移动机器人视觉伺服系统上位机软件的设计与实现

Design and Implementation of Host Computer Software for Mobile Robot Visual Servo Systems

摘要:

针对移动机器人视觉伺服系统,采用C++语言设计了一款基于Qt的跨平台实时数据可视化上位机软件。该软件执行图像处理算法和数据分析,实现绘制移动机器人实时轨迹和实时参数曲线等功能。首先介绍了移动机器人的硬件组成和功能。其次阐述了上位机软件的开发环境和设计步骤,并详细叙述图像算法的运行流程和实时在线绘制波形图等功能。最后通过视觉伺服跟踪控制实验采集数据,并实时显示来验证所设计上位机软件功能的有效性。

Abstract:

A Qt-based cross-platform real-time data visualization host software is designed for mobile robot visual servo systems by using C++ language. The software performs image processing algorithms and data analysis to realize the functions of drawing real-time trajectories of mobile robots and real-time parameter curves. First, the hardware component and its function of the mobile robot are introduced. Second, the development environment and design process of the host software are stated, and the detailed description of the operation flow of the image algorithm and real-time online drawing of waveforms are given. Finally, the data obtained by visual servo tracking control experiments are displayed in real-time to verify the effectiveness of the designed host software.