基于双目视觉技术的供补弹机构对接方法

Docking Method for Ammunition Supply Mechanism Based on Binocular Vision Technology

采用双目视觉技术及并联供补弹机构实现了对接机构末端位姿的自动调整,获取了对接主从机构的相对位姿,借助并联机构调整柔性弹链至对接位置;建立了双目测量模型,设计了易于识别的特征点,分析了位姿求解模型并进行了精度试验,实现了供补弹机构的精确对接。

Binocular vision technology and parallel mechanism were used to realize the self-adjustment of the end pose of the docking mechanism.We used binocular measurement technology to obtain the relative position of the docking master-slave mechanism,adjusting the flexible chain to the docking position by means of the parallel mechanism.Firstly,the binocular measurement model was established,and the easy-to-recognize feature points were designed.Then the pose-solving model of the parallel structure was analyzed.Finally,the accuracy test of binocular measurement was carried out.The results show that the method can achieve accurate docking of the supply mechanism.