CN115824051A - Heavy truck battery visual positioning method and system capable of achieving rapid iterative convergence - Google Patents
Heavy truck battery visual positioning method and system capable of achieving rapid iterative convergence Download PDFInfo
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Abstract
The invention relates to the technical field of heavy truck battery positioning management, in particular to a heavy truck battery visual positioning method and a heavy truck battery visual positioning system capable of realizing rapid iterative convergence; the method comprises the steps that two light-reflecting labels are arranged on the side face of a top beam of a heavy truck battery, and a distance value between the central points of the two light-reflecting labels is stored; installing an infrared light filter on a lens of the camera; the control camera shoots the side position of a top cross beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image; filtering the first target image to obtain a second target image; calculating relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels; controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting the picture again; and judging whether the current mechanical arm moves in place or not according to the shot picture again.
Description
Technical Field
The invention relates to the technical field of heavy truck battery positioning management, in particular to a heavy truck battery visual positioning method and system capable of realizing rapid iterative convergence.
Background
At present, the aim of visually positioning the heavy-duty battery is fulfilled, most of the heavy-duty battery is a laser ranging method, the method generally needs to position the edge of the battery through a laser range finder arranged on a sliding rail, and then calculates the position of the battery, the method has the defects of low speed, low precision and the like, and because the visual positioning is mainly achieved by carrying out mode identification on the characteristics of a target object, the error phenomenon caused by environmental interference is easy to occur, and meanwhile, once a label is easy to be shielded, the distance and the angle do not meet the requirements, the accuracy influence on the position of the battery finally calculated is extremely high.
Disclosure of Invention
The present invention provides a heavy truck battery visual positioning method and system capable of achieving fast iterative convergence, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a heavy truck battery visual positioning method capable of realizing rapid iterative convergence comprises the following steps:
step S100: two light-reflecting labels are arranged on the side surface of a beam at the top of the heavy truck battery, and a distance value between the central points of the two light-reflecting labels is stored; installing a camera on a mechanical arm for installing and disassembling a heavy truck battery, installing infrared lamps around the camera, and arranging the infrared lamps
Irradiating the reflective label obliquely downwards at an angle; installing an infrared light filter on a lens of the camera;
the angle range is selected in the scheme per se because the x, y, z and horizontal rotation angle data of the battery can be measured by a camera at the position, and the sensitivity to the x, z deviation and the angle deviation is high;
step S200: the control camera shoots the side position of a top cross beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image;
step S300: filtering the first target image to obtain a second target image, wherein the second target image is a binary image, the positions of the reflective labels in the second target image are 1, and the positions of other positions in the second target image are 0, and the positions of the central points of the reflective labels in the second target image are respectively extracted;
step S400: calculating relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
step S500: controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting the picture again; judging whether the current mechanical arm moves in place or not according to the shot picture again, and if so, skipping to the step S200;
the purpose of iteration is to avoid the influence caused by errors, and the sources of the errors in actual operation are various, wherein the sources include nonlinear distortion of a camera view field, measurement errors caused by a space perspective principle and motion errors of a mechanical arm.
Further, extracting characteristic information of each reflective label based on an image recognition algorithm, and locking and extracting the central point position of each reflective label based on the direction and the pointing direction of each characteristic information in each corresponding reflective label;
in the actual operation scene, because many dust, smog and rainwater, so the phenomenon that can not all discernment appears easily in the label, draws characteristic image to the label, obtains the central point of label based on characteristic image and puts, avoids appearing because of the label sheltered from or the phenomenon that the location operation can not normally expand of the inaccurate or location operation that appears after partly sheltering from.
Further, step S400 includes:
step S401: respectively acquiring the central point positions of the two reflective labels in the second target image, setting the central point position close to the camera as a point A, and setting the central point position far away from the camera as a point B; setting the distance value between the central points of the two reflective labels as L;
step S402: taking the current mechanical arm stop position as a coordinate axis origin O, setting a straight line where a camera lens and the coordinate axis origin O are located as a Z axis, and setting a straight line where a point A and a point B are located as a y axis; according to the point A and the point B in the secondThe included angle between the sight of the camera lens to the point A and the Z axis is obtained according to the positions in the two target images
Acquiring the included angle between the B point sight line and the Z axis of the camera lens
(ii) a Setting the distance from a camera lens to a coordinate axis origin O as H, and setting the distance from a point B to the coordinate axis origin O as D;
step S403: constructing a simultaneous equation:
and solving to obtain the distance D from the point B to the coordinate axis origin O and the distance H from the camera lens to the coordinate axis origin O.
