基于图像处理的逐次逼近式位置随动系统  

Successive Approximation Position Following System Based on Image Processing

作　　者：赵子达 高艺[1] 孙克彬 ZHAO Zida;GAO Yi;SUN Kebin(College of Mechanical and Electrical Engineering,Changchun University of Science and Technology,Changchun 130022,China)

机构地区：[1]长春理工大学机电工程学院

出　　处：《机械工程师》2020年第1期36-38,共3页Mechanical Engineer

基　　金：吉林省大学生创新创业训练项目(201810186030)

摘　　要：以STM32F103RCT6为核心控制器,以openMV摄像头作为图像采集和处理器件,逐次逼近式位置控制系统应用了速度PID调节器,利用图像处理技术采集目标位置信息。该系统忽略了实际位置与图像中位置的对应关系,只通过在图像坐标系中判断目标与自身的相对位置关系,使自身不断逼近目标位置,实现位置随动。这种处理方法简化位置随动的难度,在精度、速度要求不高的场合有较强的实用性。通过在球场智能服务机器人控制系统中的应用,证明了该系统的可行性。The STM32F103RCT6 is used as the core controller, and the openMV camera is used as the image acquisition and processing device. The successive approximation position control system uses the speed PID regulator to collect the target position information by using image processing technology. The system ignores the correspondence between the actual position and the position in the image, and only determines the relative positional relationship between the target and itself in the image coordinate system, so that it constantly approaches the target position and realizes the position following. This kind of processing method simplifies the difficulty of position following, and has strong practicability in the occasions where accuracy and speed are not high. The feasibility of the system is proved by the application in the intelligent service robot control system of the stadium.

关 键 词：逐次逼近 位置随动 图像处理 机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]