Abstract
Nowadays, the development of intelligent robot becomes mature. The robot can judge the surrounding and then act based on the sensors mounted on it. Having the advantages of low cost and high data rate in a short time, the image sensor has been applied in intelligent robot extensively. The applications of intelligent robot are widely, including household services, entertainment, health care and guided service. Processing on a FPGA-based real-time image tracking module and wheel-robot, this thesis develops the method of a real-time colored-ball tracking and gripping system based on the real-time image. In the experimental setup, the CMOS camera module acquires the image of the targeted colored-ball. Through classification of color, the image selection of color, two-dimension filtering and the image binarization process, we are able to recognize the position of the target colored-ball by the binary image. Knowing the position data of colored-ball by the real-time image, the wheel-robot will start to track the target colored-ball. After accurately tracking the target colored-ball, a mechanical gripper mounted on the wheeled-robot would begin to grasp the ball and put it in the corresponding box. Therefore, the tracking, grasping and releasing tasks are completed. Finally, tracking and grasping four colored-balls in order and releasing the each colored-ball to the matching box has been demonstrated through experiments.