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NGHlfiN CtrU PHAT TRrfN H$ ROBOT TV HANH CO GAN CAMERA
T I T O O N G
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K I £ M V ABAM MUC Tl£U DI
D 6 N GResearch Deverlopment of Mobile Robot mounted Camera automatically Seaching and Tracking Moving Target
Ngo Manh Tien
Vien Vat Ly, Vien KH&CN Viet Nam Email: nmtienfaliop.vast acvn
Phan Xuan Minh Bai hoc Bach khoa Ha Noi Email: minhxp-ac(a}maiLhut.edu.vn Phan bienl: TS. Pham Trung Dung, Hoc vien Ky thuat Quan su-
Phan bienl: TS. Pham Minh Tuan, Vien Cong nghe thong tin, Vien KH & CN Viet Nam
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Tom tat: Bai bio niy trinh bay vi|c xiy dtmg vi phit tri^n m^t h$ robot tvr hanh cd gin camera bao gom cic budc: mo hinh hda, mo phdng, thiet k^, thuat toan dieu khien bim inh tu dpng, lip dit ph4n cung, lap tiinh phin mem dieu khien v i chay thfl nghifm.
Cic ket qui cho thay h$ robot tu hanh da hoat dpng dim bio cic chi tieu chat Iw^ng dit trudc. Nhimg ket qui nghien cuu nay la ca sd cho hudng phit trien mdi trong cic ung dung.
Abstract: This paper presents the building and the development of a self propelled robot mounted camera as follows: modeling, simulation, automatic image alignment control algohtfams, hardware configuration, software programming and running e?q)eriments. The results showed that the robot self propelled already satisfying the control qualities.
These researching resuls are bases for new developing ^proach of ^plications
Keywords: Camshift, OpenCV, Robot mobile tracking, ATmegal28, Con:q)uter Visioa
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gdc quay Roll, Pitch, Yaw
Chir viet tat FOV LOS NOMO
Field of View Lineof S i g ^
multi iiqmt - multi output
1. Tdng quan h$ thong
Ngay nay, vi^c xiy dvmg mpt h^ th6ng robot di dOng thong minh va cd khi ning thay th^ con ngudi lam viec trong cac di^u ki^n khac nghi?t v i nguy hiem li xk c4n tiii^t. Cac Robot niy tiiirdng hoat dOng bang cic cim bi^n nhu cim bien niiu sac, hong ngoai, cim bien dd dudng, si6u am. Gan diy cic robot loai niy dupc phat tiikn v i tich hpp thSm "thj giac", vi$c
tich hpp trSn Robot he thong camera v i ung dung xfl ly inh s6 ting khi ning tu dOng, giup robot thdng minh hon [1,6].
He thong th) giic cd the phan thinh 2 ldp, theo nhu c4u true cfla h^, d6 li h$ tay miy Robot co dinh vi cd camera gin co dinh (H. 1) vi he cd camera gin tren Robot di dpng (H. 2). Trong he camera co dinh, camera dupc gin c6 dinh so vdi he true tpa dp thuc, thu thip inh cfla ci myc tieu va ci moi trudng. Muc tieu cfla h$ camera co dinh niy li cung cap tin hi$u dieu khien sao cho Robot cd the phan loai va tuwng tic vdi doi tupng mong muon, he th6ng nay thudng dupc ung dung tiong cac day truyen sin xuat, phan loai sin pham, tiong cong nghiep.
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H. 2 Scrddhe thdng Robot \d camera di chuyin Trong H.2 la he cd camera gan tren Robot v a c i h$ Robot v i camera se di chuyen. M u c dich cfla cau true nay la di^u khien Robot sao cho i n h cfla muc tieu di dpng hoac co dinh dupc duy tri d v i tri mong muon tren mat p h i n g i n h thu dupc.
Trong bai bao nay he thong dupc thiet ke dya tien cau true thu 2: Xay d\mg mpt robot t u hanh cd g i n camera t u dpng b a m muc tieu di dpng.
Automation Today / 1 2 , 2011
11
M\ic dich cfla he thong bim tw dpng li d^ duy tri mpt "dudng ngdm" viet tit li LOS {Line Of Sight) cam hiin - muc tieu mpt cich 6n djnh v i hoin toin tw dOng tiong khi ton tai ci chuyen dOng tuang d6i cfla mwc tieu v i chuyen dOng cfla de gin cim bien lim nhilu loan tdi dir lieu cim bi^n hinh inh. Myc ti6u thudng dupc djnh vj ban diu, bdi hoic li ngudi di^u khi^n hoic li he th6ng nhin dang myc tifiu ty dOng.
