Design of Ball Rolling Control System Based on Hough Circle Algorithm
The rolling ball control system has high research value in the field of control system,but in the actual use process,there are some problems,such as inaccurate positioning of the ball,resulting in poor control effect.In order to solve this problem,the system uses a camera module with processor——OpenMv4 Plus to obtain the image of the whole plate,and uses the ball image processing algorithm to process,and calculates the ball center coordinates.The control board uses the adaptive double-loop PID algorithm to calculate the ideal PWM waveform,and outputs it to the digital steering gear through the timer,so that the tilt Angle of the plate can be adjusted,and the ball movement can complete the tasks set by users.The ball image algorithm includes the Hofer circle algorithm and the center point algorithm.The test results show that compared with the center point algorithm,the ball center coordinates using Hofer circle algorithm have higher accuracy,can resist the interference of external light,and is almost not affected by the noise in the image.The ball motion trajectory fits the ideal trajectory roughly,and the control effect is good.
Hough circle transformationRolling ball control systemDouble-ring PIDOpenMv4 Plus cameraPWM
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维普
