Research On The Technology Of Intelligent Tracklayer's Vision Navigation

Tracklayer plays an important role in project architecture, military affairs, agriculture etc,which can be attributed to its powerful overpassing ability. With the rapid development of sensor technology, computer science, artificial intelligence and other related subject, tracklayer is becoming more and more intelligentized. one of the vital embodiments of tracklayers' intelligentized level is the ability of navigation. Doing research on tracklayer's navigation is of great significance. Tracklayer is mostly operated under unfavourable or even dangerous circumstances. Further more the operator is likely to be exhausted after working continuously for a long time. With the tracklayer's navigation, the operators can be liberated from the tiring and boring work. There are many methods frequently used in tracklayer's navigation, such as electromagnetism navigation, ultrasonic navigation, vision navigation, etc. Vision sensor is capable of gaining more information with high sensitivity and low cost. In addition, its flexibility in transforming or extending paths also helps it attract more attention in the research. Research on vision navigation can be made in two direction: (1) Vision navigation which imitate human vision to identify the path. (2) Vision navigation by following the initially fixed signs. The latter method is simpler and more flexible, compared to the former one, since it has faster image processing speed and better real time property. The research on my dissertation is focusing on the latter one, that is, intelligent tracklayer's navigation by following sign.In my dissertation, I did some research on the technology of intelligent tracklayer's vision navigation based on the experimental intelligent tracklayer developed independently by our research group. The main contents of my dissertation are as follow:1. Design the frame and drive system of the experimental intelligent tracklayerOur research group developed an experimental intelligent tracklayer for the purpose of doing research on the intelligent tracklayer's vision navigation. The organizing and control framework of the experimental intelligent tracklayer is devised in my dissertation, that is the apperceiving module, the programming module and the enforcing module.The process of tracklayer's turning is described. An introduction concerning of the control principle of how to realize this progress is also made, that is the industry computer controls the two transducers and then the two transducers separately control the two electromotors. 2. Research on intelligent tracklayer's vision system My dissertation introduces that the intelligent tracklayer's vision system are composed of three modules: Image collection module which is responsible for getting the digital image of the road, preprocessing module which is used to make preparation for road sign line identification, and identification module which is able to identify the road sign line laid in the circumstance as well as obtain the position warp and direction warp which are used for decision-making.A fast and accurate calibration method is adopted to calibrate the CCD camera of the intelligent tracklayer so as to acquire the intrinsic and extrinsic parameters from which the mapping connection of all the coordinates can be achieved thoroughly.The collected road image is preprocessed. This includes image gray scale transformation, image binarization whose threshold selection is based on the maximum variance, noise elimination which adoptes ameliorated adjacent region average method. Through the partition gridding of the image I make some accomplishment on compressing the data quantity of the image and increase the image processing velocity. I adopt progressive to locate the road sign line, and obtain the two input variables of the fuzzy controller, position warp and direction warp. 3. Research on intelligent tracklayer's decision-making systemSince it's difficult to establish an accurate mathematics model for the intelligent tracklayer's vision navigat...