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Method and apparatus for quick tracing based on object surface color

A fast technology on the surface of objects, applied in the direction of image data processing, instruments, manipulators, etc., can solve problems such as inapplicability, and achieve strong adaptability, good effect, and rapid response

Inactive Publication Date: 2006-01-18
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

The method of pasting the color code has certain limitations and cannot be applied to occasions such as intelligent monitoring, assembly line parts tracking, etc.

Method used

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  • Method and apparatus for quick tracing based on object surface color
  • Method and apparatus for quick tracing based on object surface color

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Embodiment Construction

[0029] A device for realizing a fast tracking method based on the surface color of an object, including a robot, a robot control system, and a vision processing system. The principle of the overall device is as follows: figure 1 shown. The robot control system device is composed of a main control computer and a robot controller, and the vision processing system is composed of a camera, an image acquisition card, and an image processing computer. Wherein, in the present invention, the camera is installed at the end of the robot, the output terminal of the camera is connected to the image acquisition card, the image acquisition card is placed in the image processing computer, the robot is electrically connected to the robot controller, and the robot controller and the image processing computer are respectively electrically connected to the main computer .

[0030] In the image processing algorithm, the online learning method is used to obtain a digitized RGB color image throug...

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Abstract

Quick track method and device base on object surface color. Assemble image collection card in computer to gather moving object image into computer by the card and camera; according to special image processing algorithm and the character of object surface color block, select needed object and give out the position of mass center; use the difference between object image mass center and given image point position as feedback control value to control robot motion and drive camera motion to realize the quick track. It is terse, quickspeed, and has strong adaptability and transplantation. In image process, it uses color information-base learning method and can keep object within camera visual field. This invention is fit to intelligent control, auto detection and vision control for assembly line.

Description

technical field [0001] The invention belongs to the technical field of visual tracking in the field of robots, in particular to a method and device for obtaining a surface image of a moving object, selecting a specific object and realizing fast tracking according to the color characteristics of the image. Background technique [0002] At present, in the vision-based fast-moving object tracking research, the object to be tracked has obvious color characteristics, so the method of pasting a single color color scale on the surface of the object is used (see "Hu Ying, Zhao Shuying, Xu Xin for its typical structure. and, Research on Color Scale Design and Recognition Algorithm, Chinese Journal of Image and Graphics, Vol. 7 (Edition A), No. 12, December 2002, pp. 1291~1295"). The method of pasting the color code has certain limitations and cannot be applied to occasions such as intelligent monitoring and assembly line parts tracking. Contents of the invention [0003] The objec...

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Application Information

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IPC IPC(8): B25J13/08B25J19/04G06T1/00G06T7/00
Inventor 赵晓光谭民杜欣汪建华徐德李原梁自泽景奉水
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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