基于OpenMV的智能跟踪小车设计

Design of Intelligent Tracking Vehicle Based on OpenMV

针对目前市场上的跟踪小车跟随效果不理想、应用场所有限、智能程度低等问题,设计了一款能够自主跟随标记物的智能跟踪小车;小车以Arduino为主控制器,综合了视觉模块、超声波模块和电机、舵机等外围设备;借助OpenMV IDE软件和OpenCV库,采用二维码识别、数字图像处理、PID控制等关键技术和方法,实现了实时跟踪、避障等功能;使用二维码识别和解码技术代替传统的图像识别技术,降低了算法复杂度,减少了锁定目标消耗的时间;同时,使用超声波测距模块辅助调整电机速度和舵机方向,不仅提高了跟踪效果,还增强了小车在突发情况下的避障能力;经实验测试,实现了小车在距标记物0.30~0.45 m范围内对移动目标的稳定跟踪和自主规避道路所有障碍的功能,且跟踪距离不受限制。

Aiming at the problems of unsatisfactory tracking effect,limited application place and low intelligence in the current market,an intelligent tracking vehicle which can follow markers independently is designed.The vehicle’s main controller is Arduino,and it integrates visual module,ultrasonic module,motor,steering gear and other peripheral equipment.With the help of OpenMV IDE software and OpenCV library,and through some key technologies and methods such as QR code recognition,digital image processing and PID control,the functions of real-time tracking and obstacle avoidance are realized.By using QR code recognition and decoding technology instead of traditional image recognition technology,the complexity of the algorithm and the time consumed to lock the target are reduced.At the same time,the ultrasonic ranging module is used to assist in adjusting the motor speed and steering direction,which not only improves the tracking effect,but also enhances the vehicle’s ability to avoid obstacles in sudden situations.The experiment results show that the vehicle can track the moving target stably and avoid all obstacles on the road independently in the range of 0.30~0.45 m from the marker,and the tracking distance is not limited.