Steel factory environment usually contains a lot of dust,smoke,dust,smoke,high temperature and light changes will affect the positioning accuracy of steel factory robots.Therefore,this paper presents a synchronous positioning method for steel factory robots based on binocular vision.The method firstly obtains the image of the target object through binocular vision system,and uses the parallax principle of binocular vision to accurately calculate the position of the target object in three-dimensional space.Then the kinematics model of the robot is established to provide the basis for the trajectory prediction and current position estimation of the robot.Finally,the feature points of the target object are found and matched in the two images obtained by the binocular vision system through the feature matching technology,and the robot's kinematic model is combined to realize the synchronous positioning of the robot.The experimental results show that the proposed method has less trajectory deviation and better stability.It not only improves the positioning accuracy of steel mill robot,but also enhances its adaptability to complex environment,and provides strong technical support for the automatic production of steel mill.
关键词
双目视觉/机器人/同步定位/钢铁厂
Key words
binocular vision/robot/synchronous positioning/iron and steel work
维普
万方数据