499G1209G1231意G7053G2533G17828動(dòng)的底盤(pán)G727G708G21G709G3324底盤(pán)上安裝控制器，固定好。G7083G709將四個(gè)舵機(jī)串聯(lián)起來(lái)G6521G2052控制器的機(jī)器人舵機(jī)G6521口。G20G173G17G21視覺(jué)系統(tǒng)的搭建（1）使用G2031意G1055G7155的LG21G20部G1226G6657G5326一個(gè)G6680像G3848的G3848部G727G708G21G709將G6680像G3848固定G3324G6657G5326好的G3848部G727（3）將G6680像G3848的USBG6521G2052控制器的G1231意USBG6521口G20G173G17G21聽(tīng)覺(jué)系統(tǒng)的搭建將G21626G1823G20130G6521口G6521G2052控制器的G21626G1823G20130G17767G1849G6521口。14CDS5500舵機(jī)的設(shè)置CDS5500的基G11796G2454數(shù)G16786G13634、G1457G6264G2454數(shù)調(diào)節(jié)、G5627能G8991試都G2499G1209G17902G17819ROBOTSECOTERMINALG17731G1226來(lái)實(shí)G10628。步G20600如G991所G12046G726G708G20G709G6183G5332G17731G1226，將舵機(jī)G994電G14053G17842G6521G727G708G21G709G7609G6226舵機(jī)，G16786G13634舵機(jī)的G2454數(shù)G1209G2462G18209G13634ID號(hào)G727A122A123A124A125A126A127A128A129A1304A131A13244A1314圖2圖3需要G8892意的是G726每個(gè)CDS5500需要使用G993用IDG30每串CDS5500的數(shù)G18339G993能太G3822，最A(yù)133A134A135A136A137A138A139A140A1415A142A14344A1425好是6個(gè)G1209G991。正G5132G5049作G991G2345個(gè)CDS5500的電G8756G2499能G17810G2052G2100MAG97G20A，G3593G17728電G8981G2499G17810G2052G21G175A，G2345G134646個(gè)CDS5500的G5049作電G8981G2499能G17810G205238A。這樣的電G8981G1262G16765舵機(jī)線G2469G9921，并G1147G10995G8616G17751G3835的電壓G19489，最G2530一個(gè)CDS5500G2499能G3252為G8851G17896舵機(jī)線的G2010壓而G4560G14280G5049作電壓G17819低，CDS5500G3324電壓G17819低時(shí)G1262G1998G10628復(fù)位、數(shù)G6466G17902訊G993正G5132等G10378G1929。2顏色識(shí)別機(jī)器人的原理分析21視覺(jué)系統(tǒng)的原理分析機(jī)器視覺(jué)G13007G13491主要G11013G989部G2010G13464G6116G726G3282像的G14731G2474、G3282像的處理和G2010G7524、G17767G1998或G7186G12046。G3282像的G14731G2474實(shí)G19481上是將G15999G8991物體的G2499視G2282G3282像和內(nèi)G3324特G5461G17728G6454G6116能G15999G16757算機(jī)處理的一G13007G2027數(shù)G6466，它主要G11013G989部G2010G13464G6116G726G10043G7138，G3282像G13870G9978形G6116，G3282像G11842定和形G6116G6680像機(jī)G17767G1998信號(hào)。視覺(jué)信息的處理技術(shù)主要G1393G17194于G3282像處理G7053G8873，它包G6336G3282像G3698G5390、數(shù)G6466G13546G11733和傳G17767、G5191G9381、G17805G13548G19172G2282、G2010G2118、特G5461G6289G2474、G3282像識(shí)別G994理解等內(nèi)G4493。經(jīng)G17819這些處理G2530，G17767G1998G3282像的G17148G18339G5483G2052G11468G5415G12255度的G6925G2904，G7094G6925G2904G1114G3282像的視覺(jué)效G7536，G2460G1427于G16757算機(jī)G4557G3282像進(jìn)行G2010G7524、處理和識(shí)別。機(jī)器人視覺(jué)G13007G13491主要是G2045用顏色、形G10378等信息來(lái)識(shí)別環(huán)境G11458G7643。G1209機(jī)器人G4557顏色的識(shí)別為G1375G726G5415G6680像G3848G14731G5483G5437色G3282像G1209G2530，機(jī)器人上的G4896G1849G16757算機(jī)G13007G13491將G8181G6323視頻信號(hào)數(shù)G4395G2282，將像G13044G7693G6466顏色G2010G6116G1016部G2010G726感G1864G17271的像G13044G708G6640G13046的G11458G7643顏色G709和G993感G1864G17271的像G13044G708G13984G7235顏色G709。