The Recognition of Target and Attitude of Bucket for Excavator Robot Based on Color Mark Tracking
The excavator robot need to track bucket goal and its attitude real-time and dynamically during it’s autonomous mining. On the basis of analyzing basic action of mining operations, collected sequence image of mining process of bucket. To reduce the effect of light environment to image processing, use the target tracking method based on color characteristics to recognize color mark block. The bucket attitude angle can be recognized according to the mark of angle attitude of bucket; the bucket target can be recognized according to the mark block of bucket target. Due to sheltered phenomenon, use stripe color block to recognize bucket target while mining process. The color mark block resolve the target tracking problem for bucket, but also fussing the information of pressure sensor of bucket, thus establishing the foundation for subsequent realization based on behavior of autonomous mining.
Yungang Li, Pengcheng Wang, Liqun Ai, Xiaoming Sang and Jinglong Bu
F. B. Wang et al., "The Recognition of Target and Attitude of Bucket for Excavator Robot Based on Color Mark Tracking", Advanced Materials Research, Vols. 291-294, pp. 2929-2933, 2011