基于OpenMV的单目视觉二维码追踪小车设计与测试  

Design and test of monocular vision QR code tracking car based on OpenMV

作　　者：赵举 李国斌 姜涛 杨学存[3] 张波 ZHAO Ju;LI Guo-bin;JIANG Tao;YANG Xue-cun;ZHANG Bo(Urumqi Electrice Power Construction Debugging Institule,Urumqi 830011,China;Electric Power Research Institute,State Grid Xinjiang Electric Power Co.LTD,Urumqi 830011,China;Collegeof Electrical and Control Engineering,Xi'an University of Science and Technology,Xi’an 710054,China)

机构地区：[1]新疆新能集团有限责任公司乌鲁木齐电力建设调试所,新疆乌鲁木齐830011 [2]国网新疆电力有限公司电力科学研究院,新疆乌鲁木齐830011 [3]西安科技大学电气与控制工程学院,陕西西安710054

出　　处：《电子设计工程》2019年第19期53-58,共6页Electronic Design Engineering

摘　　要：基于视觉追踪的智能小车是自动化领域的研究热点。在OpenMV的基础上,设计了单目视觉追踪小车的硬件和软件。硬件包括OpenMV模块、舵机模块、小车驱动模块和电源模块。同时也设计了系统的软件,为保证对二维码的准确判断,在初始化摄像头时,加入了防止镜头畸变的调节功能。然后判断检测到的二维码是否为系统设定的合法二维码,如果合法,则每一张二维码都将被写入指令,从而使小车执行相应二维码程序。另外,为了保障舵机与驱动电机动作流畅,系统采用了位置式PID算法,当追踪目标出现偏差时进行修正,为整个二维码追踪过程提供保障。经过测试,系统实现了对二维码的准确、快速追踪功能。The intelligent car based on visual tracking is a hot research topic in the field of automation. On the basis of OpenMV2,the hardware and software of monocular visual tracking car are designed. The hardware consists of Open MV module,steering gear module,the car driver module and power module. Also the software of the system is designed at the same time. In order to ensure the accurate judgment of QR code,regulating function is joined for prevention of lens distortion when camera is initialized. And then whether a tested QR code is legal for the system is determined,each legal QR code will be written to instruction to make the car perform corresponding QR code application. In addition,in order to ensure steering gear and drive motor move smoothly,the position PID algorithm is applied in the system,when there is deviation from track targets,correction is done,which guarantees the QR code tracking process. After tested,it is realized that QR code can be tracked accurately and fast in the system.

关 键 词：OpenMV 视觉 追踪 二维码 

分 类 号：TN06[电子电信—物理电子学]