【摘要】：本項目應用于北京一維弦科技有限責任公司自主研究開發(fā)的機器人MoRo上,是機器人的視覺部分。視覺框架包含的模塊有算法管理、消息機制、計算工廠、數(shù)據管理和進程間通訊等。視覺框架可以根據機器人的命令,正確地運行請求的視覺功能,并把最終的處理數(shù)據傳遞給機器人系統(tǒng)其它部分使用,比如肢體控制部分。算法人員利用框架提供的接口,結合算法的邏輯定義算法單元和它們之間的連接可以實現(xiàn)各種視覺功能,例如人形追蹤、物體識別等。本人主要負責的模塊是算法管理模塊、消息機制模塊、數(shù)據管理模塊和原型系統(tǒng)。本人在一維弦科技有限責任公司實習期間,主要參與了視覺框架的設計、開發(fā)、單元測試、維護和版本迭代等工作。具體工作如下(1)參與討論制定需求。根據算法組的使用需求,并分析之前架構的優(yōu)點與缺點,制定了視覺框架的需求分析說明書。(2)參與并完成了視覺框架的系統(tǒng)設計。通過分析需求以及各種設計模式的特點完成框架的系統(tǒng)設計,以及參與了繪制UML類圖、主要邏輯時序圖并編寫部分詳細設計說明。(3)負責或參與的部分。算法管理模塊,系統(tǒng)內部消息機制,數(shù)據管理模塊和原型系統(tǒng)。(4)搭建測試架構并完成單元測試。編寫測試用例,根據測試用例搭建測試架構,編寫測試代碼,并根據測試結果修改Bug。(5)在使用過程中的維護。在算法組同時使用過程中負責協(xié)助解決問題,完善整個框架的功能需求,使系統(tǒng)更加穩(wěn)定。在新視覺框架加入機器人系統(tǒng)后,視覺功能并行數(shù)目增加,機器人系統(tǒng)運行效率提高。提高開發(fā)人員代碼復用性,減少代碼冗余。本架構設計合理,具有良好的可復用性、可擴展性,滿足高內聚、低耦合的軟件設計原則。
[Abstract]:This project is applied to the robot MoRo, which is developed by Beijing one dimensional string Science and Technology Co., Ltd. It is the vision part of robot. The visual framework includes modules such as algorithm management, message mechanism, computing factory, data management and inter-process communication. The visual framework can run the requested visual function correctly according to the robot's command, and transfer the final processing data to other parts of the robot system, such as the limb control part. By using the interface provided by the framework and the logical definition of the algorithm unit and the connection between them, the algorithmic personnel can realize various visual functions, such as human shape tracking, object recognition and so on. My main responsible module is algorithm management module, message mechanism module, data management module and prototype system. I took part in the design, development, unit testing, maintenance and version iteration of the visual framework during my internship in one dimensional string Science and Technology Co., Ltd. The specific work is as follows: (1) to participate in the discussion and development of needs. According to the requirements of the algorithm group and analyzing the advantages and disadvantages of the previous architecture, the requirements analysis specification of the visual framework is formulated. (2) the system design of the visual framework is completed. By analyzing the requirements and the characteristics of various design patterns, the system design of the framework is completed, as well as the drawing of UML class diagrams, the main logic sequence diagrams and the writing of some detailed design instructions. (3) the responsible part or the participating part. Algorithm management module, system internal message mechanism, data management module and prototype system. (4) build test architecture and complete unit test. The test case is written, the test structure is built according to the test case, the test code is written, and the maintenance of Bug. (5) is modified according to the test results. In the process of using the algorithm group at the same time, it is responsible to help solve the problem, improve the functional requirements of the whole framework, and make the system more stable. After the new vision frame is added to the robot system, the number of parallel visual functions increases and the efficiency of the robot system is improved. Improve developer code reuse and reduce code redundancy. The architecture is reasonable, reusable, extensible and meets the software design principle of high cohesion and low coupling.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242;TP391.41

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