基于线性CCD的类人机器人循迹系统的设计  

Design of humanoid robot tracking system based on linear CCD

作　　者：牛国臣 许开鲁 

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300

出　　处：《现代电子技术》2018年第2期133-136,140,共5页Modern Electronics Technique

基　　金：天津市应用基础与前沿技术研究计划:飞机油箱检查连续型载体控制及缺陷检测方法研究(#14JCQNJC04400)~~

摘　　要：针对使用光电管阵列作为图像采集模块的类人循迹机器人前瞻性小、受光线影响大的缺点,设计一种基于TSL1401线性CCD的类人循迹机器人。首先完成系统的总体设计和软硬件设计,然后基于OTSU算法获取自适应阈值,采用灰度门限法提取赛道引导线,基于专家控制策略输出相应的控制信号调整机器人的动作。实现自主循迹行走,进行了实验验证并用来参加华北五省(市、自治区)大学生机器人大赛。结果表明设计的类人循迹机器人系统具有循迹可靠性高、环境适应性强的优点。Aiming to the problems of poor perspectiveness and poor susceptibility to environmental light illumination of a humanoid tracking robot which uses photodiodes array as image acquisition module,a humanoid tracking robot based on TSL1401 linear CCD was designed. The system overall design,and its hardware and software design are accomplished. The adaptive threshold is obtained based on OTSU algorithm. The gray threshold method is adopted to extract the guide line of racing track. The corresponding control signals are output according to the expert control strategy to adjust robot actions and realize automatic tracking walk. The system was tested in the experiment and used to participate in University Robot Contest in Five Provinces of North China. The results show that the designed humanoid tracking robot system has advantages of high tracking reliability and strong environmental adaptability.

关 键 词：线性CCD 类人机器人 大津算法 动态阈值 循迹系统 专家控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]