Further, step S400 further includes:
step S404: the included angle between the connecting line of the central point positions of the two reflective labels and the central axis is
Setting the driving direction of the mechanical arm as an X axis; setting the distance of the mechanical arm to move on the X axis as R;
step S405: obtain the position of A point, set as
Acquiring the position of B point, set as
(ii) a Construction of
Solving the included angle formed by the connecting line of the central point positions of the two reflective labels and the central axis
The distance R the robot arm needs to move on the X axis.
Further, step S500 includes:
step S501, controlling deflection of mechanical arm
Simultaneously moving the R on the X axis, and shooting the side position of the top cross beam of the battery of the counterweight card again under the light of the infrared lamp;
step S502: pre-storing the positions of the two reflective labels in the second target image under the correct positioning; and comparing the image obtained by shooting again with the image stored in advance, and judging that the mechanical arm moves in place if the positions of the two reflective labels in the image obtained by shooting again are consistent with the positions stored in advance.
In order to better realize the method, the system for visually positioning the heavy truck battery is also provided, and comprises an installation management module, an information acquisition and processing module, a relative position information processing module, a mobile operation module and a positioning judgment module;
the installation management module is used for arranging two light-reflecting labels on the side surface of the top beam of the heavy truck battery and storing a distance value between the central points of the two light-reflecting labels; installing a camera on a mechanical arm for installing and disassembling a heavy truck battery, installing an infrared lamp around the camera, and arranging the infrared lamp
Irradiating the reflective label downwards at an oblique angle; installing an infrared light filter on a lens of the camera;
the information acquisition processing module is used for controlling the camera to shoot the side position of the top cross beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image; the system is used for filtering the first target image and respectively extracting the central point position of each reflective label in the second target image;
the relative position information processing module is used for calculating the relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
the mobile operation module is used for controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting the picture again;
and the positioning judgment module is used for judging whether the current mechanical arm moves in place according to the shot picture again.
Furthermore, the information acquisition processing module comprises an image information processing unit and a central position information extraction unit;
the image information processing unit is used for controlling the camera to shoot the side position of the top beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image;
and the central position information extraction unit is used for performing filtering processing on the first target image and respectively extracting the central point position of each reflective label in the second target image.
Compared with the prior art, the invention has the following beneficial effects: the speed that this application can improve battery location, and in this application, it is not high to require image recognition algorithm, has avoided discerning to make mistakes, has improved the reliability of operation, and this application requires not high to the camera, and the error that the non-linear distortion of visual field corner arouses can be eliminated through iteration fast convergence, and this application requires not high to the arm motion precision, but the iterative correction.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a heavy truck battery visual positioning method capable of achieving fast iterative convergence according to the present invention;
FIG. 2 is a schematic diagram illustrating the position distribution of the camera and the reflective label in the heavy truck battery visual positioning method capable of achieving fast iterative convergence according to the present invention;
FIG. 3 is a schematic diagram of a reflective label in a heavy truck battery visual positioning method capable of achieving fast iterative convergence according to the present invention;
FIG. 4 is a schematic diagram of the position of a reflective label in the field of view of a camera in the heavy truck battery visual positioning method capable of achieving fast iterative convergence according to the present invention;
FIG. 5 is a schematic diagram illustrating a position distribution of a reflective label in a camera view field in the heavy truck battery visual positioning method capable of achieving rapid iterative convergence according to the present invention;
fig. 6 is a schematic diagram of the position distribution of two tags in the camera view field under the condition of correct positioning in the heavy truck battery visual positioning method capable of realizing rapid iterative convergence according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, the present invention provides a technical solution: a heavy truck battery visual positioning method capable of realizing rapid iterative convergence comprises the following steps:
step S100: two light-reflecting labels are arranged on the side surface of a beam at the top of the heavy truck battery, and a distance value between the central points of the two light-reflecting labels is stored; installing a camera on a mechanical arm for installing and disassembling a heavy truck battery, installing infrared lamps around the camera, and arranging the infrared lamps
Irradiating the reflective label obliquely downwards at an angle; as shown in fig. 2, C is the camera and its shooting direction; installing an infrared light filter on a lens of the camera;
step S200: the control camera shoots the side position of the top cross beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image;
step S300: filtering the first target image to obtain a second target image, wherein the second target image is a binary image, the positions of the reflective labels in the second target image are 1, and the positions of other positions in the second target image are 0, and the positions of the central points of the reflective labels in the second target image are respectively extracted;
step S400: calculating relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
wherein, step S400 includes:
step S401: respectively acquiring the central point positions of the two reflective labels in the second target image, setting the central point position close to the camera as a point A, and setting the central point position far away from the camera as a point B; setting the distance value between the central points of the two reflective labels as L;
