基于双环PID算法与大津法的板球视觉控制系统  

Cricket vision control system based on double-loop PID algorithm and Otsu method

作　　者：徐涢基[1,2] 龚明 龚诚 王莉 XU Yunji;GONG Ming;GONG Cheng;WANG Li(Electrical and Information Engineering Branch,Institute of Technology,East China Jiaotong University,Nanchang 300100,China;College of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China;College of Information and Communication Engineering,Hainan University,Haikou 570228,China)

机构地区：[1]华东交通大学理工学院电气与信息工程分院,江西南昌330100 [2]南昌大学机电工程学院,江西南昌330031 [3]海南大学信息与通信工程学院电气与信息工程分院,海南海口570228

出　　处：《传感器与微系统》2020年第11期81-84,共4页Transducer and Microsystem Technologies

摘　　要：针对板球视觉控制系统易受光强影响及控制效果不佳的问题,研制了一种基于图像传感器的板球视觉控制系统。图像处理算法采用了大津法,对图像二值化处理效果做了对比,并对小球图像进行二值化优化处理,获取了准确的质心坐标。针对板球视觉控制系统的小球运动特点,设计了双环比例—积分—微分(PID)算法,并对小球运动进行优化控制。本系统实现了二值化图像的阈值自适应,小球实现了任意区域间的切换运动及避开阻挡区域的路径规划运动,控制系统精度达到设计要求。Aiming at problems that cricket vision control system is susceptible to light intensity and control effect is not good,a cricket vision control system based on image sensor is researched and fabricated. The image processing algorithm uses the Otsu method to compare the effect of image binarization processing,and the binarization optimization processing of the ball image is performed to obtain accurate centroid coordinates. Aiming at the characteristics of the ball movement in cricket vision control system,a double-loop PID algorithm is designed,and the ball movement is optimized and controlled. The system realizes the adaptive threshold of the binary image,the ball realizes the switching motion between any areas and the path planning motion to avoid the blocking area,and the control system precision meets the design requirements.

关 键 词：图像传感器 板球视觉控制系统 二值化 大津法 双环比例—积分—微分(PID)算法 阈值自适应 路径规划 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TN876[自动化与计算机技术—控制科学与工程]