3D Positioning Of Human Back Area Based On Mobile Phone

With the progressing of society and the increasing of pace of life,people are faced with the dual pressures of life and work,which leads the symptoms appearance of back pain to be younger and commonly,or even some serious sufferers are forced to stay in bed for a long time.As of March 2015,the number of chronic diseases in China has reached 260 million,which makes China the world's largest number of chronic diseases.About 80% of adults in China have a history of low back pain,of which 1% to 2% of the patients eventually paralyzed.Back pain has been a daily symptom and affected people's normal life.However,daily hospital treatments are not only expensive and inconvenient,but also require plenty of time and effort,which will cause back pain can not be early,timely and continuous treatment.For such problems,this thesis studies a home simple treatment service robot with electrical stimulation treatment device which can relieve muscle soreness,improve muscle vitality,prevent muscle atrophy and other effects.The simple treatment service robot system has two five-degree-of-freedom manipulators,and an electrical stimulation treatment device,a pressure sensor and an identification mark are installed at the end of the manipulators.A camera with a bracket is set on the middle of the two manipulators,which is used to track the motion of the manipulators,collect the human back video and transmit the video to the user.The user holds a mobile phone to receive the video and specify the treatment location.Based on the service robot,this thesis has been studying the 3D positioning technology of human back area guided by mobile phone,which use the self-designed path planning algorithm combined with the pressure sensor to detect the depth of the marker motion in real time for achieving 3D positioning.This thesis mainly researched path planning algorithm,trajectory planning algorithm,manipulator kinematics and video tracking.Main work is summarized as follows:1.The overall design of the manipulator 3D positioning system based on monocular vision is completed,then the functions of sub-modules and the functional requirements of the system are analyzed in detail.We described video transmission,bluetooth communication,manipulator control and the methods for realizing image processing based on Android mobile phone,and has developed real-time video transmission software.2.The D-H modeling method of the manipulator is studied,and the forward and inverse kinematics of the manipulator is simulated.The trajectory planning algorithms of the manipulators in Cartesian space and joint space are analyzed,which ensures that the manipulators can move along the specified curve and their joints can rotate at a steady rate.3.The path planning algorithm of manipulator based on monocular vision tracking is designed,in which Harris' algorithm is used to track the moving target in path planning and optimized for Harris' algorithm.Finally,a series of experiments are carried out about 3D positioning of the human back area and achieved the desired effect.The experimental results show that the proposed path planning algorithm is feasible.