Sau dd, he th6ng bim sg khoi chit myc tifiu v i duy tii LOStydOng.
H^ th6ng t6ng quan bao g6m c6 3 bO phin chinh H. 3: (1) bp cim b i k hinh inh (camera), (2) bO chip hinh li cic tryc khdp quay (gimbal) vi binh xe cd gin dOng CP dien 1 chieu, vi (3) miy tinh PC v i vi dieu khien (bO vi xu ly). MOt vdng di^u khi^n phin hoi, dupc gpi li vflng bim, liSn tuc hi^u chinh bO chip hinh d^ gift trpng tim cfla myc tiSu vio tim cfla tru&ng nhin \'\k tit li FOV {Field Of View) cfla bO cim bien. Bp \ i xfl ly s6 kh^p kin vdng niy bing cich tinh toin dp lech d^ dieu khien ca cau chip hinh. Cic thanh phin hoat dpng theo thu tu: (1) bO vi xfl ly dinh vi tin hieu myc tieu trong cic ddng hinh inh tu bO cim bi^n, (2) bp vi xfl ly udc lupng trang thii myc tieu vi tao ra cic lenh di^u khien ca ciu chip hinh tren ca sd cic thdng tin trang thii, (3) lenh dieu khi^n dupc ^ dyng vio LOS cim bien, (4) bp cim bien tao ra mpt vdng video mdi, v i (5) qui trinh dupc lip lai.
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H. 3 Sadd tong quan cOa he thong Robot tu hanh bdm muc tiiu di ddng
2. M o hinh hoa hf thong 2.1 He ai xoay Pal/Tilt [4^1
H. 4 Md hinh hda h$ di xoay Pal/Tilt
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d day ta dung bp dieu khien PD:
« = g{q)+Kp {gj -q)-Kj,q
ii
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(11)
(12) (13)
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H. 6 Ket qud mo phong diiu khien hi de xoay Pal/Tilt bdng bo diiu khiin PD: Mi&p 1
R 7 Ket qud mo phong diiu khien /i| de xoay Pal/Tilt bdng bd diiu khiin PD: kh&p 2 1.1 M6i quan h$ giua camera v i tQa dp thuc [7]
Gpi Cc {^ccd^yccd^^ccd) 1^ <**^m cuoi cho mpt vector tu vi tri trung tam cua robot di dpng den tam ciia ong kinh camera, khi d6 vi tri nay c6 the dupc tinh theo hai gdc quay 9^,9,ciia de xoay Pal/Tilt nhu sau:
Xccd = h sin(^,)+k cos(^,) cos(^2)'
(15) X.rf=^2sin(^2X
^ccd = A cos(^,) - /j sin(6',) cos(^2)+^0 6 day /Q la chieu cao cua xe tinh den vi tri dat de xoay Pal/Tilt.
Tuang ty, vec ta Trang thai cua ma trin dong nhit da dai dien la cac gdc: Roll (9^), Pitch (^p) va gdc dp Yaw {9y) dupc tinh nhu sau:
0n
9p
9y
= tan
= tan
= 9,.
sin(^,)sin(^2)
^ c o s ' (^1) sin^ (^2)+cos^ {9^) sin(^i)cos(^2)
^ ^cos^ (6',) cos^ (^2) + sin^ {9^), (16)
De thyc hien bam doi tupng theo thdi gian thyc ta can cd thong so khoing cich tu camera den doi tupng cung nhu kich thudc that ciia doi tupng trong khong gian 3D. Viec nay cin thiet phM cd hai camera, tuy nhien neu diing phuang phap nay khoi lupng tinh toan se rat Idn v i inh hudng den toe dp bam, do do d day chiing toi chi diing mpt camera va khoing each den doi tupng chiing toi xac dinh bing sensor sieu am va gii thiet kich thudc cua doi tupng la co dinh. Vi tri cua tam doi tupng tiong tpa dp M i la 0= k)> khi chuyen ve he tpa dp (j', k') l i tam cua khung M i se dupc tinh theo goc quay Roll Rg va kich thudc khimg hinh M i Px va Py.
cos(^^) -sin(^^) sin(6'^) cos(^^)
'-j
2 .
(17)
De tinh vi tri thuc te {xQ,yg), 9^ va 7^ dupc udc tinh bing each su dung moi quan he tuyen tinh giiia
Automation Today / 1 2 , 2011
19
d6i tupng thwc sy trong gdc nhin vi khung hinh inh.
