仿生六足机器人图像采集卡USB驱动技术研究

针对仿生六足机器人作业任务的具体情况,设计了一款具有USB接口的图像采集卡;该采集卡采用FPGA/CPLD进行图像采集和控制,通过USB接口完成图像数据的传输,具有体积小、速度快、功耗低和实时性好等特点;由于该采集卡是仿生六足机器人视觉子系统的重要组成部分,在视觉子系统中应与其他器件进行合理挂接,因而必须妥善解决USB驱动问题;通过研究和探索,编写了USB设备驱动程序,并使用2个URB来轮流读取,提高了接收效率;调试编译的结果表明该USB设备驱动程序具有良好的实时性和可移植性,有效提高了仿生六足机器人视觉子系统的工作效率。

Research on USB Drive Technology of Biologically Inspired Hexapod Robot's Image Sampling Card

In order to meet the biologically inspired hexapod robot's working demands,a new type of image acquisition card which has a USB interface is designed.In this card FPGA and CPLD are used for image acquisition and a USB interface is used for the transmission of the image data.The image acquisition card has an advantage of small volume,high speed,low power consumption and good real time perform- ance.As the important part of the vision system of the biologically inspired hexapod robot,the image acquisition card need to connect with other devices,so the USB driving is the key problem.Through anatomizing and researching,the USB driving program which uses two URB to read in turn is successfully compiled.The result shows that the USB driving program has a good real time performance,strong adaptabili- ty,and improves the work efficiency of the robot.