Attitude Measurement Of Robot Based On Vision

In recent years,with the rapid development of image processing technology and computer technology,computer vision technology has been widely used in the field of robotics.Robot based on vision can acquire information of surrounding environment autonomously,and it can be used for robot's autonomous positioning,attitude measurement,path planning,navigation and control.In the process of robot research,we usually study the robot's structure,control system,robot's environment perception,robot's position and attitude measurement.Attitude measurement of robot based on vision is the subject of this study.The main research content is attitude measurement based on visual robot,which can be divided into two parts as follows:The theoretical part:A kind of attitude measurement method based on vision is realized by using cooperation of the rectangular target fixed on the blackboard.The image acquired by the camera,after a series of preprocess of grayscale,binarization,median filtering denoising,and then using ORB algorithm to extract the feature points of the rectangular region.The four corner points of the rectangular can be extracted by the K-Means clustering algorithm,and then the camera attitude in the world coordinate system can be solved by PNP algorithm.Finally,an experimental platform is designed for the algorithm.The experimental platform can rotate around a shaft in the plane.At the same time,the attitude sensor MPU6050 is mounted on the experimental platform.When rotating the experimental platform,the effectiveness of the algorithm is verified by comparing the change of MPU6050 and visual angle.The change of MPU6050 and visual angle.Finally,the main error sources in the experiment are analyzed,and a corner extraction method based on sub-pixel is proposed to eliminate error.The experimental shows that this method can improve the accuracy of attitude measurement.The experimental part:On the basis of the first part,a three axis rotation robot platform based on visual attitude measurement is designed,this robot platform can drive the independent rotation of the camera along the X axis,the Y axis and the Z axis respectively in the Cartesian coordinate system.The mechanical part of the robot platform is designed,including the design and selection of the key components,and then the control circuit part of the platform is also designed.Then,for the designed three axis rotating robot platform,the dynamic model of the camera's rotation process is built.Finally,this paper proposes a method to fuse the attitude acquired by vison and attitude acquired by inertial unit using Kalman filter.Besides,simulation verification is carried out in MATLAB,the simulation results show that the Kalman filter has an effective filtering effect on the noise information.