基于模拟CCD传感器和图像矫正的自循迹机器人设计

Design of Self-tracking Robot Based on Analog CCD Sensor and Image Correction

设计了一种基于模拟CCD图像传感器和图像透视矫正算法的自动循迹机器人。分别完成了机器人的总体设计和软硬件设计。该循迹机器人以32位单片机MK60DN512ZVLQ10为主控制器,采用模拟CCD摄像头获取黑色引导线信息,并转化为有效的舵机和电机控制量。为提高控制精度,利用PID控制算法实现机器人的闭环控制。由于采集的图像存在梯形失真,所以利用图像透视变换对原始图像校正,实现机器人精确的循迹。测试结果表明:该循迹机器人对场地适应性强,具有低成本、低功耗等优点,在核辐射和高压电等特殊环境下有很大的使用价值。

A self- tracking robot has been designed based on analog CCD image sensor and image perspective correction. The overall design as well as hardware / software design is completed. The tracking robot uses the MK60DN512ZVLQ10 as main controller and collects the black guide line image information using analog CCD camera,the image information is converted to effective steering gear and motor control.In order to improve control accuracy,using the PID control algorithm to realize the closed- loop control of the robot. Due to the collection of image is trapezoidal distortion,perspective transformation is used to correct the original image and realize accurate tracking of robot. Result of the test indicates that the tracking robot which has strong adaptability is strong and has the advantages of low cost,low power consumption,it has great value in the special environment such as radiation,high voltage,etc.