摘要
设计基于图像识别的差异性有色物体自分拣系统。该系统以ARM Cortex-M3内核STM32F103ZET6处理器为主控芯片。采用OV7670摄像头进行图像抓取,通过HSL腐蚀算法的图像处理技术以及PID算法的物体跟踪技术调整PWM波参数,对数字舵机进行控制,实现选择性自主抓取。系统具有低压检测电路和手动控制的蓝牙-App辅助功能,使得机械手系统更加完善、可靠。
A self-sorting system of different colored objects is designed based on image recognition,with the processor of STM32 F103 ZET6 as the master chip,and ARM Cortex-M3 as the kernel. The function of image capture is realized by the usage of Camera OV7670. By the aid of image processing technique of HSL corrosion algorithm and with the help of object tracking technique of PID algorithm,the parameter of PWM wave can be adjusted to control the digital steering gear,then the function of selective autonomous grabbing can be realized. In the system,such supplementary functions as low voltage detection circuit and manual-control bluetooth-app can make the manipulator system more perfect and dependable.
作者
仇国华
李志煌
孙树亮
QIU Guohua;LI Zhihuang;SUN Shuliang(School of Electronics and Infomlation Engineering,Fuqing Branch,Fujian Normal University,Fuqing Fujian 350300,China)
出处
《重庆科技学院学报（自然科学版）》
CAS
2018年第4期77-81,91,共6页
Journal of Chongqing University of Science and Technology：Natural Sciences Edition
基金
福建省教育厅中青年教师教育科研项目"基于互联网+的离散型家庭植物培养系统研究"(JAT160575)
福建师范大学福清分校教改项目"智能控制类实践教学模式的改革探索"(XJJG2015013)
关键词
腐蚀算法
PID算法
PWM波
蓝牙通信
corrsion algorithm
PID algorithm
PWM wave
bluetooth communication
