Research Of Accurate Tracking System Based On Visual Servoing

The machine vision is one of the most important consciousness of robot. The robot control system based on visual servoing integrated the technology of machine vision and robot to colntrol. And it is a research topic that full of challenge in the robotics. The research of accurate tracking system is a hotspot of machine vision, and it has a comprehensive foreground of applications. In the support of the 211 project "multi-info-object tracking system based on visual servoing", this thesis has designed and made the multi-function object tracking system based on visual servoing. Some important theories and technique questions about visual servoing system, like movement object examine, motion control that based on vision information feedback, system is integrate and so on, have been researched.The main research works are as follows:Firstly, the classification of the vision servo system was analyzed based on the existing vision servo and tracking control research, and the operate principle of the vision servo system was discussed. Some directions of the servo development was pointed out in this paper, and the problems were also discussed. The logic structure of the system according to multi-information object tracing based on vision servo was brought forward, then the design method of all the parts of the tracing system based on the vision servo was discussed, and via the method the hardware and software design of the system was accomplished.Secondly, detailed design of the image information processing module was given according to the requirements of moving object detection in a stationary background. Then factors affecting the speed and accuracy of the module were particularly analyzed, and the anti-jamming ability of the image processing part was enhanced using threshold filter. Afterwards, by optimization of the software, the processing speed was improved, and finally the designed acquirements of accuracy and speed were satisfied.And lastly, the moving control module was designed using the simple position control method and PID control strategy separately in this paper, and the effects of the two method were compared through experiments, and both the advantage and disadvantage of PID control strategy were analyzed.In this paper, a multifunctional object tracing test system based on vision servo was established, and at present, moving object tracing in a stationary environment is realized, and the interface of image processing module is reserved for future secondary development, and it makes a good foundation to accomplish multifunctional object tracing system.