机电工程技术2026，Vol.55Issue(14)：38-44,73,8.DOI:10.3969/j.issn.1009-9492.2026.00067
基于移动机器人的视觉伺服综合实验系统设计与实现
Design and Implementation of an Integrated Visual Servoing Experimental System Using a Mobile Robot
摘要
Abstract
The experimental teaching in robotics engineering has long faced the challenge of visual perception and motion control being treated as isolated modules,making it difficult to gain a coherent system-level understanding.An integrated visual servoing laboratory system is established using the RoboMaster EP mobile robot as a platform.Target detection and feature extraction are carried out in the HSV color space.A monocular ranging model is derived from pinhole camera geometry,combined with error propagation analysis and EWMA filtering to reduce measurement uncertainty.A discrete PID controller is used to convert pixel-domain errors into gimbal angular-velocity commands,while a finite state machine orchestrates the two-degree-of-freedom gimbal and the Mecanum-wheel omnidirectional chassis through a four-phase sequence of searching,locking,tracking,and firing.Experimental data show that within the 0.5～2.0 m working range,the coefficient of determination for the ranging model is 0.998,with measured errors matching the theoretical prediction trend.The gimbal step response exhibits a rise time of approximately 0.4 s and a settling time of approximately 0.7 s,with a steady-state RMSE of 2.4 pixels.During coordinated gimbal-chassis tracking of a moving target,the pixel error remains within±15 pixels.The platform integrates visual modeling,closed-loop control,and multi-actuator coordination into a single experimental workflow,providing an effective tool for comprehensive engineering laboratory instruction.关键词
视觉伺服/移动机器人/单目测距/PID控制/实验系统Key words
visual servoing/mobile robot/monocular ranging/PID control/experimental system分类
信息技术与安全科学引用本文复制引用
胡一博,奚月平,雷乔治..基于移动机器人的视觉伺服综合实验系统设计与实现[J].机电工程技术,2026,55(14):38-44,73,8.基金项目
广东省高等教育学会"十四五"规划2025年度高等教育研究课题(25GQN046) （25GQN046）
