移动机械手运动目标检测与跟踪技术研究

《移动机械手运动目标检测与跟踪技术研究》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、河北工业大学博士学位论文移动机械手运动目标检测与跟踪技术研究姓名：段萍申请学位级别：博士专业：机械制造及其自动化指导教师：张明路20071001移动机械手运动目标检测与跟踪技术研究THESTUDYFORMOBILEMANIPULATORABOUTTHEDETECTIONANDTRACKINGTECHNOLOGYOFMOVINGOBJECTABSTRACTThethesisissupportedbyaNationalProgram863item--“TheMobileManipulatorsystemaimedatmeasurementandmaintenance,worki

2、nginthecircumstanceofchemistrydangerousleakagefromthechemistrydangerousreactor”(itemserialnumber:2003AA421040).WeadopttheHEBUT-Ⅱmobilemanipulatorastheresearchobjecttodosomecorrelativetechnologyresearch.Thispaperfirstlyintroducesthehardwaresystemofmobilemanipulator,thenanalysisthemachinefra

3、meworkofhandpartofmobilemanipulatorandworkspaceofthewholemobilemanipulator.Aboutthekinematicsanddynamicsofmobilemanipulatorsystem,thisthesiscarriesontherelevanttheoryanalysisandcalculates,buildsupthekinematicsanddynamicsmodeofthewholemobilemanipulatorsystemanddoesrelevantsimulation.Inthevi

4、sionaspect,wemainlyresearchtheimagerecognition,three-dimensionreconstructionofmovingtargetbasedondouble-CCDandvisionservotrackingtomovingtarget.Themaininnovationworkofthisthesisisasfollows:1．Intheimagedisposingandcomputervision,agreatdealarithmeticadoptHSIcolormode,theIparameterofHSImodeis

5、independentofimagecolorinformation.TheHandIparameterisrelevantwiththecolorinformation,andthatdon’tchangedalongwiththelightcondition,sowhichisfittoapperceivethecolorcharacteristic.ThispaperadoptsHSIcolorthresholdsegmentationmethodonlytoanalysistheHandSparametervalueofeachpixeloforiginalityi

6、mage.Bythisway,wecanfindthecolordistributingcharacterofbackgroundregionandtargetregion.WesepararlyconfirmtherationalthresholdofHandSparametertodo“and”operation,thenseparateoutthetargetregionfromthebackgroundregion.2．Becausethegatheredimagepassesthroughsegmentationandpre-processing,itneedag

7、reatdealofoperationandexpendamassoftime.Thisisdisadvantageoustofastdetectionthemovingtarget.Sothispaperputsforwardtheideaofaveragesegmentation,whosebasictheoryis:afterjudgingoutthetargetregion,thetwovalueimageofabovestepobtainingwillbedividedinton*npart.Ineach