step S402: as shown in fig. 4, the current mechanical arm stop position is taken as a coordinate axis origin O, a straight line where a camera lens and the coordinate axis origin O are located is taken as a Z axis, and a straight line where a point a and a point B are located is taken as a y axis; according to the positions of the point A and the point B in the second target image, the included angle between the visual line of the camera lens to the point A and the Z axis is obtained
Acquiring the included angle between the B point sight line and the Z axis of the camera lens
(ii) a Setting the distance from a camera lens to a coordinate axis origin O as H, and setting the distance from a point B to the coordinate axis origin O as D;
step S403: constructing a simultaneous equation:
solving to obtain a distance D from the point B to a coordinate axis origin O and a distance H from a camera lens to the coordinate axis origin O;
wherein, step S400 further includes:
step S404: the included angle between the connecting line of the central point positions of the two reflective labels and the central axis is
Setting the driving direction of the mechanical arm as an X axis; setting the distance of the mechanical arm to move on the X axis as R;
step S405: as shown in the figure5, get the A point position, set to
Acquiring the position of B point, set as
(ii) a Construction of
Solving the included angle between the connecting line of the central point positions of the two reflective labels and the central axis
The distance R that the mechanical arm needs to move on the X axis;
step S500: the mechanical arm is controlled to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and the picture is taken again; judging whether the current mechanical arm moves in place or not according to the shot picture again, and if the current mechanical arm moves in place, jumping to the step S200;
wherein, step S500 includes:
s501, controlling the mechanical arm to deflect, moving R on the X axis at the same time, and shooting the side position of the top cross beam of the heavy truck battery again under the light of the infrared lamp;
step S502: pre-storing the positions of the two reflective labels in the second target image under the correct positioning; comparing the image obtained by shooting again with a prestored position, and judging that the mechanical arm moves in place if the positions of the two reflective labels in the image obtained by shooting again are consistent with the prestored position; as shown in fig. 6, the position of the two tags in the camera's field of view (picture) for proper positioning;
extracting characteristic information of each reflective label based on an image recognition algorithm, and locking and extracting the position of a central point of each reflective label based on the direction and the direction of each characteristic information in each corresponding reflective label;
the shape of the reflective label is a rectangle with four right-angled triangles deducted, as shown in fig. 3. These four right triangles are the characteristic pattern of the label. If the complete four characteristics cannot be seen on the picture, the label is indicated to be shielded and stained, but the central point position of the label can still be given as long as any two triangles can be shot;
the system comprises an installation management module, an information acquisition and processing module, a relative position information processing module, a mobile operation module and a positioning judgment module;
the installation management module is used for arranging two light-reflecting labels on the side surface of the top beam of the heavy truck battery and storing a distance value between the central points of the two light-reflecting labels; installing a camera on a mechanical arm for installing and disassembling a heavy truck battery, installing infrared lamps around the camera, and arranging the infrared lamps
Irradiating the reflective label obliquely downwards at an angle; installing an infrared light filter on a lens of the camera;
the information acquisition processing module is used for controlling the camera to shoot the side position of the top beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image; the system is used for filtering the first target image and respectively extracting the central point position of each reflective label in the second target image;
the information acquisition processing module comprises an image information processing unit and a central position information extraction unit;
the image information processing unit is used for controlling the camera to shoot the side position of the top beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image;
the central position information extraction unit is used for filtering the first target image and respectively extracting the central position of each reflective label in the second target image;
the relative position information processing module is used for calculating the relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
the mobile operation module is used for controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting the picture again;
and the positioning judgment module is used for judging whether the current mechanical arm moves in place according to the shot picture again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A heavy truck battery visual positioning method capable of achieving rapid iterative convergence is characterized by comprising the following steps:
step S100: two light-reflecting labels are arranged on the side surface of a beam at the top of the heavy truck battery, and a distance value between the central points of the two light-reflecting labels is stored; installing a camera on the mechanical arm for installing and disassembling the heavy truck battery, installing infrared lamps around the camera, and setting the infrared lamps
Irradiating the reflective label obliquely downwards at an angle; installing an infrared light filter on a lens of the camera;
step S200: controlling the camera to shoot the side position of a top beam of a heavy truck battery under the light of the infrared lamp to obtain a first target image;
step S300: filtering the first target image to obtain a second target image, wherein the second target image is a binary image, the positions of the reflective labels in the second target image are 1, and the positions of other positions in the second target image are 0, and the positions of the central points of the reflective labels in the second target image are respectively extracted;
step S400: calculating relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
step S500: controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting a picture again; and judging whether the current mechanical arm moves to the right position or not according to the shot picture again, and if so, jumping to the step S200.
