The invention discloses a joint butt joint method, system and equipment and a medium, and relates to the field of joint automatic butt joint. The action track of the executing mechanism is determined according to the obtained position information of the executing mechanism and the point location of the oil tank connector; the oil pipe connector is located above the oil tank connector according to the movement track; a circle detection algorithm is adopted to extract a set area in a joint image shot by the camera module for the fuel tank joint, and the set area is determined as an area of interest; determining execution data according to depth parameters built in the camera module, two-dimensional coordinates of the center of the region of interest and coordinates of the notch of the clamping groove, wherein the two-dimensional coordinates are obtained by detecting and calculating the region of interest through a computer vision method; determining an execution route of the execution mechanism after obtaining a target conversion coordinate of the execution mechanism according to the conversion matrix, and then realizing rotary butt joint of the oil tank joint and the oil pipe joint according to a target rotation angle; the method can be applied to transport vehicles, and the joint butt joint precision is improved.
本发明公开一种接头对接的方法、系统、设备及介质,涉及接头自动对接领域;通过根据获取的执行机构的位置信息以及油箱接头的点位确定执行机构的行动轨迹;按照行动轨迹移动使得油管接头位于油箱接头的上方;采用圆检测算法提取摄像模块对油箱接头拍摄的接头图像中的设定区域,并将其确定为感兴趣区域;根据摄像模块内置的深度参数,以及采用计算机视觉方法对感兴趣区域进行检测计算得到的感兴趣区域中心的二维坐标和卡槽缺口的坐标确定执行数据;根据转换矩阵得到执行机构的目的转换坐标后确定执行机构的执行路线,然后按照目标旋转角度实现油箱接头与油管接头的旋转对接;本发明能够应用于运输车辆,并提高接头对接精度。
Joint butt joint method, system, equipment and medium
一种接头对接的方法、系统、设备及介质
02.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
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