Oil filter target recognition and positioning method based on machine version

Abstract

The invention discloses an oil filler target recognition and positioning method based on machine vision. The method comprises the steps that license plate information of a to-be-refueled vehicle is acquired through a refueling level camera, and then stored vehicle refueling port height and fuel tank cap template information are obtained; then the tail end of the robot moves to the height of an oilfiller, and a tail-end camera collects images; graying, gray-scale equalization and histogram equalization stipulation preprocessing are carried out on the image; secondly, edge extraction is performed on the preprocessed image, false noise contours are screened by setting a connected domain area threshold value, vehicle body contour interference is screened by setting a circumscribed circle radius threshold value, and accurate extraction of real edge features of the side face of the vehicle under ambient light interference is achieved; and finally, the shape template matching method based onthe pyramid hierarchical search strategy is adopted to quickly and accurately identify the edge features of the fuel tank cap. According to the method, the vehicle oil filling port target can be quickly and accurately identified under the influence of various light rays and shadows, and the working requirement of an oil filling robot is met.

Description

technical field [0001] The invention belongs to the technical fields of industrial robot application and computer vision, and in particular relates to a method for identifying and locating a refueling port target based on machine vision. Background technique [0002] In order to realize the automatic refueling of randomly parked vehicles, the refueling robot system needs to identify and locate the fuel tank port of the target refueling vehicle based on the sensor, and guide the robot to move to the desired refueling position and start refueling based on the identification and positioning information of the vehicle fuel tank cap. Research personnel at home and abroad have made some innovative explorations in the recognition and positioning of the fuel tank cap of refueling vehicles and the positioning of robots based on vision guidance. [0003] In terms of the recognition and positioning of the fuel tank cap of refueling vehicles: the document "Monocular, vision based, auton...

AI Technical Summary

Problems solved by technology

This method has fast positioning speed, but the identification and positioning is not flexible, and can only be used for vehicles equipped with radio frequency tags

[0004] To sum up, the existing research does not meet the intelligence and real-time requirements for the target recognition and positioning of the refueling robot in the actual work of the refueling robot. It is necessary to study a refueling robot with good adaptability to targets, high recognition speed, and high recognition accuracy Target Recognition and Positioning Method

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