Recognition,Tracking And Prediction Of Plane Free-moving Objects

As human society by the information age to intelligence era,in the field of artificial intelligence and related technology development by leaps and bounds,as an important supporting technology of the physical information system machine vision research also more and more widely applied,plane freedom of movement in the transportation,aerospace,military,sports,etc widely exist,to carry out real-time identification,location and track prediction is of great significance to promote technological progress in the field of related.This article takes the "OMRON cup" Sysmac automation application design contest hockey against robot as the background,through the analysis of the movement equation of compared the traditional prediction methods,unsupervised mode cycle recursion network prediction method,using Adams simulation with webots simulation realized the recognition of planar free body,positioning,prediction and the manipulator catching process,the main research content is as follows:Firstly,real-time digital images are collected based on the motion characteristics of the ball,and color feature extraction and hough change are used for image processing to identify and locate the ball.By converting the RGB value to the HSV value which is more sensitive to the color,the ball is identified by hough change detection.It avoids the interference of light intensity,Angle,multi-background and other environmental factors.Then,in order to realize the manipulator to hit the ball continuously and stably,carry out the ball desktop motion trajectory prediction method research.The mechanical model of free-body sliding and collision is established.Based on mechanical model and cyclic recursive neural network,the trajectory prediction model of planar free body motion is established.In order to verify the accuracy of the proposed algorithm model,an example of Adams-Simulink co-simulation method is proposed to verify the algorithm.On this basis,Webots simulation software was used to simulate the whole motion process of the planar free-body robot system,including ball desktop motion,image recognition and trajectory prediction,and manipulator hitting.The 3d model modeling of webots was completed,and the ball robot system in the real scene was built and restored.On this basis,the controller program was written in python language,including image acquisition,feature recognition,modeling trajectory prediction and other control codes.