Elevator Recognition and Orientation Detection Method Based on Binocular Vision
In order to solve the problems such as manual involvement,slow recognition and poor accuracy in elevator positioning in drilling automation,a binocular vision based elevator automatic recognition and orientation detection system was built.By means of building a binocular camera visual detection system,the obtained elevator images were calibrated,stereo corrected,and stereo matched to obtain depth maps of them.A convolutional atten-tion mechanism module was introduced into the backbone network of the original YOLOv5s target detection algo-rithm to strengthen the target to be recognized,i.e.,the elevator image,further improve the recognition accuracy of elevator,and figure out the distance and deflection angle of the elevator center position relative to the manipula-tor combined with depth maps,thus achieving automatic pipe feeding.The effectiveness of elevator recognition and detection method was verified through tests on drilling platforms.The conclusions provide technical reference for further improving the automation level of drilling platforms.
elevator recognitionorientation detectionbinocular cameraYOLOv5s algorithmconvolu-tional attention mechanism moduleexperimental verification
万方数据
维普
