Target tracking method of mobile robot based on electrical-hydraulic focusable lens

A mobile robot and target tracking technology, applied to color TV components, TV system components, TVs, etc., can solve problems affecting performance, reducing edge information, preventing video observers from observing details and edge information of targets, etc. , to improve the stability of the

Active Publication Date: 2018-09-28
SHANGHAI UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

Changes in the object distance of the target are likely to cause it to move out of the depth of field range, causing its image to be blurred due to out-of-focus
The blurring caused by defocus will reduce the edge information of the image, lose the detail information, and whiten the image, which will inevitably affect the key part of the target tracking algorithm-the performance of the target feature representation, and then affect the overall performance of the target tracking algorithm; The blur caused by the defocusing of the target will also prevent the video observer from observing the details and edge information of the target

Method used

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  • Target tracking method of mobile robot based on electrical-hydraulic focusable lens
  • Target tracking method of mobile robot based on electrical-hydraulic focusable lens
  • Target tracking method of mobile robot based on electrical-hydraulic focusable lens

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Embodiment Construction

[0045] In order to make the technical scheme and main points of the present invention clearer, below in conjunction with accompanying drawing, the implementation steps of the present invention are described in detail:

[0046] Such as figure 1 As shown, a target tracking method for a mobile robot based on an electro-hydraulic adjustable focus lens includes the following steps:

[0047] 1) An optical imaging system is composed of an electro-hydraulic adjustable focus lens and a fixed focus lens;

[0048] 2) Obtain the functional relationship between the focal length of the electro-hydraulic adjustable focus lens and the optimal imaging object distance;

[0049] 3) Set the optimal tracking distance of the mobile robot;

[0050]4) Get the moving speed of the target, and use it as the tracking speed of the mobile robot;

[0051] 5) The mobile robot tracks the target at a given speed;

[0052] 6) Obtain the distance information between the current target and the mobile robot; ...

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Abstract

The invention relates to a target tracking method of a mobile robot based on an electrical-hydraulic focusable lens. Modeling is carried out on an optical imaging system, a function relationship between a focal length of the electrical-hydraulic focusable lens and an optimal imaging object distance is obtained, distance information between a target in a clear state and the mobile robot and an average movement velocity of the target in a time interval t can be obtained by utilizing the function relationship, and by means of the information, a tracking speed of the mobile robot is updated, so that a distance between the mobile robot and the target is always kept within a proper range and effective tracking on the target is implemented; and meanwhile, due to automatic focusing on the target when the target distance information is acquired, an observer can always obtain an image feedback of the target, which is clear and rich in detail.

Description

technical field [0001] The invention relates to a target tracking method of a mobile robot based on an electro-hydraulic adjustable focus lens. Background technique [0002] As a new production tool for human beings, intelligent robots have shown great advantages in reducing labor intensity, improving productivity, changing production models, and liberating people from dangerous, harsh, and heavy working environments. Mobile robot is an important branch of intelligent robot. It is a kind of robot system that can perceive the environment and its own state through sensors, realize target-oriented autonomous movement in an environment with obstacles, and complete certain operation functions. It has been used in military reconnaissance, It is widely used in dangerous and harsh environments such as space development, mine clearance and anti-nuclear pollution. Generally speaking, mobile robots must have functions such as environment perception, target tracking, decision-making ju...

Claims

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Application Information

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IPC IPC(8): H04N5/232
CPCH04N23/67
Inventor 夏瑞隆李恒宇丁长权刘靖逸罗均
Owner SHANGHAI UNIV
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