Master Thesis - Hochschule Bonn-Rhein-Sieg

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4. Overall evading concept Master Thesis Björn Ostermann page 36 of 126 In the region “Coordinate relations” additional controls for the camera thread are collected. They are only used during setup phase, if the camera’s position in the workspace has been changed (see chapter 3.3). In the region “Path Planning Control” the path planning control thread is started / stopped. An additional function is to allow the user to reset the collision detection (see chapter 5.3), such that the robot can be allowed to continue working after an automatic stop induced by a collision. In the region “Robot Movement Control” the connection between robot and PC-program is established, respectively disconnected. Also the robot control thread is controlled here, allowing among other things to manually change the robot’s position. The single threads are described more precisely in the following chapters. During the setup phases when the connection to the camera or to the robot is established, the GUI window blocks further user access to all its functions. This is due to the fact that the GUI thread handles those connections itself and does not delegate it to other threads. As described in previous work [78], the connection to the robot takes some time, depending on the responding hardware (robot or robot simulating PC). Apart from those connection phases, the user can stop every thread separately at all times via the GUI. Threads are closed by the GUI using the transmission of a “thread stop” exception. This allows the user to stop the threads at every point during their execution, even if they are caught in a continuous loop. 4.3 Camera control thread As described in chapter 3.6, the camera is connected to the PC via USB. The functions used to communicate with the camera are supplied by the manufacturer [55]. The camera controlling task handles the interpretation and display of the acquired images: - Histogram equalization of the intensity image (algorithm see chapter 5.1.1) - Display of the intensity image (see Figure 21a) - Depth to colour conversion of the distance image (algorithm see chapter 5.1.2) - Display of the distance image (see Figure 21b) It also handles the processing of the acquired data and the display of the computed results: - Acquisition of the workspace’s background (algorithm see chapter 5.2.1) - Finding the intrusions in the distance image (algorithm see chapter 5.2.2) - Displaying intrusions (see Figure 24)
4. Overall evading concept Master Thesis Björn Ostermann page 37 of 126 - Region extraction (algorithm see chapter 5.2.4.1) and identification from the found intrusions (algorithm see chapter 5.2.4.3) - Computation of the distance between robot and other regions (algorithm see chapter 5.4) - Display of this distance (see Figure 27a) - Computation of the space that can be reached by the robot (algorithm see chapter 5.5.3) - Display of this space (see Figure 27b) Since the computations and presentations of the results require a certain amount of processor time, each part of the processing loop can be switched on and off by the user using the GUI (see Figure 19). This allows for single testing of the routines as well as an optimized working process. For better clarity, the flowchart of the continuous loop of the thread is split into Figure 20, Figure 22, Figure 23, Figure 25, Figure 28 and Figure 30. The numbers and their colours in the flowcharts are in accordance with the numbering of the GUI in Figure 19. Each numbered button of the GUI controls one subpart of the camera control thread loop. 4.3.1 Intensity and distance depiction Figure 20 contains the first part of the continuous loop. Camera Control • Get current time • Calculate circle time • Store current time 1 Show illumination Acquire illumination data 2 Use Histogram analyses Change illumination values Depict illumination image Figure 20: Camera control thread – part 1 Timer, intensity and distance depiction 3 Show distance Acquire distance data Convert distance values Depict distance image part 2
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Page 3 and 4: Statutory Declaration Master Thesis
Page 5 and 6: Contents Master Thesis Björn Oster
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Page 9 and 10: 1. Introduction Master Thesis Björ
Page 11 and 12: 2. Overview on human-robot Master T
Page 19 and 20: 3. Hard- and software Master Thesis
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9. List of Figures Master Thesis Bj
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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