Process for positioning spatial position of pipe mouth based on vision

Abstract

The invention proposes a pipe orifice spatial position positioning method based on vision; the positioning method mainly includes the steps: 1) the robot hand-eye relation is calibrated; the calibration and conversion of a plurality of coordinate systems determine the geometrical mapping relation of the 2D pixel coordinates and the three-dimensional spatial scene; 2) the image of the condenser isobtained; the pipe orifice image point set is segmented and the pipe orifice curve is fitted to extract the center image point of each pipe orifice; 3) the depth information is computed and the actual position of the pipe orifice space is further determined according to the image point of the pipe orifice center and the parameters of K, R and t. when the underwater cleaning robot starts the high-pressure water-spraying gun to wash the pipe orifice, the method is adopted to assist the robot in searching and positioning the position of the pipe orifice, so as to enable the robot to realize the automatic positioning of the pipe orifice and finish the washing operation. The method can greatly improve the accuracy in the pipe orifice positioning for the robot, the automation degree of the robot which replaces humans to work, the operational performance and the environmental adaptability of the robot.

Description

technical field [0001] The invention belongs to the field of image processing and pattern recognition, and relates to a method for locating the spatial position of a nozzle based on vision. Background technique [0002] At present, from the automatic tracking of welds processed by large-scale mechanical equipment, precision assembly operations, automated production lines for food canning and pharmaceutical filling, automatic scrubbing of windows in high-rise buildings, to cleaning work in harsh environments, etc. Various automation applications Among them, the positioning of objects by robots is one of the key technologies in the process of robot operations. [0003] The use of laser sensors, vision sensors, etc. has been successfully applied in robotic systems, but it has not been able to provide a general, efficient and automated solution that meets the needs of modern society. In order to improve the robot's operating ability, degree of automation and adaptability to the...

AI Technical Summary

Problems solved by technology

Most of the traditional methods are to manually calculate the position of the nozzle and then control the movement of the robot. The execution efficiency of the robot is low, it is easy to cause errors, and the degree of automation is low.

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