移动机器人视觉跟踪系统的开发

Design of Mobile Robot Target Tracking System Based on Vision

针对高校机器人专业的实验设备不完善、已有的大多数实验设备只能完成演示性实验、结合机器视觉和机器人运动控制的实验设备更少、缺少让学生进行开发设计解决实际问题的机会等问题,设计了一套应用于实践教学的移动机器人目标跟踪视觉系统,可以满足数字图像处理、机器人视觉等多门课程的实验需求.该系统主要包含摄像头和树莓派构成的视觉采集装置、图像信息处理部分及一台全向移动机器人,通过采用无标定视觉伺服对车道线跟踪运动和颜色物体跟踪运动测试,验证了该系统具有较好的目标跟踪运动效果且有很好的扩展性.将该系统应用于实践教学中,学生不仅可以学习移动机器人跟踪运动的思路和方法,还可以在已有案例的基础上进行扩展开发,从而培养学生的创新实践能力.

Experimental equipment for robotics majors in universities is not perfect,most of which can only complete demonstration experiments,and equipment that combines machine vision and robot motion control is even less,which leads to a lack of opportunities for students to develop and design to solve practical problems.Given these problems,we have designed a vision system applied to mobile robot target tracking for practical teaching,which can meet the experimental needs of Digital Image Processing,Robot Vision and other courses.The system consists of a visual acquisition device composed of a camera and a Raspberry Pi,an image information processing part and an omni-directional mobile robot.By using the uncalibrated visual servo to test its tracking of lane and colored objects,it is verified that the system has a good target tracking effect and good scalability.When the system is applied to the practical teaching process,students can not only learn the ideas and methods of mobile robot tracking movement but also carry out expansion and development based on existing cases,and their innovative and practical abilities will be improved.