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Apriltag visual localization processing method and system thereof, wall-climbing robot and storage medium

A wall-climbing robot and visual positioning technology, which is applied in the directions of instruments, image enhancement, image analysis, etc., can solve the problems of low positioning accuracy and incapable of real-time self-positioning, and achieve the effect of flexible and autonomous movement

Inactive Publication Date: 2021-07-23
武汉数字化设计与制造创新中心有限公司
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Problems solved by technology

[0004] Aiming at the problems of low positioning accuracy and incapable of real-time self-positioning of wall-climbing robots in the prior art, the present invention discloses processing methods, systems, wall-climbing robots and storage media based on Apriltag visual positioning, so as to realize real-time positioning of indoor or outdoor wall-climbing robots. performance and precision requirements

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  • Apriltag visual localization processing method and system thereof, wall-climbing robot and storage medium

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[0035] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the invention.

[0036] In this embodiment, the vision-assisted positioning wall-climbing robot processing method based on the Apriltag code uses a basler industrial camera mounted on a specific robot to complete the collection, identification, positioning and processing of the artificial label images that have been arranged in advance in the field of view. Processed parts.

[0037] combine figure 1 , a kind of surface mobile adsorption processing robot positioning processing method based on Apriltag code visual aid positioning of the present invention, comprises the following steps:

[0038] 1) Firs...

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Abstract

The invention discloses an Apriltag visual localization processing method and a system thereof, a wall-climbing robot and a storage medium. The method comprises the steps of collecting a label image in a field of view of an industrial camera, performing equalization processing on the label image, denoising the label image after equalization processing, determining the pose of the wall-climbing robot based on an Apriltag positioning algorithm according to the denoised label image, and planning a moving path of the robot according to the pose, when the robot moves along the planned path, machining the to-be-machined workpiece in the normal direction of the curved surface, receiving working state parameters of the robot in real time, and sending out a working instruction. The Apriltag visual positioning is applied to the specific curved surface mobile adsorption processing robot, so that real-time autonomous positioning and accurate positioning of the mobile processing wall-climbing robot on the target curved surface are realized, meanwhile, the cost is saved, the processing performance is improved, and the influence of the environment on positioning is reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial wall-climbing robots, in particular to a processing method and system for Apriltag visual positioning, a wall-climbing robot and a storage medium. Background technique [0002] With the development of society and the advancement of science and technology, the application fields of robots are becoming more and more extensive, among which industrial robots have become the focus of current development and research. In order for the robot to complete the corresponding movement according to the pre-set command, the position information of the robot should be determined first under the current state. Therefore, the research of positioning technology is the core of robot research. The wall-climbing robot is one of the typical representatives of special robots. It has a large working space and flexible deployment mode, and is widely used in the inspection, flaw detection and cleaning of large structur...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/40G06T7/12G06T7/136G06T7/187
CPCG06T5/40G06T7/187G06T7/12G06T7/136G06T5/70
Inventor 李千千向阳刘晓顺胡杰黄俊辉
Owner 武汉数字化设计与制造创新中心有限公司
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