带死区的PTZ摄像头模糊PID跟踪方法研究  

Research on Fuzzy PID Tracking Method for PTZ Camera with Dead Zone

作　　者：梅权杰 吴功平[1] 付博 殷庆斌 MEI Quan-jie;WU Gong-ping;FU Bo;YIN Qing-bin(School of Power and Mechanical Engineering,Wuhan University,Hubei Wuhan 430072,China;State Grid Electric Power Co.,Ltd.Jilin Province Baishan Power Company,Jilin Baishan 134300,China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]国网吉林省电力有限公司白山供电公司,吉林白山134300

出　　处：《机械设计与制造》2021年第7期300-304,共5页Machinery Design & Manufacture

基　　金：高塔跨越林区输电线路巡检机器人工程实用化关键技术研究(SGJLBS00YJJS1500322)。

摘　　要：在移动机器人跟踪目标过程中,主动视觉是经常被采用的方法之一。针对以PTZ摄像机为主体的主动视觉跟踪问题中由于控制等级频繁变化造成视场不稳定和振荡的问题,提出了基于带死区的模糊PID控制方法。通过架空高压输电线巡检机器人搭建PTZ摄像头主动视觉跟踪平台,对选定的杆塔目标进行跟踪,并对比跟踪过程中带死区和不带死区的控制等级变化曲线。实验表明,该方法能较好的控制PTZ摄像头主动视觉跟踪过程中采集图像的稳定性,降低图像振荡。Active vision is one of the most commonly used methods in the tracking process of mobile robots.Aiming at the problem of field of view instability and oscillation caused by frequent change of control level in active visual tracking with PTZ camera as the main body,a fuzzy PID control method based on dead zone is proposed.PTZ camera active visual tracking platform is built by overhead high voltage transmission line inspection robot to track the selected tower targets,and the control level curves with dead zone and without dead zone are compared in the tracking process.Experiments show that this method can better control the stabili⁃ty of image acquisition and reduce image oscillation in the process of PTZ camera active visual tracking.

关 键 词：PTZ摄像机 主动视觉 死区 模糊PID 巡检机器人 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]