The invention discloses an automatic oil gun grabbing method based on three-dimensional vision, and belongs to the technical field of automatic oil filling of fuel vehicles. According to the technical scheme, a depth camera is used for collecting video images,
image processing is used for recognizing a grabbing hole and obtaining image data of the grabbing hole, a
robot is controlled to change the
pose, a conical connector connected with the
robot is used for being connected with a fixing sleeve, and therefore the
robot can accurately grab an oil gun; the grabbing hole is formed in the fixing sleeve connected with the oil gun. The method is achieved through an automatic grabbing
system. The automatic grabbing
system comprises
processing equipment, input equipment, a displayer, a camera, a robot, a fixing
assembly, a pneumatic device, an oil gun, an oil gun rack, a power source, a fixing sleeve and a conical connector. The device has the advantages of being accurate and reliable in measurement, light in grabbing structure, large in grabbing positioning range, stable, high in practicability and the like, can be widely applied to automatic refueling of gas stations, and has good
economic benefits and wide market prospects.