| Summary: | 碩士 === 國立虎尾科技大學 === 電機工程研究所 === 98 === The aim of this thesis is to realize real-time image tracking and the capture of objects by an Omni-directional vehicle equipped with a vision system and a CompactRIO controller. The overall structure falls into three parts, namely an image processing system, a vehicle control system, and a robot arm control system. During the tracking process, images captured by a webcam on the vehicle are transmitted over a network to the CompactRIO controller for image processing or, more specifically, for calculating the coordinates and area of the target. The data obtained from image processing are then converted into signals for controlling the motor of the Omni-directional vehicle and thereby driving the mobile robot to move. Lastly, it is the development and control of the clamp of the robot arm. The clamp is controlled by three servos while an ultrasonic sensor determines the distance between the vehicle and the target. Thus, real-time image tracking and the capture of the target is achieved. According to the experimental results, the proposed visual tracking system enables the Omni-directional vehicle to track and capture the target accurately.
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