A monocular stereo vision system and using method thereof
A stereo vision, single-purpose technology, which is used in line-of-sight measurement, photogrammetry/video measurement, and distance measurement. High-precision azimuth measurement, flexible movement effect
Active Publication Date: 2021-04-20
XI AN JIAOTONG UNIV
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Problems solved by technology
The binocular stereo ranging system can measure the distance without knowing the size information of the target, but the structure is complex, the cost is high, the calibration process is complicated, and the relative error of camera installation has a great influence on the measurement accuracy
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[0091] Taking the orchard robot as an example, the robot needs to independently plan the walking path when walking in the orchard. Using the monocular stereo vision system of the present invention, the orientation information of the fruit trees on both sides can be obtained in real time during the traveling process, and the expected walking path of the robot can be fitted. . During the fruit picking process, the monocular stereo vision system can obtain the orientation information of the fruit relative to the robot in real time to guide the picking robot arm to complete the picking operation.
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The invention discloses a monocular stereo vision system and a using method thereof. The system mainly includes six degrees of freedom parallel adjustment mechanism, camera, gyroscope and control system. The parallel adjustment mechanism is driven by six servo electric cylinders to realize the six-degree-of-freedom pose adjustment of the camera. The camera and the gyroscope are respectively installed in the center of the upper and lower planes of the moving platform of the parallel adjustment mechanism, and are used to obtain the image information of the target and the attitude information of the camera. The control system is used to process the generation and transmission of camera image information and pose adjustment instructions. This system has the advantages of low cost, high precision, and wide application range, which is convenient for application in industry, agriculture, medical treatment, scientific research, military industry, etc.
Description
technical field [0001] The invention relates to the field of monocular vision system and measurement control, and relates to a monocular stereo vision system and its use method, in particular to a six-degree-of-freedom monocular stereo vision system driven by a servo electric cylinder and its use method. Background technique [0002] With the development of electronic technology, control technology, sensor measurement technology, signal processing technology and computer technology, machine vision has been widely used in agriculture, service industry, medical treatment, scientific research and industrial production. Before the robot operates on the target, it needs to know the direction and distance information of the target relative to the robot. Although monocular vision measurement is simple in structure and low in cost, it needs to know the physical size information of the target to achieve distance measurement, and its scope of application is limited. The binocular ste...
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IPC IPC(8): F16M11/20G01C3/32G01C11/00
CPCF16M11/20G01C3/32G01C11/00
Inventor 王孙安程元皓付加顺张斌权于德弘
Owner XI AN JIAOTONG UNIV