Khi mpt diem inh dupc chyp tai 0'. k') ti^n tiimg tim A=tan- (23)
ciia khung hinh inh, vi tii doi tirpng thyc sy, 9o vi ^^ ^^ ^^ p^ g5g q^^y camera, (x^, >'rf) li vi tii r^ cd th^ dupc tinh toin nhu sau (H.8):
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J
eX
k
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' Mobile Robot
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R 8 Tinh todn v; tri dSi tuiptg theo tpa <f<5 robot
R 9 Tinh todn ddng hgc nguac cho vj tri thuc camera
'•ecd
C O S ( y - ^ , + | - ^ , )
9,.=J-9^
Vdi 6^ vi 6^ la cic gdc hudng nhin x- vi y- ciia camera CCD, tuang ung. Khi dd vi tri ciia doi tupng tiong he tpa dp ciia robot (x,y), li:
Xo = r„j.cos(^j,) + ro .cos(^^ +9^), (20) Jo = r„^.sin(^^)+ro .sin(^^ +9^), (21) Vdi ^yla gdc quay giiia robot vi camera, vi
';<:</(= yj^ccd^+yccd^) 1^ khoing cich tu tim robot tdi tam ong kinh camera.
Dpng hpc ngiratc cua di Miu khiin tdm Sng kinh din vi tri mong muSn:
^-hk +ylhV-il'+rM'-r/)]
a J = cos
sinCA)
(I'+r/)
mong mu6n cia camera, vi r^ li -^x/ +y/
3. Thuft todn xu ly anh bam myc tieu tv dOng
3.1 Thu$t toin bim theo m$t t|ip hgrp cic diem d|c tnmg inh ciia Lucas, Kanade vi Tommasini KLT Div li mOt phuang phip bim sii dyn^ rit cd hi$u qui doi vdi inh tiiu dupc li inh den tring, inh cia camera h6ng ngoai nhin dSm. Phuang phip n ^ dupc Lucas, Kanade vi Tommasini [10,11] lan dau tien dua ra nim 1981 vi dupc hoin tiii^n vio nim 1991.
Thuit toin d^ tinh toin sai l§ch vj tri myc tieu bao g6m nhihig budc sau:
(1) Tiin xu ly: chuyen d6i inh miu thinh inh xim vi tiiyc hi^n Ipc gauss d^ giim bdt nhi§u tin s6 cao.
(2) Xdc djnh vd bdm cdc d^c tinh: dupc thyc hien bdi bO bim KLT, sii dung 100 die tinh. Gii thi^ khung t-
1 thu dupc 100 die tinh, vdi khung t ta tim ki^m tiong Ml de bim 100 die tinh td khung M thu dupc t|^
/ / gom k die tinh t6t thich hpp. k die tinh n ^ dupc sii dyng de xic dinh vector djch chuy^a Sau dd vdi khung t ta xic djnh lai 100-/: die tinh tot vdi inh ^ sg dupc bim tix>ng khung t+l. Khi thu dupc k nhd (nhi han 30) ket qui bim se dupc huy bd vi dyng cc breaklock cinh bio "mit bim"
(3) Bit tir chuyin dpng ctia camera: X6t hai inh M vi
^^^^ r, cd it die tinh bim tot tircmg ung li /,*, vi / * Ta sg xic dinh vector dich chuyen {dj^dy) bing cich liy dp dich chuyen nio ma nd dirpc bao chua trong nhieu nm die tinh nhat. Cuoi ding inh /,.; sg dupc bien doi de
bu dp djch chuyen nay I,.i(iJ)= I,.i{i+djJ+dy).
(4) Sai phdn dnh: inh /,./ d3 bu cd the dupc so sinh tryc tiep vdi inh /,. Ta thu dupc inh sai phan nhu sau:
Dlij)= Wj)-I,.i{ij).
(5) Djnh ngu&ng vd phdn dogn chuyin d^ng: Thyc nghiem d3 sii dyng ngudng cung li 10 de phin
ngudng inh sai phaiL De loai bd nhilu phan ngudng ta sii dyng toin tii md trong ph^p xdr ly binh thii.
(6) If&c litpng vi tri ddi titpng: Vj tri chiqren dOng dupc xic dinh bing phuomg phip bim trpng tint
(7) Xdc dfnh LOS vd bit vdng bdm: Vj tii myc tieu thu dupc li {x,y) trong toa dO inh sg dupc so sinh vdi tim ciia inh (tim ciia tnidng nhin) de xic dinh sai lech theo phuang x vi y. Sai l^ch niy sg dupc truyen tdi bO bu vdng bim tdi tang dieu khien dpng ca de duy tri myc tieu vio tam tnidng nhin.
