Aiming at the daily demand of searching lost items,an automatic system for indoor searching lost items based on visual object detection is designed in this paper.The system is made up of the collection of vision information,algorithm of object detection and the motion control of pan-tilt.Specially,video images of indoor scene are read from OV2640 camera by ESP32.PC server receives images uploaded by ESP32.Spatial locations of a target are determined by YOLOv5 object detection algorithm.Laser spots cast by an infrared laser emitter are detected in images.Position offsets between the locations of the target and the laser spot are computed through incremental PID algorithm,and then the motion commands are send from PC server to STM32F103C8T6 chip through serial port.Two servos are driven so as to regulate the posture of the two-degree-of-freedom pan-tilt.Eventually,the laser spot are thrown to the target,and it turns out to the guiding signals for finding lost items.The effectiveness of the system is validated by the results in the real world.It offers a new solution for indoor searching lost items based on visual object detection.
关键词
室内寻物/目标检测/二自由度云台
Key words
indoor searching lost items/object detection/two-degree-of-freedom pan-tilt
维普
万方数据