Research on vision control system for inverted pendulum

Abstract

This paper focuses on the study and experiment of vision control system for an inverted pendulum. To solve some key technical problems, the hardware platform and the software flow of the control system have been designed. The whole control system is composed of vision module and motion control module. The vision module is based on CCD camera, the motion control module is based on Motion Control Card, Servo Driver and Servo Motor, and the software is based on LabView. The main research contents and contributions of this paper are summarized as follows: (1) Analyze the functional requirements of the vision control system about the inverted pendulum, developing the hardware platform and planning the overall arrangement of the system; (2) Design the image processing flow and the recognition track process of the moving objects. The accurate position of the pendulum can be obtained from the image through the flow, which concludes image pretreatment, image segmentation and image post-processing; (3) Design the software structure of the control system and write the program code. It is convenient to update and maintain the control software due to the modularity of the system. Some key technical problems in the software have been solved, so the flexibility and reliability of the control system are improved; (4) Build the experimental platform and set the key parameters of the vision control system through experiments. It is proved that the chosen scheme of this paper is feasible. The experiment provides the basis for the development and application of the whole control system.