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Working machine accessory feature point positioning method based on machine vision and working machine
The invention relates to the technical field of operation machinery, and provides an operation machinery accessory feature point positioning method based on machine vision and an operation machine.The operation machinery comprises an upper vehicle body, a lower vehicle body and a working device, and the upper vehicle body is provided with a binocular camera; a plurality of target spots are arranged on the accessory to be positioned in advance; the method comprises the following steps: determining the distance between different accessory feature points and the distance between the accessory feature points and a central point based on a binocular camera; determining the accessory size of the accessory to be positioned according to the distance between the different accessory feature points, the distance between the accessory feature points and the central point and the pre-acquired distance between the different central points; and determining the position coordinates of all the accessory feature points in the ground coordinate system according to the accessory size and the transformation matrix of the whole vehicle carrier coordinate system relative to the ground coordinate system. According to the invention, the defect of poor accessory positioning accuracy in the prior art is overcome, and the accessory feature points can be quickly and accurately positioned.
本发明涉及作业机械技术领域，提供一种基于机器视觉的作业机械属具特征点定位方法及作业机械，作业机械包括上车体、下车体及工作装置，上车体设置有双目摄像机；在待定位属具上预先设置有多个靶点；方法包括：基于双目摄像机，确定不同属具特征点的距离及属具特征点与中心点的距离；根据不同属具特征点之间的距离及属具特征点与中心点的距离，及预先获取的不同中心点的距离，确定待定位属具的属具尺寸；根据属具尺寸及整车载体坐标系相对于地面坐标系的变换矩阵，确定所有属具特征点在地面坐标系中的位置坐标。本发明用以解决现有技术中属具定位准确性较差的缺陷，实现实现快速准确地定位属具特征点。
Working machine accessory feature point positioning method based on machine vision and working machine
The invention relates to the technical field of operation machinery, and provides an operation machinery accessory feature point positioning method based on machine vision and an operation machine.The operation machinery comprises an upper vehicle body, a lower vehicle body and a working device, and the upper vehicle body is provided with a binocular camera; a plurality of target spots are arranged on the accessory to be positioned in advance; the method comprises the following steps: determining the distance between different accessory feature points and the distance between the accessory feature points and a central point based on a binocular camera; determining the accessory size of the accessory to be positioned according to the distance between the different accessory feature points, the distance between the accessory feature points and the central point and the pre-acquired distance between the different central points; and determining the position coordinates of all the accessory feature points in the ground coordinate system according to the accessory size and the transformation matrix of the whole vehicle carrier coordinate system relative to the ground coordinate system. According to the invention, the defect of poor accessory positioning accuracy in the prior art is overcome, and the accessory feature points can be quickly and accurately positioned.
本发明涉及作业机械技术领域，提供一种基于机器视觉的作业机械属具特征点定位方法及作业机械，作业机械包括上车体、下车体及工作装置，上车体设置有双目摄像机；在待定位属具上预先设置有多个靶点；方法包括：基于双目摄像机，确定不同属具特征点的距离及属具特征点与中心点的距离；根据不同属具特征点之间的距离及属具特征点与中心点的距离，及预先获取的不同中心点的距离，确定待定位属具的属具尺寸；根据属具尺寸及整车载体坐标系相对于地面坐标系的变换矩阵，确定所有属具特征点在地面坐标系中的位置坐标。本发明用以解决现有技术中属具定位准确性较差的缺陷，实现实现快速准确地定位属具特征点。
Working machine accessory feature point positioning method based on machine vision and working machine
基于机器视觉的作业机械属具特征点定位方法及作业机械
XU CHENLU (author) / YU JIANGPING (author) / JIANG ZHIYUAN (author)
2024-05-10
Patent
Electronic Resource
Chinese
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