2. The visual heavy truck battery positioning method capable of achieving rapid iterative convergence according to claim 1, wherein the feature information of each reflective label is extracted based on an image recognition algorithm, and the position of the center point of each reflective label is locked and extracted based on the direction and direction of each feature information in the corresponding reflective label.
3. The method for visually positioning battery with heavy truck according to claim 1, wherein the step S400 includes:
step S401: respectively acquiring the central point positions of the two reflective labels in the second target image, setting the central point position close to the camera as a point A, and setting the central point position far away from the camera as a point B; setting the distance value between the central points of the two reflective labels as L;
step S402: taking the current stopping position of the mechanical arm as a coordinate axis origin O, setting a straight line where a camera lens and the coordinate axis origin O are located as a Z axis, and setting a straight line where a point A and a point B are located as a y axis; acquiring an included angle between the visual line of the camera lens to the point A and the Z axis according to the positions of the point A and the point B in the second target image
Acquiring the included angle between the B point sight line and the Z axis of the camera lens
(ii) a Setting the distance from a camera lens to a coordinate axis origin O as H, and setting the distance from a point B to the coordinate axis origin O as D;
step S403: constructing a simultaneous equation:
and solving to obtain the distance D from the point B to the coordinate axis origin O and the distance H from the camera lens to the coordinate axis origin O.
4. The heavy truck battery visual positioning method capable of achieving fast iterative convergence according to claim 3, wherein the step S400 further comprises:
step S404: the included angle between the connecting line of the central point positions of the two reflective labels and the central axis is
Setting the driving direction of the mechanical arm as an X axis; setting the distance that the mechanical arm needs to move on the X axis as R;
step S405: obtain the position of A point, set as
Acquiring the position of B point, set as
(ii) a Construction of
Solving the included angle formed by the connecting line of the central point positions of the two reflective labels and the central axis
The distance R the robot arm needs to move on the X axis.
5. The method as claimed in claim 3, wherein the step S500 includes:
step S501, controlling deflection of mechanical arm
Simultaneously moving the R on the X axis, and shooting the side position of the top cross beam of the battery of the counterweight card again under the light of the infrared lamp;
step S502: pre-storing the positions of the two reflective labels in the second target image under the correct positioning; and comparing the image obtained by shooting again with the prestored position, and judging that the mechanical arm moves in place if the positions of the two reflective labels in the image obtained by shooting again are consistent with the prestored position.
6. A heavy truck battery visual positioning system for realizing the heavy truck battery visual positioning method capable of realizing rapid iterative convergence in any one of 1-5 is characterized by comprising an installation management module, an information acquisition and processing module, a relative position information processing module, a mobile operation module and a positioning judgment module;
the installation management module is used for arranging two light reflecting labels on the side surface of the top cross beam of the heavy truck battery and storing a distance value between the central points of the two light reflecting labels; installing a camera on the mechanical arm for installing and disassembling the heavy truck batteryAn infrared lamp is arranged around the image head
Irradiating the reflective label obliquely downwards at an angle; installing an infrared light filter on a lens of the camera;
the information acquisition processing module is used for controlling the camera to shoot the side position of the top beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image; the system is used for filtering the first target image and respectively extracting the central point position of each reflective label in the second target image;
the relative position information processing module is used for calculating relative coordinates between the camera and the reflective labels according to the extracted central point positions of the reflective labels;
the mobile operation module is used for controlling the mechanical arm to move to a position on the same plane with the central connecting line of the reflective label according to the relative coordinate, and shooting the picture again;
and the positioning judgment module is used for judging whether the current mechanical arm moves in place according to the shot picture again.
7. The visual positioning system for the battery of the heavy truck as set forth in claim 6, wherein the information acquisition processing module comprises an image information processing unit, a central position information extraction unit;
the image information processing unit is used for controlling the camera to shoot the side position of the top beam of the heavy truck battery under the light of the infrared lamp to obtain a first target image;
and the central position information extraction unit is used for filtering the first target image and respectively extracting the central position of each light-reflecting label in the second target image.
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