1

、 ROS DE2i-150

(Collision Avoidance Robot based on ROS and DE2i-150) 104 10 3 105 10 20

： ROS

DE2-150 PTZ

3D

In this topic, uses ROS is the overall construction, develops the platform by the DE2-150 development board achievement, uses the PTZ camera to take the phantom input source,enables the parents to be p o s s i b l e t o w a t c h a l l a r o u n d t h e environment on the computer, and has joined the 3D laser distance gauge, increased the toy baby carriage security largely, enables the parents to be possible to feel relieved very much lets the child a m u s e m e n t .

ROS(Robot Operating System)

DE2i-150

ROS Ubuntu mSATA SSD ROS

UbuntuPTZ

Ethernet 「 CPU ROSWi-Fi 「

PCIe Bus 「FPGA

CPU Ethernet

PTZ GPIO

1.

FPGA： WEL & MCD

CRG & MCD FM & CalXYWEL & MCD

CRG & MCD

2

FM & CalXY

2.

ROS ROS

ROS Master ROS

：

Image Processing Node Image Topic

New Point TopicRemote Node

3.ROS

4.ROS

： DE2i-150 Intel CPU Altera FPGA

1. Intel CPU CGI JPEG

。 30 ＆

3

「 curl （ JPEG

JPEG JPEG「

2. Altera FPGA

）

：

）

5.

3.PTZ Intel CPU PTZ

：

curl （ 「(Pan) (Tile)

4. Intel CPU

」

(Pulse Width Modulation, PWM)

H P-MOS FETN-MOS FETQ1, Q2, Q3, Q4 ： GPIO

Q1Q4 Q2 Q3

Q2 Q3 Q1Q4

6.

5.

7.

4

6.

FPGA PTZ

；

）

」

3D

8.

9.

1. DE2i-150

DE2i-150

Altera Cyclone IVFPGA Intel

CPU ROS

Ubuntu mSATA SSD DE2i-150PCIe Bus 32-bits

2. ROS ROS

，

ROS

ROS UbuntuWindows Mac OS X Android

3.360° PTZ

PTZ

4.

FPGA 120 FPS(Frames Per Second)

5. Wi-Fi Direct

Wi-Fi

：

ROS

DE2i-150

5

：

3D Sensor

Android

[1] 、 https://zh.wikipedia.org/zh-tw/

2016

[2] ROS WikiMasterhttp://wiki.ros.org/Master2016

[3] ROS WikiDocumentationhttp://wiki.ros.org/2016

[4] 、Wi-Fi

https://zh.wikipedia.org/zh-tw/Wi-Fi 2016

[5] TerasicDE2i-150

http://www.terasic.com.tw/cgi-bin/page/archive.pl?L

anguage=English&No=529

[6] “Embedded System Design of Image Target

Tracking for PTZ camera” 、

2015

[7] ROS WikiRoslaunch tips for larger projects

http://wiki.ros.org/action/fullsearch/cn/ROS/Tutorial

s/Roslaunch%20tips%20for%20larger%20projects?a

ction=fullsearch&context=180&value=linkto%3A%

22cn%2FROS%2FTutorials%2FRoslaunch+tips+for

+larger+projects%222016

[8] ROS Wikiurdfhttp://wiki.ros.org/urdf/Tutorials

2016

[9] ROS Wikitfhttp://wiki.ros.org/tf/Tutorials2016

[10]

http://reader.roodo.com/sayaku/archives/19544672.h

tml2012

[11] ROS Wikirosconsole

http://wiki.ros.org/rosconsole2016

[12] ROS Wikiurg_nodehttp://wiki.ros.org/urg_node

2016

[13] ROS Wikiusb_camhttp://wiki.ros.org/usb_cam

2016

[14] CMake CMakelist.txt

http://blog.csdn.net/u012150179/article/details/1785

22732014

[15] ROS WikiUsing Class Methods as Callback

http://wiki.ros.org/roscpp_tutorials/Tutorials/UsingC

lassMethodsAsCallbacks2016