双闭环PID应用下投篮机器人路径跟踪控制研究  

Research on Path Tracking Control of Shooting Robot with Double Closed Loop PID Application

作　　者：刘锋[1] 夏铁牛 李亚卫 LIU Feng;XIA Tie-niu;LI Ya-wei(Physical Education Research Department,Xinjiang University,Xinjiang Urumqi 830046,China)

机构地区：[1]新疆大学体育教学研究部,新疆乌鲁木齐830046

出　　处：《机械设计与制造》2024年第1期374-378,共5页Machinery Design & Manufacture

基　　金：国家社会科学基金“十三五”规划2020年度教育学一般课题(BLA200218)。

摘　　要：投篮机器人路径图像噪声会影响机器人路径跟踪控制效果,导致投篮机器人偏离正常轨迹,为此提出双闭环PID应用下投篮机器人路径跟踪控制方法。分析投篮机器人架构,利用OpenMv视觉识别方法采集投篮机器人路径图像,结合小波阈值算法对采集到的图像实施去噪处理,从而获取清晰的投篮机器人路径图像。根据图像去噪处理结果,将曲线拟合法与特征点检测法相结合,实现投篮机器人路径识别。根据投篮机器人路径识别结果确定路径实际偏移量,结合推动器实现位置、移动速度建立的双闭环PID控制器,从而实现投篮机器人路径跟踪控制。实验结果表明,该方法的投篮机器人路径图像去噪熊效果好、跟踪控制效果好,充分验证了该方法的有效性。The noise in the path image of a shooting robot can affect the effectiveness of the robot’spath tracking control,leading to the shooting robot deviating from the normal trajectory.Therefore,a path tracking control method of shooting robot with double closed loop pid application is proposed.By analyzing the architecture of the shooting robot,the OpenMv visual recognition method is used to collect the path image of the shooting robot,and the wavelet threshold algorithm is combined to implement de-noising processing on the collected image,thereby obtaining a clear path image of the shooting robot.Based on the denoising pro-cessing results of the image,the curve fitting method is combined with the feature point detection method to achieve shooting robot path recognition.According to the shooting robot path recognition results,the actual deviation of the path is determined,and a double-closed-loop PID controller is established based on the position and moving speed of the actuator to achieve shooting robot path tracking and control.The experimental results show that this method has good denoising effect on the path image of the shooting robot and good tracking and control effect,fully verifying the effectiveness of this method.

关 键 词：双闭环PID 投篮机器人 跟踪控制 OpenMv视觉识别 小波阈值 推动器 

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