Target tracking method of independent forestry robot

Abstract

The invention discloses a target tracking method of an independent forestry robot, and the method can be applied to target tracking of the independent forestry robot consisting of a computer visual and digital control pan-tilt and a central control computer. in the method, a moving target detection part and a pan-tilt real-time movement control part are utilized, wherein the moving target detection part comprises an image pretreatment module, a movement information acquisition module adopting a multi-frame difference method, a moving target judgment module and a target central coordinate calculation module; the moving target detection part is used for detecting the information of a moving target and recording the bounding rectangle and central coordinate of the target; and the pan-tilt real-time movement control part is used for controlling the center of the target to be positioned at an area adjacent to an image center. By utilizing the method, the independent forestry robot is ensured to control the operation target to be positioned at the image center or the area adjacent to the image central of the vision system of the independent forestry robot all the time in the operation process.

Description

Target Tracking Method for Autonomous Forestry Robot technical field The invention relates to a robot target tracking technology, in particular to an autonomous forestry robot target tracking method. Background technique The autonomous forestry robot is a kind of special robot, and its research is attracting more and more attention, which is mainly due to the specific environment of the forest area. During the operation process, the autonomous forestry robot hopes that the operation target will always be located in the center of the image of the forestry robot's vision system or in the vicinity. Since both the target and the forestry robot may be in motion, the target of the forestry robot is in motion relative to the robot, and the shape and size of the target are uncertain. In order to ensure that the target is always located in the image center of the vision system of the forestry robot Or in the nearby area, it is necessary to detect the moving target in real time, ca...

AI Technical Summary

Problems solved by technology

In the prior art, due to the uncertainty of the detected target, especially when the moving target is more complex, it is not easy to describe the image color and shape, the real-time detection of the target in the image video sequence has certain difficulties; The real-time adaptive control algorithm of the

Images