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Co-localization method of flying snake arm based on online self-adaptation and monocular vision

A collaborative positioning and monocular vision technology, applied in the field of robot vision, can solve the problems of snake-like robotic arm positioning error, pose information error, etc., and achieve high precision, fast positioning speed and fast speed

Active Publication Date: 2021-05-11
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the second method, with the increase of the joints of the snake-like manipulator, there is a certain error in the pose information obtained through the two-dimensional code, and the positioning of the snake-like manipulator will have a large error due to the cumulative effect

Method used

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  • Co-localization method of flying snake arm based on online self-adaptation and monocular vision
  • Co-localization method of flying snake arm based on online self-adaptation and monocular vision
  • Co-localization method of flying snake arm based on online self-adaptation and monocular vision

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Embodiment

[0054] A method for co-location of a flying snake arm based on online self-adaptation and monocular vision, the method comprising the following steps:

[0055] (1) Build a monocular camera acquisition system;

[0056] (2) Obtain the CAD model of the first and last double-headed snake-like robotic arm and calibrate the monocular camera;

[0057] (3) The monocular camera collects images including the first and last double-headed snake-like robotic arm in real time;

[0058] (4) Process the CAD model and create a matching template set for each section of the first and last double-headed snake-like mechanical arm;

[0059] (5) Extract the edge information of the head-to-tail double-headed snake-shaped manipulator in the image, and match to obtain the optimal matching template of each section of the head-to-tail double-headed snake-like manipulator;

[0060] (6) According to the optimal matching template, the pose information of the joints in the head-to-tail double-headed snake-...

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Abstract

The invention relates to a method for cooperative positioning of a flying snake-shaped arm based on online self-adaptation and monocular vision. The method comprises the following steps: (1) building a monocular camera acquisition system; (2) obtaining a CAD model of an airborne mechanical arm; (3) The monocular camera collects images including the airborne manipulator in real time; (4) Processes the CAD model to create a matching template set for each section of the airborne manipulator; (5) Extracts the edge information in the image and matches the airborne mechanical arm (6) Calculate the pose of the joints located in the image and less occluded according to the optimal matching template; (7) Calculate the pose of the remaining joints based on the topological relationship of each joint of the manipulator , to complete the acquisition of the initial pose of each joint; (8) perform collaborative coarse-to-fine optimization on the initial pose of each joint to obtain the precise pose of each joint. Compared with the prior art, the method of the invention has the advantages of accurate positioning, low cost, high precision, high speed and rapid self-adaptation.

Description

technical field [0001] The invention relates to the technical field of robot vision, in particular to a method for cooperative positioning of flying snake-like arms based on online self-adaptation and monocular vision. Background technique [0002] Snake robot is a new type of bionic robot that can imitate the movement of biological snakes. The snake body adopts a modular design idea and uses multiple joints to simulate the soft body of snakes. As a special robot, the snake robot can be used in various complex narrow closed environment operations and highly flexible operations. When one end of the snake-shaped robot is fixed, it becomes a snake-shaped mechanical arm. If it is installed on a mobile platform (mobile robot), it can be used for pipeline detection, security inspection and explosion removal in public places; it can be used for aircraft complex Processing and assembly in the box, engine inspection, and gluing of aircraft panels; the snake-shaped robotic arm can al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/13G06T7/30G06T7/70
CPCG06T2207/30164G06T7/13G06T7/30G06T7/70
Inventor 符长虹李凡李一鸣田儒笑林付凌
Owner TONGJI UNIV