自动跟踪

The incise technology of robot is one of the very important research fields of incise technology, but the most of incise robots in use at present are offline show-teaching types, it is not easy to implement real-time tracking for incise accurately.

机器视觉主要用于机器人的轨迹跟踪问题研究、自制车辆的导航、自动焊接和自动切割设备的跟踪。把机器视觉引入切割机的控制过程，可以提高切割机的智能化和高技术含量。

In this paper, the theory, algorithm, and experiment of automatic object detection and tracking are studied in depth. It is firstly pointed out that the essential of Mean Shift method is a special Newton-Gaussian method. A new method named Fast Mean Shift is established to stretch the conservative step of Mean Shift method. The convergence and validity of this new method are proved in theory. And it is also proved that the convergence speed of Fast Mean Shift is faster than that of Mean Shift. The contrast experiments of searching the maximum possibility density of random of data sets in plane and 3D space are done. The results show that this new method can reduce the iterations greatly. A new object tracking method based on Fast Mean Shift is built to improve the object tracking performance, which is shown in the face tracking experiment with the tennis sequence provided by the Ohio State University, and the car tracking experiment with the car sequence provided by Kalsruhe University. The face trcking experiment with highly noised images show that the object tracking method based on Fast Mean Shift has strong anti-jamming ability. A new fast color object detection technology based on characteristic color is established, which use characteristic color distribution to compute the characteristic color vector of any area in an image quickly. With the high performance search method, the fast object detection is achieved. At last, using object tracker based on Fast Mean Shift and color object detector based on characteristic color with the Kalman filter, PID controller, searial communication and other technologies, automatic object detection and tracking system with control system is built. The availability and anti-jamming ability of this system are verified by some object detection and tracking tests in different scenes.

本文对目标自动识别与跟踪进行了理论、计算、试验三方面的深入研究，主要包括：首次指出了目标跟踪技术中常用的均值迁移方法的本质为一种特殊的高斯-牛顿方法，改进了均值迁移方法步长取值保守的弱点，建立了快速均值迁移方法，证明了该方法的收敛性、有效性以及收敛速度优于均值迁移方法；进行了平面和3维随机分布数据集的最大概率密度搜索对比试验，试验结果表明，快速均值迁移方法大大减少了迭代次数；建立了基于快速均值迁移的目标跟踪方法，利用俄亥俄州立大学提供的乒乓球序列图像和卡斯鲁厄大学的汽车序列图像，对人脸和汽车目标跟踪性能分别进行了对比试验，并进行了高噪声人脸图像目标跟踪试验，结果表明，基于快速均值迁移的目标跟踪方法有效提高了目标跟踪性能，具有很强的抗干扰能力；建立了一种新型彩色目标自动识别方法，采用特征色彩分布函数实现了对任意图像区域特征色彩矢量的快速计算，建立了高效的搜索方法，实现了彩色目标的快速识别；将基于快速均值迁移方法的目标跟踪方法、基于特征色彩的目标识别方法与卡尔曼滤波、PID控制、串行通讯等技术结合，建立了带有控制系统的快速目标自动识别与跟踪系统，并在不同场景下进行了目标自动识别与跟踪试验，验证了快速目标自动识别与跟踪系统的有效性和抗干扰能力。

Product features: 1, automatic satellite system power automatically begin searching and tracking satellites; 2, Express to capture the use of WRS algorithm for finding stars at Express looking for about 15 seconds to track satellites; 3, receive real-time tracking of satellite signals, high-speed DVB identification code in order to achieve continuous flow of radio and television programs to watch; 4, automatic identification in the frequency and be able to accurately identify the location on the target satellite; 5, scanning electron velocity EBF sweep mode to ensure that the system 100 times per second tracking sweep speed, so that the antenna system to ensure that the system at all under any uninterrupted for watching satellite television programs and allowing the system to greatly increase the service life; 6, self-diagnosis can be their own fault diagnostic equipment, including communication links, sensors, drives, etc..

产品功能：1，自动寻星系统通电后自动开始搜索跟踪卫星；2，快速捕捉利用WRS寻星算法在15 秒左右快速寻找到跟踪卫星；3，接收信号实时跟踪卫星，高速识别DVB 码流以实现连续收看广播电视节目；4，自动识别能够在频率和位置上准确的辨别目标卫星；5，电子波速扫描 EBF扫模式保证了系统每秒100次的跟踪扫速度，使天线系统保证系统在任何条下都能不间断的收看卫星电视节目且使系统的使用寿命大大增加；6，自我诊断可以自行诊断设备故障，包括通信链路、传感器、驱动装置等。

Based on the kinematic characteristics analysis of 3 degrees of freedom mobile robot with two drivable and steerable wheels and automatic driving experiences of experts, four sub-fuzzy tracking controllers are designed which realizes independent control of position between orientation of mobile robots to satisfy the desire posture requirements with the simplified fuzzy logic inference and shortened computing time simultaneously.

