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Socket positioning method based on binocular vision

A positioning method and binocular vision technology, applied in the field of visual positioning, can solve the problems of difficult one-time docking and high accuracy of docking angle and direction

Inactive Publication Date: 2018-07-10
广州映博智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the existing technology, especially to solve the problem that the existing robot automatic charging technology requires the robot to enter and dock with the charging base along a specific axis, the angle and direction of the docking are too accurate, and it is difficult to realize the docking at one time.

Method used

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  • Socket positioning method based on binocular vision
  • Socket positioning method based on binocular vision
  • Socket positioning method based on binocular vision

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Embodiment Construction

[0021] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0022] see figure 1 , a binocular vision-based socket positioning method according to an embodiment of the present invention, the main steps of which include:

[0023] S1, do grayscale processing on the left and right camera images respectively, and convert them into grayscale images; the image acquired by the camera is a color image, which contains a large amount of information, and the image processing speed is relatively slow. Considering the high real-time requirements of industrial production automation, grayscale processing of color images is necessary. Grayscale is the process of making the R, G, and B component values ​​of color pixels equal, and the grayscale ...

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Abstract

The invention provides a socket positioning method based on binocular vision. The method comprises the main steps of S1, performing gray-scale processing on an image; S2, performing binary threshold segmentation on the image; S3, performing contour retrieval in the binary image; S4, searching a bounding rectangle with least area in the binary image; S5, eliminating the rectangle which does not accord with a condition; S6, identifying a zero wire hole, a live wire hole and a ground wire hole; S7, calculating a binocular parallax according to the center coordinates of a left jack and a right jack; and S8, calculating the three-dimensional coordinates of the jacks in a random world coordinate system. According to the socket positioning method, the shape characteristics and the relative position characteristics of the jacks are extracted by means of a binocular camera and digital image processing technology, thereby identifying the jacks in a left image camera image and a right image camera image, and performing accurate positioning on the jacks.

Description

technical field [0001] The invention relates to the field of visual positioning, in particular to a binocular vision-based socket positioning method. Background technique [0002] Indoor autonomous mobile robots are more and more widely used in various occasions, such as entertainment, handling, cleaning, security, etc. The applications in these different occasions require the robot to adapt to the environment, whether it is an open environment or a closed environment. environment, whether indoor or outdoor. Due to the limitation of onboard power supply capacity, the working time of the robot is limited, which makes the robot unable to realize the function of long-term autonomy. If this problem is solved, then the mobile robot will be used in a wider range of fields. [0003] At present, mobile robots use high-quality onboard rechargeable battery packs to power themselves, but generally they can only last for a few hours. Once the power is exhausted, manual intervention mus...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/00G06T7/11G06T7/13G06T7/136
CPCG06T2207/10024G06T2207/20228
Inventor 钟鸿飞覃争鸣杨旭
Owner 广州映博智能科技有限公司