CAJ | 학술논문

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。
설계료일충기우모의CCD도상전감기화도상투시교정산법적자동순적궤기인。분별완성료궤기인적총체설계화연경건설계。해순적궤기인이32위단편궤MK60DN512ZVLQ10위주공제기，채용모의CCD섭상두획취흑색인도선신식，병전화위유효적타궤화전궤공제량。위제고공제정도，이용PID공제산법실현궤기인적폐배공제。유우채집적도상존재제형실진，소이이용도상투시변환대원시도상교정，실현궤기인정학적순적。측시결과표명：해순적궤기인대장지괄응성강，구유저성본、저공모등우점，재핵복사화고압전등특수배경하유흔대적사용개치。
A self-tracking robot has been designed based on analog CCD image sensor and image per-spective correction. The overall design as well as hardware/software design is completed. The tracking ro-bot uses the MK60 DN512 ZVLQ10 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 track-ing robot which has strong adaptability is strong and has the advantages of low cost,low power consump-tion,it has great value in the special environment such as radiation,high voltage,etc.