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The Research of Mobile Robot Vision Tracking Technique

Author: GuanWei
Tutor: HongYing
School: Tianjin University
Course: Mechanical and Electronic Engineering
Keywords: Mobile robot DMC motion controller Visual Tracking Object-oriented programming
CLC: TP242.62
Type: Master's thesis
Year: 2007
Downloads: 296
Quote: 1
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Abstract


With the development of mobile robotics , mobile robot applications continue to expand . The human hope robots to perform complex tasks in indoor and outdoor . The completion of the above tasks need a good reliability and openness of the mobile robot system . Therefore, the development of the service sector application background and easy user secondary development of the mobile robot has a good market potential and practical value . Based on the structure and performance requirements of the mobile robot , based on detailed analysis of the mechanical structure , industrial control computers ( IPC ) , frame grabbers and multi-axis digital motion controller (DMC) as the control unit of the system , together with the MAXON Series DC servo system as well as the self-developed control software platform constitutes a mobile robot control system . System hardware architecture has the following characteristics : a modular , economical and practical, good reliability and control accuracy . The hardware structure is principally engaged in the following three aspects : the hardware configuration of the control system ; the technology hardware interface of the control system ; design of image acquisition system . Software architecture , using the Windows XP operating system , object-oriented programming and design methods , and comprehensive utilization of multimedia timer and multi- threading technology , using Visual C 6.0 language to complete the mobile robot system management and scheduling , as well as man-machine interface program is compiled , the visual image acquisition , motion control software module development . From the point of view of the practical application of a mobile robot system software to achieve the requirements of real-time , multi - tasking and coordination , openness and modularity , friendly interface . Color characteristics according to the work environment of the mobile robot and tracking the target , using the RGB color model and the chain code table extraction target tracking , and by determining the world coordinate system , camera coordinate system , the relationship between the image coordinate system of the three pairs of the tracking target precise positioning , and a reasonable track strategy . The preliminary test achieved good results .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots > Robot Vision
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