基于OpenMV的四足巡线机器人算法设计  

Algorithm Design of Quadruped Line Inspection Robot Based on OpenMV

作　　者：赵晨曦 陈海龙 唐为浩 付晨 刘鑫慧 傅怀梁 ZHAO Chenxi;CHEN Hailong;TANG Weihao;FU Chen;LIU Xinhui;FU Huailiang(Zhang Jian College,Nantong University,Nantong 226000,China;School of Transportation and Civil Engineering,Nantong University,Nantong 226000,China)

机构地区：[1]南通大学张謇学院,江苏南通226000 [2]南通大学交通与土木工程学院,江苏南通226000

出　　处：《自动化与信息工程》2022年第3期31-36,共6页Automation & Information Engineering

基　　金：江苏省高等学校省级创新创业训练计划项目(202010304181H)。

摘　　要：四足机器人是足式机器人的典型代表,其仿生性强、结构简单。针对四足巡线机器人运动过程中,路径识别与跟踪存在识别率低、易受干扰、解算周期长等问题,在图像处理模块OpenMV基础上,提出特征点检测与线性回归法相结合的方法,对地面标识线进行识别与跟踪控制,提高了四足机器人巡线的精度、速度及抗干扰性能。Quadruped robot is a typical representative of quadruped robot,which has strong bionics and simple structure.Aiming at the problems of low recognition rate,easy interference and long calculation cycle of path recognition and tracking during the movement of quadruped line patrol robot,a method combining feature point detection and linear regression is proposed on the basis of image processing module OpenMV to recognize and track the ground marking line,which improves the accuracy,speed and anti-interference performance of quadruped line patrol robot.

关 键 词：四足巡线机器人 OpenMV 线性回归 特征点检测 路径识别与跟踪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]