为了解决传统路径追踪系统追踪精度低的问题,本文设计了基于嵌入式图像识别的机器人路径追踪系统。系统利用内核驱动层的图像采集模块驱动硬件层的CCD摄像机,采集行驶路径的图像信息并传送至同层的控制模块;控制模块选用TMS320DM6437将图像信息传送至业务支持层的图像识别模块;图像识别模块通过边缘提取等过程识别路径信息,将识别结果传送至路径追踪模块,并在通信模块中利用无线通信网络在追踪界面展示路径追踪结果。实验结果表明:在不同光照强度下,该系统得到的机器人路径追踪结果的位移偏差小于2 cm、角度偏差小于1°,说明该系统具有优越的路径追踪性能。

In order to solve the poor tracking accuracy of traditional path tracking system,a robot path tracking system based on embedded image recognition is designed in this paper.The system uses the image acquisition module of the kernel driver layer to drive the CCD camera of the hardware layer to collect the image information of the driving path and transmit it to the control module of the same layer.The control module uses TMS320DM6437 embedded control chip to transmit the image information to the image recognition module of the business support layer.The image recognition module identifies the path information through the process of edge extraction and transmits the recognition result to the path tracking module,and displays the path tracking result in the interface of the wireless communication network in the communication module.The experiment results show that the displacement deviation of the robot path tracking results obtained by the system is less than 2 cm and the angle deviation is less than 1° under different light intensity,indicating that the system has excellent path tracking performance.