(8) Xdy d\mg dra: Trong thyc nghiem six dyng ciia co dinh.
(22) (9) Hien th] dnh: Anh dupc hi$n thi cimg vdi hinh bao doi tupng dupc bim.
3.2 Thu^t toin Camshift [2,6]
Day li phuang phip rit hi$u qui khi inh tfau dupc tii camera la inh miu vi doi tupng cin bim cd miu
sic die trung rieng so vdi nen inh. Thuit toin Camshift dupc phit trien tren ca sd tiiuat toan Meanshift. Camshift viet tit ciia "Continuously Adaptive Meanshift". Nd bao gom thuit toin ca sd Meanshift vdi thich ung cic budc thay doi kich cd ciia viing. Cic budc thyc thi thuit toin:
(1): Chpn vi tii ban diu ciia Search Window.
(2): Dvmg thuit toin Meanshift (lap mpt hoic nhieu lan) luu ra mpt viing gpi la moment thu 0.
(3): Dat kich cd ciia ciia s6 tim ki^m bing mOt him ciia moment thii 0 tim dupc trong budc 2.
(4): Lap lai budc 2 vi budc 3 cho den khi hOi ty.
/^Chup \ RGB «HSV Tinhto&n Histogram
X&csuAt phfinbS miu
(^\AtQ^
Camshift
XY Tdo vj tri vA
kich cd search window
Reset v{lng tinh toin
Dit tflm search window
i
•
R 10 Luu dd thu4t todn Camshift Diu tien li mpt Histogram dupc tao ra. Histogram nay chua cic thupc tinh lien quan den mau sic va ti^p theo tam vi kich cd ciia muc tieu dupc tinh toin de theo doi myc tieu khi hinh dang vi kich cd cua nd thay d6i. Tinh xic suit phan bo myc tiSu cin cii vio Histogram nhin dupc. Dich chiQren den vi tri mdi vdi moi khung hinh viia nhin dupc tii video. Camshift sg dich chiQren den vi tri mi nd udc lupng tren doi tupng tip tnmg nhieu diem sing nhit trong buc inh xic suit. Tim vj tri mdi bit diu tii vj tri trudc do vi tinh toin gii tri trpng tam vua tim dupc.
ci hai thuat toin tren d^u cd thu vien cic hM tinh toin trong OpenCV vi nhom tic gii da chpn lip trinh phin b M inh tien Visual C 6.0 cd sii dyng thu vi^n ma nguon md OpenCV ciia Intel.
4. Thiet ke phan cimg va phan mem cho hf thong
ciu true cua he bim g6m hai phin chinh:
- Phin 1: xit ly Mi dya vio chudi hinh inh thu dupc tii camera de nhan dang vi tinh toin vi tri cua d6i tupng myc tieu.
Phin 2: la phin diiu khien, dya vio thdng so vi tri doi tupng nhin dupc trong mit phing inh, tinh toin tin hieu dieu khiin robot sao cho doi tupng di chuyen dupc dity tri d mOt vj tri nhit dinh tign mit phing inh vi d mOt khoing cich nhit dinh.
Trong h$ thong nay ngoii bp vi xii ly chung la miy tinh laptop cdn cd mOt kh6i giao tiip de thyc hi$n bit tay giiia camera, ca ciu chap hinh vi miy tinh. De dip ung dti ygu ciu vi khi nang diiu khiin ca ciu chap hinh vi viia cd khi ning xdr ly, ch6ng nhiiu tot nhdm tic gii su: dyng vi diiu khiin AVR, ATmegal28 vi n6 co diy dii tinh ning vi co khi ning ch6ng nhilu t6t
Camera
fctabi^n).
