A Binocular Vision-Based Pose Monitoring and Tracking Method for Parallel Mechanism Maneuvering Platform

Abstract

The invention discloses a binocular vision-based method for monitoring and tracking the position and posture of a moving platform of a parallel mechanism. Extraction technology, and build an edge search model to extract limited points on the edge of the moving platform, use the least square method and meta-heuristic intelligent algorithm to perform ellipse fitting on the edge points of the moving platform identification area, and obtain the pixel coordinate value of the center of the moving platform identification area; Based on the camera calibration toolbox and the calibration board of known size, the parameters of the monocular camera are calibrated, and the binocular stereo matching algorithm is obtained to realize the binocular positioning; based on the relationship between the camera imaging principles, the internal and external parameters of the left and right cameras and the identification area of ​​the moving platform are deduced The relationship between the pixel coordinates of the center point and the world coordinates can reconstruct the real-time three-dimensional coordinates of the center point of the marked area of ​​the moving platform, and realize the real-time monitoring and tracking of the pose of the moving platform. The invention has the advantages of high measurement precision, reduced error and the like.

Description

technical field [0001] The invention relates to the field of pose monitoring and tracking, in particular to a binocular vision parallel mechanism motion platform pose monitoring and tracking method. Background technique [0002] The parallel mechanism consists of a fixed platform, a moving platform and multiple intermediate branch chains, and has the advantages of high specific rigidity, compact structure, strong bearing capacity, and good stability. However, the movement of the moving platform of the parallel mechanism is jointly determined by the movement of multiple intermediate branches, the coupling degree is high, and the control is relatively complicated. Accurately measuring the pose of the moving platform at the output end is of great significance to the overall high-performance control of the parallel mechanism. Traditional measurement methods include contact measurement, monocular measurement, binocular single-point measurement, etc. Among them, contact measuremen...

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Problems solved by technology

However, the movement of the moving platform of the parallel mechanism is jointly determined by the movement of multiple intermediate branches, the coupling degree is high, and the control is relatively complicated. Accurately measuring the pose of the moving platform at the output end is of great significance to the overall high-performance control of the parallel mechanism

Traditional measurement methods include contact measurement, monocular measurement, binocular single-point measurement, etc. Among them, contact measurement requires the measurement equipment to follow the movement of the mechanism, which is greatly affected by the movement. At the same time, the measurement equipment will inevitably change the mass distribution of the mechanism and affect The normal operation of the mechanism; the monocular measurement uses one camera to identify and track the movement of the mechanism, the uncertainty in the direction measurement is large, and the depth recovery is also difficult; the binocular single-point measurement is based on two cameras simultaneously identifying the movement of a single mark point on the mechanism , limited by the environment, it is easy to lose information and affect the tracking effect

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