基于窄带物联网的巡检机器人目标跟踪控制系统设计

Design of target tracking control system for inspection robot based on narrowband Internet of Things

摘要:

目前研究的巡检机器人目标跟踪控制系统存在目标位置误差大、目标跟踪控制效果差、采集的图像模糊等问题。为了解决上述问题，基于窄带物联网的巡检机器人目标跟踪控制系统。系统硬件以窄带物联网无线通信模块为基础，优化设计了Zigbee压力采集器、中央控制器和STM32主控电路，实现了巡检机器人目标跟踪控制系统的数据信息集中调度。Zigbee压力采集器主要由XBee控制模块、压力传感器两部分组成，同时设计了供电电路、晶振电路和复位电路，通过系统硬件，实现了对巡检机器人的跟踪、控制和监控，为系统提供了硬件支持。软件方面给出了系统的控制流程，设计了Zigee组网程序、嵌入式视觉处理程序和巡检机器人自主导航程序。实验结果表明，基于窄带物联网的巡检机器人目标跟踪控制系统目标位置误差较小、控制效果较好、图像更加清晰。

Abstract:

The current research on the target tracking control system of the inspection robot has problems such as large target position error, poor target tracking control effect, and fuzzy collected images. In order to solve the above problems, a patrol robot target tracking control system based on narrowband Internet of Things. The system hardware is based on the narrowband IoT wireless communication module, and the Zigbee pressure collector, the central controller and the STM32 main control circuit are optimized to realize the centralized scheduling of data information of the inspection robot target tracking control system. The Zigbee pressure collector is mainly composed of XBee control module and pressure sensor. At the same time, the power supply circuit, crystal oscillator circuit and reset circuit are designed. Through the system hardware, the tracking, control and monitoring of the inspection robot are realized, and the hardware is provided for the system. support. In terms of software, the control flow of the system is given, and the Zigee networking program, embedded vision processing program and autonomous navigation program of the inspection robot are designed. The experimental results show that the target tracking control system of the inspection robot based on the narrowband Internet of Things has smaller target position error, better control effect, and clearer image.