基于霍夫圆算法的滚球控制系统设计  

Design of Ball Rolling Control System Based on Hough Circle Algorithm

作　　者：龚明 徐涢基 徐子懿 杨锦鹏 齐志远 GONG Ming;XU Yunji;XU Ziyi;YANG Jinpeng;QI Zhiyuan(College of Transportation,Nanchang Jiaotong Institute,Nanchang 330100;College of Advanced Manufacturing,Nanchang University,Nanchang,330031,Jiangxi Province)

机构地区：[1]南昌交通学院交通运输学院,江西南昌330100 [2]南昌大学先进制造学院,江西南昌330031

出　　处：《沈阳工程学院学报（自然科学版）》2024年第3期73-78,共6页Journal of Shenyang Institute of Engineering:Natural Science

基　　金：江西省教育厅科学技术研究项目(GJJ218402);南昌交通学院青年基金项目(XJQJ-22-07);国家级大学生创新创业训练计划项目(202313431002);省级大学生创新创业训练计划(S202113431001S)。

摘　　要：滚球控制系统在控制系统领域里具有较高研究价值,但是在实际使用过程中,存在因小球定位不准确而导致控制效果不佳等问题。为了解决这一问题,本系统采用具有处理器的摄像头模块——OpenMv4 Plus,获取整个平板的图像,使用小球图像处理算法进行处理,计算出小球球心坐标。控制板采用自适应双环PID算法计算出理想PWM波形,并通过定时器输出至数字舵机调节平板倾斜角度,使小球运动,完成用户设定的任务。小球图像算法包含霍夫圆算法和中心点算法。经过测试比较可知:相比于中心点算法,霍夫圆算法计算出的小球球心坐标准确率高,可抗外界光照干扰,几乎不受图像中噪点的影响,小球运动轨迹与理想轨迹大体拟合,控制效果良好。The rolling ball control system has high research value in the field of control system,but in the actual use process,there are some problems,such as inaccurate positioning of the ball,resulting in poor control effect.In order to solve this problem,the system uses a camera module with processor——OpenMv4 Plus to obtain the image of the whole plate,and uses the ball image processing algorithm to process,and calculates the ball center coordinates.The control board uses the adaptive double-loop PID algorithm to calculate the ideal PWM waveform,and outputs it to the digital steering gear through the timer,so that the tilt Angle of the plate can be adjusted,and the ball movement can complete the tasks set by users.The ball image algorithm includes the Hofer circle algorithm and the center point algorithm.The test results show that compared with the center point algorithm,the ball center coordinates using Hofer circle algorithm have higher accuracy,can resist the interference of external light,and is almost not affected by the noise in the image.The ball motion trajectory fits the ideal trajectory roughly,and the control effect is good.

关 键 词：霍夫圆变换 滚球控制系统 双环PID OpenMv4 Plus摄像头 PWM 

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] TH89[电子电信—信息与通信工程]