【摘要】：基于視覺的目標(biāo)動態(tài)跟蹤是當(dāng)前智能機(jī)器人研究的熱點(diǎn)之一,應(yīng)用機(jī)器人視覺模擬人類視覺,具有深遠(yuǎn)的應(yīng)用價(jià)值。其中,家用掃地機(jī)器人就是一個(gè)應(yīng)用方面。對于視覺智能機(jī)器人雖有大量研究,就目前而言依然存在許多不足之處。比如在實(shí)際應(yīng)用中,往往希望智能掃地機(jī)器人可以通過顏色識別達(dá)到目標(biāo)準(zhǔn)確跟蹤的目的,但目前市場許多機(jī)器人在清掃過程中存在亂撞、迷路、費(fèi)時(shí)等問題�；谏鲜龃嬖诘膯栴},本文嘗試設(shè)計(jì)一款視覺目標(biāo)動態(tài)跟蹤的機(jī)器人,為智能掃地機(jī)器人的優(yōu)化設(shè)計(jì)提供重要參考價(jià)值。主要是進(jìn)行視覺采集跟蹤的研究,根據(jù)采集到的顏色特征識別目標(biāo)、P1D調(diào)節(jié)電機(jī)的轉(zhuǎn)速、指令控制轉(zhuǎn)向,實(shí)現(xiàn)小車直行或轉(zhuǎn)向等跟蹤運(yùn)動,避免行走過程中亂撞,達(dá)到高效率跟蹤的效果。論文主要的研究工作如下:1.構(gòu)建基于stm32控制器的四輪平衡小車目標(biāo)動態(tài)跟蹤系統(tǒng)的基本結(jié)構(gòu)框架,按照需求設(shè)計(jì)相關(guān)外圍核心硬件電路系統(tǒng)。具體內(nèi)容主要包括系統(tǒng)的軟件算法設(shè)計(jì)及硬件電路的調(diào)試。2.系統(tǒng)硬件設(shè)計(jì)。對實(shí)現(xiàn)機(jī)器人動態(tài)目標(biāo)跟蹤的相關(guān)外圍模塊的工作參數(shù)、穩(wěn)定性、stm32控制器之間的協(xié)調(diào)性進(jìn)行分析,最終擬定最優(yōu)設(shè)計(jì)方案,應(yīng)用Altium Designer開發(fā)環(huán)境設(shè)計(jì)系統(tǒng)電路原理圖和PCB圖。外部電路主要由OV7725目標(biāo)信息采集模塊、TFT-LCD液晶顯示模塊、E18-D80NK-N紅外避障模塊等構(gòu)成。3.軟件程序設(shè)計(jì)。為實(shí)現(xiàn)四輪平衡小車系統(tǒng)對不同顏色的目標(biāo)進(jìn)行跟蹤,四輪機(jī)器人主要通過直走、暫停、轉(zhuǎn)彎三種運(yùn)動方式實(shí)現(xiàn)跟蹤。設(shè)計(jì)了合理的圖像采集和處理算法對目標(biāo)準(zhǔn)確識別和定位,編寫相關(guān)PID調(diào)電機(jī)脈沖寬度程序控制小車平穩(wěn)快速的追蹤目標(biāo)。4.電路板焊接與軟件程序調(diào)試�；谠O(shè)計(jì)的PCB原理圖,利用電子信息學(xué)院提供的資源完成了硬件電路板的制作與焊接,尋找合適的供電系統(tǒng)和下載線,組裝小車各模塊。最后,在IAR系統(tǒng)平臺進(jìn)行目標(biāo)跟蹤控制程序的調(diào)試。設(shè)計(jì)結(jié)果表明,本文設(shè)計(jì)的小車跟蹤系統(tǒng)對某一確切顏色目標(biāo)可準(zhǔn)確識別定位和平穩(wěn)的跟蹤,為家庭掃地機(jī)器人的設(shè)計(jì)提供重要依據(jù)。
[Abstract]:Target dynamic tracking based on vision is one of the hotspots in the research of intelligent robot. It is of great value to simulate human vision with robot vision. Among them, household floor sweeping robot is an application aspect. Although there is a lot of research on visual intelligent robot, there are still many shortcomings. For example, in practical applications, it is often hoped that the intelligent floor sweeping robot can achieve the goal of accurate tracking by color recognition. However, at present, many robots in the market have problems such as random collision, lost, time-consuming and so on. Based on the above problems, this paper attempts to design a robot for dynamic tracking of visual targets, which provides an important reference value for the optimization design of intelligent floor sweeping robot. According to the collected color characteristics, the P1D can adjust the speed of the motor, control the steering, realize the tracking motion, such as the car's straight or steering, and avoid the random collision during the walking process, so as to carry out the research of visual acquisition and tracking, and identify the target P1D according to the collected color characteristics. Achieve high efficiency tracking effect. The main research work of this paper is as follows: 1. Based on stm32 controller, the basic frame of dynamic tracking system for four-wheel balancing vehicle is constructed, and the related peripheral core hardware circuit system is designed according to the requirement. The specific content mainly includes the software algorithm design of the system and the debugging of the hardware circuit. 2. System hardware design. Based on the analysis of the working parameters of the relative peripheral modules and the coordination among the stm32 controllers, the optimal design scheme is drawn up, and the circuit schematic diagram and PCB diagram of the system are designed by using the Altium Designer development environment. The external circuit is mainly composed of E18-D80NK-N infrared obstacle avoidance module of OV7725 target information acquisition module and TFT-LCD liquid crystal display module. Software programming. In order to realize the tracking of different color targets by the four-wheel balancing vehicle system, the four-wheel robot can be tracked by three kinds of motion modes: straight walking, stopping and turning. A reasonable image acquisition and processing algorithm is designed to accurately identify and locate the target, and the program of pulse width of the PID motor is written to control the vehicle to track the target steadily and quickly. Circuit board welding and software program debugging. Based on the schematic diagram of PCB, the hardware circuit board is made and welded with the resources provided by the Institute of Electronic Information, the suitable power supply system and download line are found, and the modules of the car are assembled. Finally, the target tracking control program is debugged on the IAR platform. The design results show that the vehicle tracking system designed in this paper can accurately identify and locate a certain specific color target and track it stably, which provides an important basis for the design of a family floor sweeping robot.
【學(xué)位授予單位】：內(nèi)蒙古大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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