在平面目标跟踪过程中，将移动机器人跟踪的目标期望位姿分解为4种位置和方位组合，在分析总结了具有2个可操舵驱动轮的3自由度移动机器人运动特性的基础上，根据自动驾驶控制的专家经验知识，针对4种位姿的要求设计了4个子模糊跟踪控制器，这样大大简化了模糊逻辑推理过程，并减少了计算时间，实现了位置和方位的独立跟踪控制，同时满足了跟踪目标的位姿要求。

According to the wire electrode on the trajectory of the different forms of control, WEDM can be divided into three types:* is a copy-control, cutting their lines in advance to create the shape of the workpiece and the same mode *, When the rough machining parts and die at the same time * Clamping in the machine tool table, in the process of cutting wire electrode tightly * close to the edge of model for mobile track, thus cutting out the model * with the same shape and precision to work; another One is the optical tracking control, the cutting in line before the first parts in accordance with drawings by a certain ratio of enlarge depicts an electro-optical tracking maps, drawings will be processed when the machine electro-optical tracking placed on the stage, followed on the stage The first photo has to follow the ink line graphics track movement, and then through the use of electrical, mechanical linkage to control the machine tool table work together with the relative electrode wire Xiang Sixing do sports in order to cut out the pattern and shape of the workpiece to the same; a re - Is a digital process control, advanced digital automatic control technology, machine-driven process in accordance with the geometry of the workpiece before the parameters of good pre-processing CNC automatic completion of the processing, production do not look like without drawing board also plans to enlarge, in front of more than two Control in the form of higher precision processing and broad scope of application, at home and abroad for more than 95% of WEDM have been using digital technology.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是*模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的*模，加工时把工件毛坯和*模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着*模边缘作轨迹移动，从而切割出与*模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95％以上的电火花线切割机床都已采用数控化。

Wire electrode based on the trajectory of the different forms of control, WEDM can be divided into three types: one is shaped by the imitation controlled cutting in line in advance and work to create the same shape by mold, when processing the workpiece at the same time rough and on the mold clamping in the machine tool table, in the process of cutting wire electrode tightly against the mold on the edge of the track for the mobile, thus cutting out and die on the same shape and precision to the workpiece; another One is the electro-optical tracking control, to carry out the cutting line, before the basis of certain parts to enlarge the proportion of drawings depicts an electro-optical tracking map-processing machines will be placed in design stage of electro-optical tracking, tracking platform Photoelectric first line of graphics has always been to follow the track of the Mexican campaign, and then through the use of electrical, mechanical linkage to control the machine tool table, together with the workpiece so相似形wire electrode relative movement, thus cutting out the same shape and design to the workpiece; again a digital control, the use of advanced automatic control of digital technology-driven machine tool in accordance with the pre-processing parameters according to the workpiece geometry pre-processing procedures for the preparation of a good CNC auto-complete processing, the production does not require appearance on board the need to map to enlarge map of the previous two form of control has a higher machining accuracy and a broad range of applications, both at home and abroad more than 95% have adopted WEDM NC.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是靠模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的靠模，加工时把工件毛坯和靠模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着靠模边缘作轨迹移动，从而切割出与靠模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作靠模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95%以上的电火花线切割机床都已采用数控化。切割属电加工范畴，是由前苏联人发明的，我国是第一个用于工业生产的国家，当时由复但大学和苏州长风机械厂合作生产的这是最早的机型叫复旦型，我们国内在此基础上发展了快走丝系统。欧美和日本发展了慢走系统LS

Automatic control over tracking in cases when the user leaves his work place.

自动跟踪控制的情况下，当用户离开他的工作地点。

An automatic tracking system of target based on image is built.

建立了一套基于图像的目标自动跟踪系统，介绍了系统组成、设计原理以及算法原理。

A new kind of driving circuit is designed, it realizes driving and frequency tracking of USM.

本文研究并设计了一种新型的驱动电路，用以实现超声波电机的驱动和频率的自动跟踪。

The development of frequency tracking driving circuit of USM and the great significance of self-oscillating circuit are illustrated.

总结了目前超声电机的频率自动跟踪方法，以及自振荡电路实现的重要意义。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。