資源簡介
基于機器視覺的可移動裂紋檢測機器人是一款采用最新的圖像處理技術與機器人嵌入式技術相結合的裂紋檢測機器人。本設備旨在滿足隧道、橋梁、道路、大壩等行業的裂紋分析檢測需求，為行業用戶提供代替傳統人力的無人智能化作業解決方案，改善人工操作、危險系數高、成本高、效率低的行業痛點。該機器人驅動模塊采用C語言和MDK編程實現自動避障。機器視覺模塊，采用Python+OpenCV編程，通過CCD攝像頭收集圖像數據初步進行灰度化處理，利用Filter濾波處理生成最終圖像。本設計可使用兩種控制模式控制，第一種為自動檢測模式，在該模式下機器采集的圖像實時顯示在LCD液晶屏上，并將圖像保存在機器人的SD卡中，供后續的研究分析使用。第二種為監控檢測模式，利用樹莓派USB攝像頭采集到的圖像，經WIFI模塊發送給上位機，并將靶定的裂紋位置坐標傳輸至上位機。本產品成本低、功耗小、檢測對象多樣化等多重優勢。
代碼片段和文件信息
/**************************************************************************//**
?*?@file?????core_cm3.c
?*?@brief????CMSIS?Cortex-M3?Core?Peripheral?Access?layer?Source?File
?*?@version??V1.30
?*?@date?????30.?October?2009
?*
?*?@note
?*?Copyright?（C）?2009?ARM?Limited.?All?rights?reserved.
?*
?*?@par
?*?ARM?Limited?（ARM）?is?supplying?this?software?for?use?with?Cortex-M?
?*?processor?based?microcontrollers.??This?file?can?be?freely?distributed?
?*?within?development?tools?that?are?supporting?such?ARM?based?processors.?
?*
?*?@par
?*?THIS?SOFTWARE?IS?PROVIDED?“AS?IS“.??NO?WARRANTIES?WHETHER?EXPRESS?IMPLIED
?*?OR?STATUTORY?INCLUDING?BUT?NOT?LIMITED?TO?IMPLIED?WARRANTIES?OF
?*?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?APPLY?TO?THIS?SOFTWARE.
?*?ARM?SHALL?NOT?IN?ANY?CIRCUMSTANCES?BE?LIABLE?FOR?SPECIAL?INCIDENTAL?OR
?*?CONSEQUENTIAL?DAMAGES?FOR?ANY?REASON?WHATSOEVER.
?*
?******************************************************************************/
#include?
/*?define?compiler?specific?symbols?*/
#if?defined?（?__CC_ARM???）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????__inline???????????????????????????????????/*!
#elif?defined?（?__ICCARM__?）
??#define?__ASM???????????__asm???????????????????????????????????????/*!??#define?__INLINE????????inline??????????????????????????????????????/*!
#elif?defined???（??__GNUC__??）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#elif?defined???（??__TASKING__??）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#endif
/*?###################??Compiler?specific?Intrinsics??###########################?*/
#if?defined?（?__CC_ARM???）?/*------------------RealView?Compiler?-----------------*/
/*?ARM?armcc?specific?functions?*/
/**
?*?@brief??Return?the?Process?Stack?Pointer
?*
?*?@return?ProcessStackPointer
?*
?*?Return?the?actual?process?stack?pointer
?*/
__ASM?uint32_t?__get_PSP（void）
{
??mrs?r0?psp
??bx?lr
}
/**
?*?@brief??Set?the?Process?Stack?Pointer
?*
?*?@param??topOfProcStack??Process?Stack?Pointer
?*
?*?Assign?the?value?ProcessStackPointer?to?the?MSP?
?*?（process?stack?pointer）?Cortex?processor?register
?*/
__ASM?void?__set_PSP（uint32_t?topOfProcStack）
{
??msr?psp?r0
??bx?lr
}
/**
?*?@brief??Return?the?Main?Stack?Pointer
?*
?*?@return?Main?Stack?Pointer
?*
?*?Return?the?curren ?屬性????????????大小?????日期????時間???名稱
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????.CA....???????709??2020-02-26?15:04??基于機器視覺可移動裂紋檢測機器人\Doc\readme.txt
????.CA....???????401??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\keilkill.bat
????.CA....?????17273??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\core_cm3.c
????.CA....?????85714??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\core_cm3.h
????.CA....?????15766??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_cl.s
????.CA....?????15503??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_hd.s
????.CA....?????15692??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_hd_vl.s
????.CA....?????12376??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_ld.s
????.CA....?????13656??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_ld_vl.s
????.CA....?????12765??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_md.s
????.CA....?????14073??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_md_vl.s
????.CA....?????15955??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\startup\startup_stm32f10x_xl.s
????.CA....????633941??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\stm32f10x.h
????.CA....?????36557??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\system_stm32f10x.c
????.CA....??????2085??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\CMSIS\system_stm32f10x.h
????.CA....??????8982??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\misc.h
????.CA....?????21690??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_adc.h
????.CA....??????7555??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_bkp.h
????.CA....?????27559??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_can.h
????.CA....??????6573??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_cec.h
????.CA....??????2162??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_crc.h
????.CA....?????15233??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_dac.h
????.CA....??????3818??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_dbgmcu.h
????.CA....?????20754??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_dma.h
????.CA....??????6824??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_exti.h
????.CA....?????25445??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_flash.h
????.CA....?????27016??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_fsmc.h
????.CA....?????20175??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_gpio.h
????.CA....?????30029??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_i2c.h
????.CA....??????3828??2017-02-04?10:05??基于機器視覺可移動裂紋檢測機器人\Libraries\FWlib\inc\stm32f10x_iwdg.h
............此處省略281個文件信息
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