摘要
针对人们日常的寻物需求,文章设计了一款基于视觉目标检测的室内自动寻物系统。该系统主要由视觉信息采集、目标检测算法和云台运动控制组成。其中,ESP32读取OV2640摄像头拍摄的室内场景视频图像,PC服务器接收ESP32上传的图像。随后,文章采用YOLOv5目标检测算法确定目标物的空间位置,并在图像中检测红外激光发射器投射的光斑,通过增量式PID算法计算两者的位移偏差,由串口向STM32F103C8T6主控芯片发送运动指令,驱动2台舵机调整二自由度云台位姿,最终使得光斑能够对准目标物,形成寻物引导信号。实际测试结果验证了系统的有效性,该设计为室内自动视觉寻物提供了一种新的解决方案。
Aiming at the daily demand of searching lost items,an automatic system for indoor searching lost items based on visual object detection is designed in this paper.The system is made up of the collection of vision information,algorithm of object detection and the motion control of pan-tilt.Specially,video images of indoor scene are read from OV2640 camera by ESP32.PC server receives images uploaded by ESP32.Spatial locations of a target are determined by YOLOv5 object detection algorithm.Laser spots cast by an infrared laser emitter are detected in images.Position offsets between the locations of the target and the laser spot are computed through incremental PID algorithm,and then the motion commands are send from PC server to STM32F103C8T6 chip through serial port.Two servos are driven so as to regulate the posture of the two-degree-of-freedom pan-tilt.Eventually,the laser spot are thrown to the target,and it turns out to the guiding signals for finding lost items.The effectiveness of the system is validated by the results in the real world.It offers a new solution for indoor searching lost items based on visual object detection.
作者
曹国锋
殷文慧
陈雅婷
郝孝颉
韩腾昊
罗丰瑞
钱诚
Cao Guofeng;Yin Wenhui;Chen Yating;Hao Xiaojie;Han Tenghao;Luo Fengrui;Qian Cheng(Changzhou Institute of Technology,Changzhou 213032,China)
出处
《无线互联科技》
2024年第10期50-53,共4页
Wireless Internet Technology
基金
国家自然科学基金项目
项目编号:61602063。江苏省大学生创新创业计划项目
项目编号:202311055067Y。
关键词
室内寻物
目标检测
二自由度云台
indoor searching lost items
object detection
two-degree-of-freedom pan-tilt