G9994G2530，G4557這些感G1864G17271的像G13044進(jìn)行RG42B顏色G2010G18339的G2317G18209。為G1114G1955G4581環(huán)境G1821G5390度的G5445G2721，G2499G6238RG42B顏色G3507G12366G19400G17728G2282G2052HIS顏色G12366G19400。其G1025，線G5627色G5437G19420G1552G8873是用線G5627G5191G19766G6238色G5437G12366G19400G2010G2118G5332來(lái)，其G19420G1552的G11842定G2499G18331用G11464G6521G2474G19420G1552和G17902G17819自動(dòng)G16769G13463來(lái)G14731G2474G11458G7643顏色G14551圍等G7053G8873，也G2499G1209G18331用G12082經(jīng)網(wǎng)G13488和G3822G2454數(shù)G1927G12586G7653G7053G8873來(lái)進(jìn)行自G4410G1076，G1209G14731G5483G2524G17878的G19420G1552G727而用最G17829G18063G3507G2010G12879G8873G2010G2118G3282像時(shí)，G2029G2045用G19594G4658度G2001數(shù)，G2375G7693G6466最G3835的G19594G4658度來(lái)G2040G7041這個(gè)顏色G4658于G2750個(gè)G12879G727G19420G1552G2533G18339G8873是G1820使用一G13464G1119G1820G11842定的G19420G1552G2533G18339來(lái)G6238色G5437G1552G3324色G5437G12366G19400G1025的位G13634來(lái)G2040G7041其G4658于G2750G12193顏色。G3324G12255G5219G1025，G14731G5483的G3282像數(shù)G6466是一個(gè)一G13512的數(shù)G13464，原始的G3282像數(shù)G6466G17902G5132是RG42BG214格G5347，G2375每G989個(gè)G4395節(jié)一個(gè)像G13044，G989個(gè)G4395節(jié)G2010別是該像G13044G13430色、綠色、G15025色的顏色G2010G18339G1552。G3324RG42B顏色G12366G19400G991一般很難排除G1821G10043的G5445G2721，G3252為G3324亮度突變的環(huán)境里，G989個(gè)顏色G2010G18339都G1262劇烈變G2282，所G1209RG42BG3282像G993G17878G2524用來(lái)G1582顏色區(qū)G2010。G5132規(guī)的G1582G8873是將這個(gè)G3282像數(shù)G13464G17728G6454G2052HSIG12366G19400去。HSIG2375色調(diào)HUE、色飽和度SATURATION、和亮度INTENSITY，A144A145A146A147A148A149A150A151A1526A153A15444A1536其G1025G2081G1016項(xiàng)受亮度的G5445G2721很G4579，G2520G12193顏色G3324色度HUEG2010G18339的G7053G2533上是G17842續(xù)均勻G2010布的，是極好的顏色G7643定坐G7643G13007。G4557畫(huà)G19766G1025所有像G13044進(jìn)行G17728G6454G2530，G1393次G4557G2520G9869的HG1552進(jìn)行檢G7609，符G2524G7643定G14551圍要求的就作為有效G9869，否G2029為無(wú)效G9869。遍歷G4448整幅G3282像的像G13044G1055G2530，就將所有有效G9869的X和Y求和G2474G5191均G1552，這樣G2499G1209G5483G2052該顏色區(qū)G3507G3324畫(huà)G19766G1025的顏色G17148心的坐G7643。G2045用G5483G2052的坐G7643G2375G2499G16786G16757控制機(jī)器人的G17828動(dòng)。22聽(tīng)覺(jué)系統(tǒng)的原理分析聽(tīng)覺(jué)G13007G13491G17828用的是G16833G19911識(shí)別技術(shù)。G16833G19911識(shí)別是G994機(jī)器進(jìn)行G16833G19911G1144G8981，G16765機(jī)器G7138白您說(shuō)什么，這是人們長(zhǎng)期G1209來(lái)夢(mèng)寐G1209求的G1119情。G16833G19911識(shí)別技術(shù)就是G16765機(jī)器G17902G17819識(shí)別和理解G17819G12255，G6238G16833G19911信號(hào)G17728變?yōu)镚11468應(yīng)的文G7424或命令的一G12193技術(shù)。G16833G19911識(shí)別是一門(mén)G1144叉G4410科，G17829二十年來(lái)，G16833G19911識(shí)別技術(shù)G2474G5483G7186著進(jìn)步，G5332始從實(shí)驗(yàn)室走G2533市場(chǎng)。人們預(yù)G16757，未來(lái)G200年內(nèi)，G16833G19911識(shí)別術(shù)將進(jìn)G1849G5049業(yè)、家電、G17902信、汽車(chē)電子、醫(yī)療、家庭服務(wù)、消費(fèi)電子G1147品等G2520個(gè)領(lǐng)G3507。