Binocular Vision Positioning Technology In Automatic Docking System Applied Research

At present,the butt work of the riser on the inspection device is mainly by manual operation,which is inefficient,low precision and labor intensity.This method is inefficient,inaccurate,and labor-intensive.In order to promote the development of automatic docking of the aqueduct,this topic focuses on the algorithm of locating and detecting the end face of the riser flange using the binocular vision positioning technology.The main contents of this study include the following parts:1.The calibration of binocular camera is systematically analyzed.The camera is calibrated by Zhang Zheng you calibration algorithm and the internal parameters of the camera are obtained.The relative position of the left and right cameras is calibrated by using binocular vision principle;2.According to the actual riser inspection,the algorithm of feature point extraction and feature point matching in the septate image is analyzed,and the algorithm suitable for the riser docking system is selected thro ugh the experimental analysis;3.The relationship between the camera coordinate system and th e global coordinate system in the riser docking system is obtained.The SVD(Singular Value Decomposition)attitude estimation method is used to calculate the rotation relation between the aqueduct,and the Euler angle attitude description method is used to describe the position and position of the septum;4.Select the hardware equipment reasonably,build the image acquisition system on the test platform,and combine the selected hardware and image processing algorithms to realize the docking system client;The binocular vision location technology can guide the automatic docking of the riser.The method has the advantages of simple structure,low price,mobile positioning accuracy of 0.1160 mm,and rotation positioning accuracy of 0.1309 degrees,so as to meet the positioning requirements in practical applications.