Cricket vision control system based on double-loop PID algorithm and Otsu method

XU Yunji; GONG Ming; GONG Cheng; WANG Li

doi:10.13873/J.1000-9787(2020)11-0081-04

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Cricket vision control system based on double-loop PID algorithm and Otsu method

更新时间：2025-09-11

- Cricket vision control system based on double-loop PID algorithm and Otsu method
- Issue 11, Pages: 81-84(2020)
- 作者机构：
  
  1. 华东交通大学理工学院电气与信息工程分院
  2. 南昌大学机电工程学院
  3. 海南大学信息与通信工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)11-0081-04
  CLC： TP273;TP391.41
- Published：2020
- 稿件说明：
移动端阅览
XU Yunji, GONG Ming, GONG Cheng, et al. Cricket vision control system based on double-loop PID algorithm and Otsu method[J]. 2020, (11): 81-84.
DOI：

XU Yunji, GONG Ming, GONG Cheng, et al. Cricket vision control system based on double-loop PID algorithm and Otsu method[J]. 2020, (11): 81-84. DOI： 10.13873/J.1000-9787(2020)11-0081-04.

摘要

针对板球视觉控制系统易受光强影响及控制效果不佳的问题

研制了一种基于图像传感器的板球视觉控制系统。图像处理算法采用了大津法

对图像二值化处理效果做了对比

并对小球图像进行二值化优化处理

获取了准确的质心坐标。针对板球视觉控制系统的小球运动特点

设计了双环比例—积分—微分(PID)算法

并对小球运动进行优化控制。本系统实现了二值化图像的阈值自适应

小球实现了任意区域间的切换运动及避开阻挡区域的路径规划运动

控制系统精度达到设计要求。

Abstract

Aiming at problems that cricket vision control system is susceptible to light intensity and control effect is not good

a cricket vision control system based on image sensor is researched and fabricated. The image processing algorithm uses the Otsu method to compare the effect of image binarization processing

and the binarization optimization processing of the ball image is performed to obtain accurate centroid coordinates. Aiming at the characteristics of the ball movement in cricket vision control system

a double-loop PID algorithm is designed

and the ball movement is optimized and controlled. The system realizes the adaptive threshold of the binary image

the ball realizes the switching motion between any areas and the path planning motion to avoid the blocking area

and the control system precision meets the design requirements.

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