Miy tinh v4 luu trOt X i l l y i n h
£ranie RF RS232
M^ch VDK
ATmegal28
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1
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R 11 cdu triic tSng thi phdn cthtg Di sii dyng diiu khiin cic ca ciu chip hinh vi kiim soit t6c dp vi gdc quay tdi d3 sii dung mOt s6 luih ki^n chuygn dyng dieu khiin ciu dOng ca dd li ddng MC ciia Freescale vi DVR ciia Texas Intrument. Vdi myc dich xiy dyng mOt kit vi diiu khiin da ning cd thi viia thyc hien nhiem vy diiu khiin ca ciu chip hinh viia c6 khi ning thyc hi$n nhi^m vy xii ly tin hieu tu cic cM bien tiong cdng nghiep nhu PIR, IR ciia Sharp, cim biin gia toe vi d0 nghigng ADXL203 vi MMA7455... vi c6 tiii giao tiip RS232, giao tiip khdng diy RF CCI 101 tin so 450MHz di phyc vy qui trinh tmyin vi xii ly tin hieu.
start
/Khfiitjo '7
Chvpinh
Histogram
Loc nhieu
Camshift
Tinh toa do tam, hudng
Giao tiep RS232,RF
Diimg
R 12 Luu dd thudt todn
5. Ket qua chay thv nghifm
R 13 H$ thSng chay thir nghiem
Chiing tdi da xay dyng hoan chinh mOt h^ thong robot bim myc tieu di dpng, ci vi phin cung lln chuang trinh phin mim va giao dien dieu khiin. H$ thong bao gom phin mim cho miy tinh diiu khiin tai trung tim vi phin mim cho miy tinh, h$ vi diiu khiin tien robot. He thing dupc chay thft nghiem bim theo myc tieu li dii tupng miu sim.
Mpt s6 hinh inh thyc nghiem:
Automation Today /12, 2011
21
1 ^
i i k
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R 15 Giao dien ket ndi v&i vi diiu khien Ngoii viec ty dpng bam myc tieu di dpng, he thong cdn cho phep ngudi diiu khiin bing tay robot tir xa qua sdng RF vdi khoing cich la <500m, v i cd thi quan sit ciing nhu lim trii hinh inh v i video thu dupc tren may tinh tai trung tim diiu khiin.
6. K e t L u a n
Bii bio trinh biy tong thi tii nghien ciiu ly thuyit, xay dyng cic so do cau tnic, thiet ki phin ciing v i lap tiinh phan mim cho mpt robot tu hinh bim myc tigu di dpng. Viec gin them camera giiip cho robot hoat dpng thdng minh han, tiip can vdi cic hinh vi giong con ngudi nhim myc dich thay con ngudi lim cic cdng viec trong mdi trudng nguy hiim cung li myc
dich ciia sinpli/mi ciui bai bao Hg thong lam vice on djnh c i khi c6 s\i xual liipii ciia cac doi tupng khac chuyin dOng Irong tmdng quan sat,
Han chi ciia hg la loc dp bain con chyin (khoang 10 fi"ame/s), ciing nhn iig thong bam chira chii y nhieu tdi cic do ludng (|iiaii Iryng khac nlur: do gia toe va van tic dOng ca; do xa xac dinh chicu sau thong tin Vice do ludng niy (nroc iicl plnic \\\ tinh toan LOS va dOng hpc ngupc cung nlur dicu khicn cac dpng ca.
Tuy cdn nhiiu van dc can dupc nang cap. nhung he thong ciia chiing toi da thu dirpc kel qua cliap n h ^ dupc v i 6n dinh Cac \an dc Ion t^ii sc dirpc khic phyc tipng hu(Viig phat iricn ticp theo
Tai li^u tham khao
[l].GiiP trinh "^Nhcip man xu lv tinli .st'/' DH Bach Khoa Hi Npi
[2].Carlo Tomasi. lakco Kanade: Dcleclion and Tracking <>/ I'omi l-catun's: Technical Report CMU-CS-'>'l-n2. April 1991
[3].Gary Bradski and Adnan Kachler: Learning OpenCV Conipulcr I'l.siun with the OpenCV L;6rary; () Rcilh: 2008
[4].Mark W. .Spong. Scth Hutchinson, and M.
Vidyasagar: Kohoi l)\ininiic.s and Control;
Addison Wcslc\ Publishing Compam : 2004 [5].Frank L.Lewis. Darren M Dawson. Chaouki
T.Abdallah: Robot Shimpiihitor Control Theory and Practice. MARCEL DEKJvER. INC. 2004 [6].Gary R. Bradski: Computer I'l.sion Face Tracking
For Use in a Perceptual User Interface, Microcomputer Research Lab. Santa Clara. CA.
Intel Corporation. 20U5
[7].Sang-joo Kim. Jin-woo Park, and Jang-M>ung Lee: Implementation of Tracking and Capturing a Moving (Jhjcct using a Mobile Robot.
International Joiinwl of Control. .Autoniatioa and Systems. \ ol. 3. 2005
R 16 M0t s6 hinh dnh chup qud trinh chay thu nghiem
