Visual Servo System Design Based on Embedded Linux

作     者：Yan Kai. Chao,Department of Mechatronics Engineering and Automation, Shanghai University Yong Huan. Yang,the Department of Mechatronics Engineering and Automation, Shanghai University Yu Lin. Xu the Department of Mechatronics Engineering and Automation, Shanghai University the Shanghai Key Laboratory of Power Station Automation Technology 

会议名称：《第24届中国控制与决策会议》

会议日期：2012年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Open Foundation of State Key Laboratory of Robotics and System(SKLS-2009-MS-10) Graduate Innovation Fund of Shanghai University (SHUCX112188) supported by Shanghai University, "11th Five-Year Plan" 211 Construction Project 

关 键 词：embedded visual servo object recognition and tracking Open CV moment invariants 

摘      要：This thesis concerns the establishment of a visual servo system based on embedded Linux mainly used for recognition and tracking of the moving objects in a relatively simple background of the house. At first, the thesis studied the successful transplant of the open source visual library Open CV to the embedded Linux and the build of the hardware/software platform and cross-compiling *** image of the moving object is processed via Open CV. The shape recognition of the moving object is achieved according to the feature information of provincial characteristics of image-moment invariants. The spatial value of manipulator end is calculated by the estimate of the offset of the moving project’s profile and then the angles of the mechanical arms’ joints are adjusted accordingly. These conditions would be approximated gradually to achieve the tracking of the moving object.