Research On Tracking And Positioning And Grabbing System Of Moving Target On Binocular Vision

With the development of machine vision technology,the integration of machine vision and robot technology can greatly improve the level of intelligence of robots.The main purpose of this paper is to combine machine vision technology with robot systems.Based on binocular vision technology and combined with the GRB-400 four-DOF robot platform,we developed a binocular vision system that tracks,locates and grabs moving objects in a static background,and can also realize the detection,positioning and grabbing of targets in the field of view.The main work is as follows:(1)The principle and function of camera calibration are discussed in detail.And the camera calibration experiment is completed to verify that the calibration accuracy meets the requirements of the positioning and grabbing.(2)Considering that the tracking failure occurs when the target part is occluded,the corner detection algorithm is introduced into the tracking system.By comparing the Harris,SIFT and FAST corner detection algorithms,the FAST algorithm was selected to be introduced into the improved tracking algorithm in this paper to improve the tracking accuracy and stability of the target.(3)Focus on real-time target detection and tracking algorithms.After comparing and analyzing the traditional background difference method and inter-frame difference method,we focus on the object detection method based on background modeling,and then a target detection method suitable for this system is proposed.At the same time,the Camshift algorithm and the Kalman filter algorithm are also introduced,and an improved algorithm that FAST corner detection algorithm is combined with the optimized Camshift algorithm based on Kalman filtering is proposed in this paper.An analysis of the tracking algorithm was performed in detail,and it was finally verified that the proposed algorithm can significantly improve the system tracking performance.(4)Under the support of machine vision technology,and based on the analysis of the kinematics and trajectory planning problems of the four-DOF robot,the binocular vision tracking and positioning and grabbing system is set up,and various modules of the system were tested to verify the feasibility of the system,and it shows that the system has certain application value in the actual industrial production.