机器故障？购置更换零件？停产设备麻烦？不要犹豫，请速与我们联系，我们可以快速提供优质、合格的工业备件，解决您各处寻找的烦恼！--------------------------------------------------允许我给您介绍下这个产品和我们的服务：现货全新原装***15天质量问题无条件包退换一年质保完善的***服务雄厚的技术人才后盾真正的为客户排忧解难客户的满意是对我们的肯定更是我们的动力单子,得之,我幸。不得,我力争到底全心服务--------------------------------------------------ABB3HAB5957-1DSQC324优质的产品★优质的价格★优质的***★优质的服务，是您***佳的选择！嵌入式机器人系统通常需要高速、功能接口丰富的处理器系统，而***新的Micro2440开发板采用了三星S3C2440A处理器，该处理器基于AR***20T内核，工作频率400MHz，0.13μm的工艺制造,具有高性价比、低功耗、高性能的特点[1],同时内部集成了LCD、CMOS摄像头等接口模块，能够高速快捷地完成视频信号处理，而且丰富的外围接口提供了系统良好的扩展特性。另外Micro2440核心板可以与底板分离单独运行，为进一步缩小体积预留了空间。无论是基于图像的处理还是视频流的处理，首先都需要完成视觉平台的构建，本文在Micro2440开发板的基础上实现了视觉处理平台，完成了图像、视频的处理和显示功能，并提出了基于颜色通道的背景差分法，完成目标物体中心的实时检测。1系统整体流程该平台设计首先完成了基本的硬件初始化，而CMOS摄像头驱动以及相应的图像处理作为一个单独的模块进行加载运行。该嵌入式系统的加载启动任务是由BootLoader（BootLoader是嵌入式系统加电后运行的***段程序）来完成的。BootLoader分为两个阶段：***阶段通常由汇编语言实现完成部分硬件的初始化，创建C语言运行环境；第二阶段继续进行初始化完成MMU、LCD显示等设置。在系统完成基本硬件的初始化工作后，便可以启动摄像头进行图像、视频的采集处理，系统结构如图1所示。BootLoader的***阶段启动的流程依次为：ARM启动或重启→设置中断向量→禁止看门狗、中断→设置时钟→Sdram初始化→***RO/RW段到Sdram→ZI段清零→堆栈初始化→跳转到main函数。第二阶段则完成了以下操作：main函数→端口初始化→设置中断请求→设置主频→串口初始化→设置MMU→打开Cache→LCD初始化。ARM系统MMU的设计为了便于实现，采用了2段式的虚拟地址分配方式，每个页（Section）的大小设置为1MB;同时为了减少对S3C2440地址的修改，采用了虚拟地址与物理地址相同的地址分配方式。2LCD设计Micro2440开发板配有240×320/NEC3.5英寸T-FT真彩液晶屏，正确设置后能够显示清晰的图像、视频。S3C2440A的LCD控制器支持的屏幕大小包括480×640、240×320以及160×160等尺寸，能够产生VFRAME、VLINE、VCLK、VM等控制信号。这些控制信号的使用需要配置S3C2440A的C端口为LCD控制。同时LCD的数据线VD[0]~VD[7]也由C端口控制，VD[8]~VD[23]则由D端口控制，需要设置做为LCD数据线。由于使用的是TFT真彩液晶屏，需要把LCD控制寄存器设置为TFT模式，这里设置为TFT的16BPP（BitsPerPixel）模式；同时还需要对LCDCON5进一步设置为5:6:5或5:5:5:1格式，这里设置RGB格式为5:6:5格式，此信号在OV9650传输如图2所示[2]。以便和摄像头的视频输出格式相一致，否则需要进行格式的转化。在设置完帧缓存地址后，写入数据，便可以实现图像的显示，格式转换过程如图3所示。3摄像头驱动设计Micro2440开发板的配套摄像头型号为OV9650，该摄像头具有130万像素，输出视频格式为YCbCr格式，同时S3C2440A的CAMIF(CameraInterface)提供了ITU-RBT.601/6568位标准输入的支持[3]，***大可采样4096×4096像素的图像[4],在Preview模式下支持输出RGB16/24bit格式，这对于数字图像的处理带来了便利条件。S3C2440A的CAMIF与OV9650的连接如图4所示。DS303A3A01GXA019DCCONTACTOR100AMP80VDCNOINTLDS303A3A01GXA502XHCONTACTORDS303A3A01GXA503DCCONTACTOR100AMPDS303A3A01GXA503XHDCCONTACTOR100AMPDS303A3A01GXA650DCCONTACTOR100AMPDS303A3A01GXA650XHDCCONTACTOR100AMPDS303A3B01XGA002XHDCCONTACTOR1NC100A230VDCDS303A3B01XGA003DCCONTACTOR1NC100A115VDCDS303A3B01XGA003XHDCCONTACTOR1NC100A115VDCDS303A3B01XGA650XHCONTACTORDS303A3C01GXA002DCCONTACTOR2NO100A230VDCDS303A3C01GXA002XFDCCONTACTOR2NO100A230VDCW/INTLDS303A3C01GXA002XHDCCONTACTOR2NO100A230VDCW/INTLDS303A3C01GXA003DCCONTACTOR2NO100A115VDCDS303A3C01GXA003XFDCCONTACTOR2NO100A115VDCW/INTLDS303A3C01GXA003XHDCCONTACTOR2NO100A115VDCW/INTLDS303A3C01GXA003XNDCCONTACTOR2NO100A115VDCW/INTLDS303A3C01GXA003XPDCCONTACTOR2NO100A115VDCW/INTLDS303A3C01GXA503XHCONTACTORDS303A3C01GXA650XFCONTACTOR100A2NO115VACW/INTLDS303A3D01GGA002XHCONTACTORDS303A3D01GGA003XHDCCONTACTOR1NO1NC100A115VDS303A3F01FFA003XTDCCONTACTOR100A2NO/2NC115VDCDS303A3F01GGA002XTDCCONTACTOR100A2NO/2NC230VDCDS303A3F01GGA003DCCONTACTOR100A2NO/2NC115VDCDS303A3F01GGA003XTDCCONTACTOR100A2NO/2NC115VDCDS303A4A01HXA002DCCONTACTOR150A230VDCCOILDS303A4A01HXA002XFDCCONTACTOR150A230VDCW/INTLDS303A4A01HXA002XHDCCONTACTOR150A230VDCW/INTLDS303A4A01HXA002XJDCCONTACTOR150A230VDCW/INTLDS303A4A01HXA002XPDCCONTACTOR150A230VDCW/INTLDS303A4A01HXA002XRCONTACTORDS303A4A01HXA002XTDCCONTACTOR150A230VDCW/INTLDS303A4A01HXA003DCCONTACTOR150A115VDCCOILDS303A4A01HXA003XMDCCONTACTOR150A115VDC4NODS303A4A01HXA003XNDCCONTACTOR150A115VDC3NO/1NCDS303A4A01HXA003XRDCCONTACTOR150A115VDCW/INTLDS303A4A01HXA003XTDCCONTACTOR150A115VDCW/INTLDS303A4A01HXA021XHDCCONTACTOR150ADS303A4A01HXA027XHDCCONTACTOR150ADS303A4A01HXA650DCCONTACTOR150ADS303A4A01HXA650DHDCCONTACTOR150ADS303A4A01HXA650XFCONTACTORDS303A4A01HXA650XHDCCONTACTOR150ADS303A4B01XHA002XPCONTDC1NC150A250VCOILDS303A4B01XHA003XHDCCONTACTOR1NC150A115VDCDS303A4B01XHA650XHCONTACTORDS303A4C01HXA002DCCONTACTOR2NO150A230VDCDS303A4C01HXA002XFDCCONTACTOR2NO150A230VDCDS303A4C01HXA003DCCONT2NO150A115DS303A4C01HXA003XFDCCONTACTORDS303A4D01HHA650XHCONTACTORDS303A5A01JXA002DCCONTACTOR300A230VDCDS303A5A01JXA002XGDCCONTACTOR300A230VDC2NORTDS303A5A01JXA002XHDCCONTACTOR300A230VDCW/INTLDS303A5A01JXA002XJCONTACTORDS303A5A01JXA002XMDCCONTACTOR300A230VDCW/INTLDS303A5A01JXA002XTDCCONTACTOR300A230VDCW/INTLDS303A5A01JXA003DCCONTACTOR300A115VDCDS303A5A01JXA003XFDCCONTACTOR300A115VDCW/INTLDS303A5A01JXA003XHDCCONTACTOR300A115VDCW/INTLDS303A5A01JXA003XMDCCONTACTOR300A115VDCDS303A5A01JXA003XNDCCONTACTOR300A115VDC3NO/1NCDS303A5A01JXA003XTDCCONTACTOR300A115VDCW/INTLDS303A5A01JXA021XHDCCONTACTOR300AMPDS303A5A01JXA021XMDCCONTACTOR300AMPDS303A5A01JXA503DCCONTACTOR300ADS303A5A01JXA650DCCONTACTOR300AMP115VACDS303A5A01JXA650DHCONTACTORDS303A5A01JXA650XFCONTACTORDS303A5A01JXA650XHDCCONTACTOR300AMP115VACW/INTLDS303A5A01JXA650XPCONTACTORDC300A115VACDS303A5B01XJA002XHDCCONTACTOR1NC300A230VDCDS303A5B01XJA003XFDCCONTACTOR1NC300A115VDCDS303A5B01XJA003XHDCCONTACTOR1NC300A115VDCDS303A5B01XJA650XHDCCONTACTOR300ANC115VACW/INTLDS303A5C01JXA002DCCONTACTOR2NO300A230VCOILDS303A5C01JXA002XGCONTACTORDS303A5C01JXA002XMDCCONTACTOR2NO300A230VCOILDS303A5C01JXA002XNDCCONTACTOR2NO300A230VCOILDS30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