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A tracking method and device for unmanned engineering operation equipment based on fusion of vision and attitude

A kind of operation equipment and unmanned technology, which is applied in attitude control, three-dimensional position/channel control, vehicle position/route/altitude control, etc. It can solve problems such as unstable satellite signal reception, failure of rolling operations, and signal fluctuations. Achieve the effects of avoiding unreliable tracking control, reducing hardware costs, and reducing equipment costs

Active Publication Date: 2022-03-04
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, GPS itself is prone to problems such as unstable satellite signal reception, signal drift, and signal fluctuation. Once the above problems occur during the tracking process, the tracking will be out of control, resulting in the failure of the rolling operation and even safety problems.

Method used

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  • A tracking method and device for unmanned engineering operation equipment based on fusion of vision and attitude
  • A tracking method and device for unmanned engineering operation equipment based on fusion of vision and attitude
  • A tracking method and device for unmanned engineering operation equipment based on fusion of vision and attitude

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Effect test

Embodiment 1

[0059] An unmanned engineering operation equipment based on visual and posture fusion, the specific steps are as follows:

[0060] (1) Image input acquisition, using the image acquisition unit to collect engineering operation equipment, after the image, complete and clearly display the rolling strip strip in the rolling area;

[0061] The image acquisition unit is arranged at least one set before and after, for example, an industrial camera, such as an industrial camera, such as an image acquisition unit, and the acquisition device stably installed on the engineering operation equipment vehicle body, which is suitable for the front and rear positions of the vehicle body. Since the motion of the engineering operation equipment will cause vibration, the installation of image acquisition equipment needs to be considered, which can be shocked by shock-resistant hard spring buffers or setting shockproof rubber gaskets. Adjust the acquisition angle of the image acquisition device before...

Embodiment 2

[0099] An unmanned engineering operation device sub-use, further, combined with the posture sensor data information, a severity of the tracking strip imaging in the detection process of engineering operation equipment The situation of the field of view is corrected, and the specific steps are:

[0100] (1) Image input acquisition.

[0101] (2) Camera parameter calibration and image distortion correction.

[0102] (3) Creating a binary image based on the color space and edge feature.

[0103] (4) Apply a perspective change to correct the binary image.

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Abstract

The invention relates to a tracking method and device for unmanned engineering operation equipment based on the fusion of vision and attitude, which can realize the detection of the course and position deviation of the engineering operation equipment through the visual image processing method, and at the same time, the vehicle body is suitable for the front and rear of the engineering operation equipment. The attitude sensor is installed at the position, and the attitude sensor information is used to correct the heading when the engineering operation equipment is seriously offset from the rolling strip, and the visual tracking control can continue until the strip returns to the visual camera field of view. Compared with the prior art tracking scheme through differential GPS, the physical equipment of the present invention adopts industrial cameras, which are not affected by satellite signals, etc. Compared with differential GPS, the hardware cost is reduced, and tracking control caused by unstable GPS signals is avoided unreliable problem.

Description

Technical field [0001] The present invention is in the field of unmanned control, tracking control relates to unmanned visual field, in particular an unmanned engineering work equipment tracking method and apparatus for visual and attitude fusion. Background technique [0002] With the vigorous development of unmanned technology, research and application of unmanned passenger cars, heavy trucks are also in full swing. In addition to the automotive sector, engineering equipment also work towards the development of intelligent direction. Engineering work equipment is widely used in building construction such as road building dams, but poor working conditions, long-term repeated boring equipment engineering job driving jobs as a result of reduced efficiency engineering work device driver, RCC construction quality can not be guaranteed. In addition, engineering work equipment in the course of their work, need to open rolling vibration mode, this exciting project work seriously endang...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 谢辉孙一铭周扬
Owner TIANJIN UNIV