G16833G19911識(shí)別技術(shù)所涉G2462的領(lǐng)G3507包G6336G726信號(hào)處理、G8181G5347識(shí)別、概率論和信息論G2469聲機(jī)理和聽(tīng)覺(jué)機(jī)理、人G5049智能等等。G7693G6466識(shí)別的G4557象G993同，G16833G19911識(shí)別G1231務(wù)G3835體G2499G2010為3G12879，G2375孤立詞識(shí)G708ISOLATEDWORDRECOGNITIONG709，關(guān)鍵詞識(shí)別G708或稱(chēng)關(guān)鍵詞檢G1998，KEYWORDSPOTTINGG709和G17842續(xù)G16833G19911識(shí)別。其G1025，孤立詞識(shí)別的G1231務(wù)是識(shí)別G1119G1820已知的孤立的詞，如G256G5332機(jī)G257G256關(guān)機(jī)G257等G727G17842續(xù)G16833G19911識(shí)別的G1231務(wù)G2029是識(shí)別G1231意的G17842續(xù)G16833G19911，如一個(gè)句子或一段話G727G17842續(xù)G16833G19911G8981G1025的關(guān)鍵詞檢G8991針G4557的是G17842續(xù)G16833G19911，但它并G993識(shí)別G1852部文G4395，而只是檢G8991已知的若干關(guān)鍵詞G3324何處G1998G10628，如G3324一段話G1025只檢G8991G256G16757算機(jī)G257、G256世界G257這G1016個(gè)詞。G7693G6466是否針G4557特定G2469G19911人，G2499G1209G6238G16833G19911識(shí)別技術(shù)G2010為特定人G16833G19911識(shí)別和非特定人G16833G19911識(shí)別，G2081者只能識(shí)別一個(gè)或幾個(gè)人的G16833G19911，而G2530者G2029G2499G1209G15999G1231何人使用。G7186G9994，非特定人G16833G19911識(shí)別G13007G13491更符G2524實(shí)G19481需要，但它要G8616針G4557特定人的識(shí)別困難G5483G3822。G256G2031意G1055G7155G257的G16833G19911識(shí)別引擎是孤立詞識(shí)別G708ISOLATEDWORDRECOGNITIONG709。3程序設(shè)計(jì)31設(shè)計(jì)思路A144A145A146A147A148A149A150A151A1527A153A15444A1537311系統(tǒng)功能模塊劃分G13007G13491G2163能G2010為G1016個(gè)G8181G3371G726G708G20G709顏色控制G8181G3371G5415G6680像G3848G18331G19610G2052G13430色信息時(shí)，G5483G1998G13430色區(qū)G3507G3324畫(huà)G19766G1025的坐G7643，G2045用這個(gè)坐G7643控制機(jī)器人G5332始G2081進(jìn)G17828動(dòng)G727G5415G6680像G3848G18331G19610G2052G15025色信息時(shí)，G5483G1998G15025色區(qū)G3507G3324畫(huà)G19766G1025的坐G7643，G2045用這個(gè)坐G7643控制機(jī)器人G1582G1998G11468應(yīng)的動(dòng)作，G2375G1820G2530退G21秒G2530，繼續(xù)G2081進(jìn)G727G5415G6680像G3848G18331G19610G2052綠色信息時(shí)，G5483G1998綠色區(qū)G3507G3324畫(huà)G19766G1025的坐G7643，G2045用這個(gè)坐G7643控制機(jī)器人G1584G8502G17828動(dòng)。G708G21G709G16833G19911控制G8181G3371G5415機(jī)器人G3324行進(jìn)的G17819G12255G1025，G17902G17819G21626G1823G20130G17767G1849G16833G19911，如G7536G17767G1849G256G7254G1584G257G2029機(jī)器人G7254G1584G17828動(dòng)G727再G17767G1849G256G2081進(jìn)G257G2029機(jī)器人繼續(xù)G2081進(jìn)。312系統(tǒng)流程圖分析顏色控制G8181G3371G8981G12255G3282A144A145A146A147A148A149A150A151A1528A153A15444A1538A155A156A157A158A159A160A144A145A146A147A148A149A150A151A1529A153A15444A153932程序設(shè)計(jì)321編寫(xiě)程序G708G20G709G6183G5332NORTHSTARG5332G2469G17731G1226，新G5326G5049G12255G708G21G709G16786G13634舵機(jī)G7083G709添加控G1226，G16786G13634G2454數(shù)G7084G709G17842線G7085G709G13546G16805A144A145A146A147A148A149A150A151A15210A153A15444A15310A161A162A163A164A165A166A167A168A169A161A162A163A164A166A167A168A169A170A171A172A173A174A175A176A177A178A171A172A173A174A176A177A170A179A180A181A182A183A184A185A186A18711A188A18944A18811A190A191A173A174A175A176A190A191A173A174A170A179A180A181A182A183A184A185A186A18712A188A18944A18812322顏色閾值標(biāo)定G12255G5219G16786G16757G4448G6116，G3324G17828行G1055G2081，我們需要G4557G11458G7643顏色G19420G1552G14551圍進(jìn)行手動(dòng)G7643定。