Robot Target Tracking System Designing Based On Color Recognition

Research results show that the main way for mankind to accept outside information isviewed through eyes,so observing for human access to information is essential.In addition, therobot instead of a human to complete some difficult work attracts hot spot attention ofscholars from various countries.Machine vision is a very important when robot completeswork.It is a hot research topic in today’s that how to get the robot to identify the target and todo some smart work completed under the guidance of the PC program.Herein the robot recognition target function is based on the color recognition.Robotidentifies front scene through camera in front of it.And then the video stream is truncated toone and one picture and image processing.It includes expansion、corrosion,and the RGB colorspace to HSI space.Identify red object in the scene, and mark the center of red.Finally,trackred target through controlling the robot’s motors.Motor controlling is using advanced PIDcontrolling algorithm.First the article introduces the basic knowledge used in algorithm research.there is adetailed study in the RGB, HSI space characteristics and applications, and interconversionand video image acquisition of No.Voyager Ⅱ mobile robot experiment platform PID.And theprinciple of the PID controlling algorithm and robot controlling.They have laid a solidfoundation for the next the complete color recognition and target tracking.Then describes thesystem structure of the Voyager Ⅱ.The hardware has introduced four modules of the hardware,including sport chassis, power supply and drive modules, sensor modules and computermodule and gives a hardware configuration diagram of the entire robot.The software describesthe relationship between the level of software architecture level architecturediagram.Illustrates the relationship between the various levels, and introduced the the keyclass function of each layer, give an example how to work the software layer.And then focus is on the design of the robot red identification and tracking red objectsystem. Focuses on the structure of the system, given the relationship between classes, plottedsystem class diagram and system use case diagram.Then introduce the class trigger and calltime, draw a timing diagram.Last highlights the system to achieve the key function of the“After Update Video Sample ()”implementation process and call function,For this function,we realize image processing, image conversion, color recognition, target tracking, integratedtreatment.Eventual realization of a robot target tracking.Optimized use of function successfully filter out the interference interference on the red object recognition.After several debugging, ultimately gives the appropriate H, S in therange.Find the most accurate way to identify the red object.Then gives real-time systemsrunning effect diagram, figure clearly gives the position of the center of gravity of the redobjects and around the motor speed.Real-time data feedback has red object recognition, motorcontrol and target tracking system.In addition, the real-time display of system response timealso shows that the running time to meet the original design requirements.The systembasically meet the real-time requirements.Voyager Ⅱ mobile robot experiment platform is for experimental carrier.The preparationof a large number of procedures controls the robot to complete the intelligent activity.therobot achieve recognizing the red target and tracking red target behavior with the robot via aPC connection.