Oiling robot visual guidance method based on images

A robot vision and vision-guided technology, applied in the field of industrial robots and visual servoing, can solve problems such as control failure, time-consuming, and poor real-time performance

Active Publication Date: 2019-10-18
XI AN JIAOTONG UNIV
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Problems solved by technology

However, the target pose estimation is sensitive to camera and hand-eye calibration errors and the correctness of the target model, and the target may leave the camera's field of view during the terminal movement process, resulting in control failure. The 3D pose error estimation is time-consuming and has poor real-time performance.

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  • Oiling robot visual guidance method based on images
  • Oiling robot visual guidance method based on images
  • Oiling robot visual guidance method based on images

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Embodiment Construction

[0048] In order to make the object, technical solution and features of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings.

[0049] Such as Figure 1 to Figure 3 As shown, the present invention provides a related method of uncalibrated visual guidance control based on KF estimated image Jacobian matrix during the movement of refueling robot, including the following steps:

[0050] (1) System initialization: After the refueling robot finds the target features, it performs image Jacobian matrix initialization estimation based on the results obtained from the linear camera calibration model Get the initialization state vector X 0 .

[0051] (2) Calculate the observation matrix: Calculate the observation matrix H based on the control variable V(k-1) in the previous step k-1 ,

[0052] (3) Update state vector: from step k-1 to step k, state vector X k and the output vector Z k Update calc...

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Abstract

The invention discloses an oiling robot visual guidance method based on images. The method comprises the steps that based on the extracted automobile rounded rectangle fuel tank cap virtual corner features, through analysis of a pin-hole imaging model, a quantitative mapping relation model between tail end camera posture change and image space feature point change is built; the basic concept of animage Jacobian matrix and an image Jacobian specific expression form based on the model are disclosed, and a linear controller is arranged to conduct oiling task visual guidance simulated analysis based on the condition that camera calibration parameters exist; online estimation is conducted on an image Jacobian matrix in an uncalibrated visual guidance task through a kalman filtering algorithm;and an uncalibrated visual guidance oiling positioning system based on kalman filtering estimation is built. According to the method, simulated analysis is conducted on uncalibrated visual guidance oiling positioning under the MATLAB environment, and the effectiveness of the method for achieving the oiling task is verified. The simulation result positioning speed is 10 s or so, the speed of a robot does not exceed the safety speed, and the spatial path is approximately the best.

Description

technical field [0001] The invention belongs to the field of industrial robots and visual servoing, and in particular relates to an image-based visual guidance method for a refueling robot. Background technique [0002] With the rapid development of my country's economy and society, the continuous improvement of transportation infrastructure and the continuous improvement of residents' living standards, the number of motor vehicles in my country has increased rapidly. As a fuel supply place for automobiles, gas stations have gradually become an indispensable part of people's lives. By the end of 2018, the number of gas stations nationwide had exceeded 120,000. It can be seen that the number of gas stations in my country is huge and is still increasing, and the gas station market is huge. With the progress of society and the development of science and technology, robot technology has developed rapidly, robot automation equipment has gradually replaced traditional manpower t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/04
CPCB25J9/16B25J9/1679B25J19/04
Inventor 董霞李庭屹陶立鲍旺郑飞张港
Owner XI AN JIAOTONG UNIV
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