Method for estimating pose of refueling cover of automatic refueling robot

Abstract

The invention discloses a method for estimating the pose of a refueling cover of an automatic refueling robot, and is applied to the technical field of automatic refueling of a fuel vehicle. A scheme of combining passive binocular stereoscopic vision and visual servo is provided, wherein the passive binocular stereoscopic vision is used for sensing environmental information, and the pose information of a refueling cover grabbing point is obtained by using a stereoscopic matching technology; in addition, a visual servo method is added; a passive binocular camera is responsible for a coarse positioning part of an early-stage perception task, that is, the process of calculating pose information of the grabbing point through a binocular stereo matching method; and visual servo carries out fine positioning on the basis of coarse positioning, that is, the process of guiding a mechanical arm to move to the position of the grabbing point through a visual servo technology, so that it is guaranteed that the mechanical arm moves to the refueling cover grabbing point position, the refueling cover is unscrewed subsequently, and a refueling gun stretches into the refueling cover for refueling.

Description

technical field [0001] The invention relates to the technical field of automatic refueling of fuel vehicles, and more specifically relates to a method for estimating the pose of a refueling cap of an automatic refueling robot. Background technique [0002] At present, the vast majority of gas stations rely on refueling workers to refuel manually, which consumes a lot of manpower, material resources, and financial resources, and there are problems such as improper operation of refueling workers, which may cause safety accidents. Therefore, the development of an automatic refueling robot has Broad application prospects. [0003] At present, the existing schemes in the field of fuel cap perception and pose estimation can be roughly divided into three categories: (1) The first type is to use expensive equipment such as laser scanners to scan the area near the fuel cap to obtain its 3D information, which is expensive And it is difficult to meet the explosion-proof regulations of...

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Problems solved by technology

[0002] At present, the vast majority of gas stations rely on refueling workers to refuel manually, which consumes a lot of manpower, material resources, and financial resources, and there are problems such as improper operation of refueling workers, which may cause safety accidents. Therefore, the development of an automatic refueling robot has Broad application prospects

[0003] At present, the existing schemes in the field of fuel cap perception and pose estimation can be roughly divided into three categories: (1) The first type is to use expensive equipment such as laser scanners to scan the area near the fuel cap to obtain its 3D information, which is expensive And it is difficult to meet the explosion-proof regulations of gas stations; (2) The second type is to use the vehicle owner to actively enter the vehicle information to match the vehicle information in the database. This method can only collect the models that exist in the database and requires the owner to spend a lot of time in the early stage of refueling The input of vehicle information is inflexible; (3) The third category is to use a monocular industrial camera to guide the mechanical arm to move to the vicinity of the fuel cap through the relative position relationship of the fuel cap in the camera field of view. Due to the lack of depth information, this method can only The way of visual servoing is poor in real-time perception and low in precision

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