顏色G7643定的G11458的是為G1114將顏色G7643記G1998來(lái)，將G13984G7235G1025G11468G17829的顏色去除掉，實(shí)G10628機(jī)器人G4557G11458G7643顏色的識(shí)別，如G7536這一步?jīng)]G1582好，機(jī)器人G3324實(shí)G19481G17828行時(shí)G2499能G1998G10628誤識(shí)別的情G1929。將機(jī)器人G994PC用網(wǎng)線G17842G6521起來(lái)，G6183G5332機(jī)器人G5332關(guān)，稍等G210秒左右，待機(jī)器人控制器的G13007G13491啟動(dòng)G4448畢，雙擊G8981G12255G3282里的VISIONG12366G19400，G3324彈G1998的G4658G5627G7706里G9869擊G256OPENCAMERAG257按鈕，界G19766上G1262G7186G12046機(jī)器人看G2052的G3282像。勾選G256二G1552G2282G257選項(xiàng)G7706，G3282像G1025的有效像G13044將G1262用G13430色G7643記G1998來(lái)，G6314動(dòng)畫(huà)G19766G991G7053的G19420G1552G14551圍G9381桿，畫(huà)G19766G1025的G7643記G1262實(shí)時(shí)變動(dòng)。A192A193A194A195A196A197A198A199A20013A201A20244A20113G6925變HG1552G14551圍，將G6925變G7643定的顏色G19420G1552G727G6925變SG1552G14551圍，將G6925變G4557色飽和度的要求，G17902G5132用于排除G13984G7235G1025G11468G17829顏色的干擾。調(diào)整好的顏色G19420G1552如G991所G12046G726G708G20G709G13430色G726HMAX38HMIN0SMAXG2155SMING20G21G21IMAXG2155IMING2008G708G21G709G15025色G726HMAXG2133HMING207G21SMAXG2155SMIN68IMAXG2155IMING206A192A193A194A195A196A197A198A199A20014A201A20244A20114G7083G709綠色G726HMAXG2050HMIN87SMAXG2155SMIN45IMAXG2155IMIN6333程序調(diào)試和運(yùn)行所有G5049作G13479G7475G1055G2530，就G2499G1209G13546G16805并G991G17745G2052機(jī)器人上進(jìn)行驗(yàn)G16789G1114。步G20600如G991所G12046G726G708G20G709G9869擊NORTHSTARG5049具G7651上的G13546G16805按鈕，G7609看OUTPUTWINDOW里G19766的G13546G16805信息，G6564G12046G256COMPLILESUCCEEDEDG17G17G17G5說(shuō)G7138G13546G16805G6116G2163。A192A193A194A195A196A197A198A199A20015A201A20244A20115G7082G709G9869擊G5049具G7651上的G991G17745按鈕，G7609看OUTPUTWINDOW里G19766的G13546G16805信息，G6564G12046G256DOWNLOADINGSUCCEEDEDG257說(shuō)G7138G991G17745G6116G2163。G7083G709將機(jī)器人G6930G3324地上，將G11458G7643顏色G6930G3324機(jī)器人G19766G208110G2412G12871G1998，G9869擊G5049具G7651上的G17828行按鈕，機(jī)器人G1427G5332始按G10043我們G16786G16757的G17935G17765G17828行起來(lái)。試著G6925變顏色，或G17767G1849G16833G19911，G7609看機(jī)器人是否像預(yù)G16757那樣G17828動(dòng)。331程序運(yùn)行出現(xiàn)的問(wèn)題和解決辦法G708G20G709G11013于變G18339G16786G13634G1209G2462G17842線的G19394G20076，使G5483G13546G16805G3845G17145。解G1927G7053G8873G726G2520個(gè)控G1226G1393次排G7609，將G16786G13634的變G18339G16786G13634好，未G17842G6521的線G17842G6521好。G708G21G709G11013于網(wǎng)G13488G17842G6521沒(méi)有G17842G6521好，使G5483G991G17745G3845G17145。解G1927G7053G8873G726將網(wǎng)線G17842G6521好，G16786G13634IP地G3348，G9869擊NORTHSTARG17731G1226的G256網(wǎng)G13488G17842G6521G257，G7186G12046G256G17842G6521G6116G2163G257G2375G2499。G7083G709舵機(jī)G1782