Attitude detection method of vertical propeller of hybrid machine based on monocular camera and robot
A technology of robots and paddles, which is applied in instruments, image analysis, image enhancement, etc., can solve the problems of 3D reconstruction algorithm, such as large amount of calculation, large number of feature points, difficulty in providing feature points, etc., so as to avoid 3D reconstruction Work, low cost, high precision results
Active Publication Date: 2022-04-19
NORTHWESTERN POLYTECHNICAL UNIV
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This method effectively utilizes the mobile performance of the robotic arm to collect images of the target at two different positions. The principle is similar to the binocular camera system but has greater flexibility and stability. In the feature point matching process, there are many requirements for the number of feature points. For the harsh industrial measurement environment, it is difficult to provide a large number of feature points for the target to be measured. In addition, for the target to be measured with a complex shape, the 3D reconstruction algorithm calculates The amount is large, the processing speed is slow, and it is not suitable for occasions that require high algorithm speed
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[0041] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:
[0042] Refer to attached Figure 1-6 , this embodiment is based on the attitude detection method of the monocular camera and the robot, and is applied to the vertical paddle of the mixer. The vertical blade rotation axis 1 of the mixer is a cylinder, located above the blade, and the blade rotates around the central axis 2 of the rotation axis 1, and the rotation angle is uncertain every time it stops; the mixer blade is a centrally symmetrical rigid body , the connection line between the characteristic shoulder point 3 and the characteristic shoulder point 4 of the blade passes through the central axis 2; the monocular camera 8 is installed on the end flange 6 of the robot 5 through the mount 7, and is used to obtain the blade image, and the light source 9 can be improved Image quality, tool 10 is used to complete the follow-up robot tasks; after obtaining the i...
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The invention relates to a method for detecting the vertical blade attitude of a hybrid machine based on a monocular camera and a robot. The method first obtains the hand-eye calibration relationship between the robot and the monocular camera, and adjusts the monocular camera to a suitable position by adjusting the robot. After using the monocular camera to collect the image of the mixer blade, image processing and feature extraction are performed on it, and the angle relationship between the vertical mixer blade and the camera can be solved through the imaging principle of the monocular camera and related geometric relationships, and then used The relationship between the calibrated camera and the robot's hand-eye is solved to obtain the rotation angle of the blade in the robot's base coordinate system, that is, the attitude of the blade.
Description
technical field [0001] The invention relates to the field of pose detection in high-risk and explosive environments, in particular to a method for detecting the pose of a vertical blade of a hybrid machine based on a monocular camera and a robot. Background technique [0002] The background of the invention is the production workshop of aerospace explosives, which is a flammable, explosive and high-risk environment. At present, there are many researches on attitude recognition of spacecraft in the field of aerospace, but there are few related literatures on attitude recognition of objects in high-risk workshops. The vertical blades of the mixer are used for rocket propellant mixing. They are located in a flammable and explosive workshop. Before using robots to perform related operations on them, their spatial attitude needs to be detected. Commonly used methods for visually solving the target pose mainly include monocular cameras, binocular cameras, etc. Compared with the ...
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IPC IPC(8): G06T7/73
CPCG06T7/73G06T2207/10004
Inventor 王战玺张立恒曹妮魏文飞秦现生蒙波姜万生唐婧仪岳思琪
Owner NORTHWESTERN POLYTECHNICAL UNIV