飞机舱门手柄的视觉定位方法

Visual Positioning Method for Handle of Aircraft D.3oor

介绍了在V-REP仿真平台下使用Kinect视觉传感器获取飞机舱门手柄位姿的方法。该方法根据Kinect传感器的RGB彩色相机获取舱门手柄上的两个环形彩带图像并进行Blob Detection处理,得到彩环在Kinect图像平面中的矩形框中心位置,然后根据Depth深度相机检测出彩环的深度信息,由位置和深度信息即可确定矩形框中心点在世界坐标系中的三维坐标。通过圆柱面拟合方法得到圆柱面参数,结合两矩形框中心点进而求出圆柱手柄的重心及姿态信息,实现了舱门机构耐久性试验中,工业机器人对舱门手柄的视觉定位。

This paper introduces the method of using Kineet handle under V-REP simulation platform. The method based on visual sensor to acquire the position of aircraft door RGB color camera of the Kinect sensor to obtain the two ring ribbon images on the handle anti the Blob Detection process to get the center position of the rectangular frame of the color ring in the Kineet imaging plane. The position and The Depth information of the color ring can be used to obtain the three-dimensional coordinate of the center point of the rectangular frame in the world coordinate system. The eylindrieal surface parameters of aircraft door handle can be ohtained by the cylindrical surface fitting method and combining the center point of two rectangular fiames to find nut the baryecenter and posture information .In this way, the visual positioning of the robot for the aircraft door handle is achieved in the durability test of the cabin structure.