Motion tracking with computer vision

Abstract

In the Mechatronics laboratory, work is being done to develop methods for robot collision avoidance. A vital component of the project is motion detection and tracking. Currently, 3d-imaging software and hardware are employed, but this technique carries the drawbacks of blind spots in the environment. Since the camera is placed directly above the robot, there are blind spots underneath the robot, which are a major problem. The idea is for the robot to work side-by-side to a human counterpart, which would allow for quicker assembly of parts. But, with the current visual system, the robot would be unable to detect limbs that may maneuver underneath its linkages. This is an obvious problem. In this thesis, an automated rotary vision system attachable to each linkage of the robot is being proposed. By attaching cameras directly to the robot, we will have the increased ability to eliminate blind spots and detect objects in the environment. The proposed assembly involves a four-piece clamp-on shaft collar. Two parts will clamp to the linkages while the other two clamp around enabling free rotation. In testing, this proposed solution was able to track and detect, but it has drawbacks of increased weight to linkages and speed of image processing. Suggestions for improving upon the device are outlined. Overall, this device shows much promise for the Optical Assembly Station.