Research Of Dynamic Target Tracking Based On STM32 Mobile Robot

Dynamic target tracking based on visual is one of the topics in the fields of intelligent robot.It is of great importance that the application of robot vision simulation of human vision,among them,home sweeping robot is one of applications.In spite of visual intelligent robot has extensive research,there are still many shortcomings.In practical applications,it is often hoped that intelligent robotic robots can achieve accurate tracking of targets by color recognition.However,many sweeping robots in the market have problems,such as collision,getting lost and time consuming in the process of cleaning.According to the above problems,the paper attempts to design a robot based on visual target dynamic tracking,which provides important reference value for the optimal design of intelligent sweeping robot.Mainly based on the research of visual collection,according to color features to identify the target,and automatically adjust the speed and direction of motor,to achieve the car go straight or turn to track,avoid walking disorderly bump in the process,come true the effect of efficient tracking.The main research work and achievements are as follows:1.The basic framework of the STM32 controller four wheel balancing vehicle tracking system is built,and the relevant peripheral hardware circuit system is designed according to the demand.The content mainly includes the algorithm design of software system and the hardware circuit debugging.2.System hardware design.The coordination between the peripheral module parameters characteristic about robot dynamic target tracking and STM32 controller were analyzed.Finally,the optimal design scheme is proposed.Environment of Altium Designer is used to develop the circuit schematic and PCB diagram of the system.The external circuit system is mainly composed of OV7725 target information acquisition module Liquid and TFT-LCD crystal display module and infrared sensor E18-D80NK and other modules.3.Software programming.To achieve the goal of four-wheel balanced car system for different color tracking including straight,pause,turn,three movement states to control.The paper developed reasonable algorithms about target acquisition and recognition,and related PID program to control the robot tracking targets.4.System circuit welding and software program debugging.At first.,based on the PCB map and college lab resources to complete the hardware circuit of welding,and the suitable power supply system and download line is obtained.Secondly,target tracking control program is debugged by applying the IAR system platform.The design results show that the robot tracking system designed can accurately identify and locate a certain color target in this paper,and provide an important basis for the design of the family sweeping robot.