In view of the problems in picking up the trail and in controlling the flight attitude, a set of complete camera tracking system module has been designed for the four rotor aircraft. The independent STM32 single chip microcomputer system is used in controlling to improve the efficiency. At first,the route tracking is simplified and analyzed,and then four images are obtained which are the discriminant basis,at last the judgment and distinguish are made to these images on the numbers of the arithmetic progressions and on the scanning situations whether to find the black line on the data. This whole processing improves the efficiency of program execution and ensures the accuracy of the data. The experiments under PID controlling show that the camera module for tracking has strong adaptive judgment ability and control ability.%针对四旋翼飞行器循迹较为复杂、姿态难以控制的问题,设计了一套完整的摄像头循迹系统模块.采用独立的STM32单片机系统进行控制,提高了工作效率.对循迹路线进行了分析简化,得出四幅场景图像,给出了判别依据:仅需对图像横向扫描然后判断等差数列的个数,以及是否扫描到黑线的情形来判断区分四幅图像,简化了图像识别步骤,提高了程序执行效率及可靠性.PID调节实验结果表明,该摄像头循迹模块具有较强的自适应抗干扰能力.
展开▼
