Research On Electronic Directional And Distance Measurement System Of Binocular Stereo Vision Base On Tracked Mobile Robot

The tracked mobile robot with special mechanical structure, can adapt to a complex pavementenvironment, and its application is becoming more and more widely. We use the gyroscope toachieve electronic directional and the control of rotation angle based on the robot. Thegyroscope is an internal sensor which can measure the angular velocity of rotating objects. Itis very important that gyroscope does not need the external reference signal. We can usecharacteristic of the gyroscope to achieve more precise navigation and positioning when therobot is in a low environment or we are not familiar with the environment. In the distancemeasurement system of Binocular stereo vision，we use the fish-eye lens and the standard lens.The fish-eye lens axis is perpendicular to the bottom surface of the mobile robot and thestandard lens axis parallel to the direction of mobile robot. So we use the fish-eye lens to findthe target objet easier. At last, we use the standard lens to identify the target objet and achievethe distance measurement with the help of the electronic gyroscope.Because of the uniqueadvantage, it has a very important significance in civil, aerospace, military and others whichrely on the visual information to make decision.This paper is based on tracked mobile robot. In the distance measurement system ofBinocular stereo vision, we complete the center calibration of the fish-eye image．Accordingto the characteristics of image color, we make the color segmentation twice and get grayscaleimage and binary image．Also we can identify the target object automatically and quicklythrough the image which has been eliminated noise and median filtering．In the experiment,we use centroid of the object to replace of the target object and deduce the formula ofbinocular stereo-vision ranging．At last, we make the analysis and correction of the erroraccording to the experimental data.As the main part of this article, it designs the ENC-03 gyroscope peripheral circuit inelectronic directional. By using the filtering, amplifier, A/D conversion, it converts the outputanalog signals of the gyroscope into digital signals, and then links with single-chipmicrocomputer and computer. After that, the output voltage value of the gyroscope can beread from the computer. Then the value can be converted into angular velocity and integral, soas to find out the rotation angle of the object. Measuring the Angle of values, verifying theresult, and calculating the maximum error, it meets the accuracy requirement of the ENC-03gyroscope.Through the wireless network, we can use the computer to control the tracked mobilerobot and complete the communication between the computer and the tracked mobile robot.We write the control software of the tracked mobile robot to display the deflection angle inreal time．...