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智能换电池站电池包锁定机构的视觉6D位姿估计

Q3 Materials Science
Guangxue Jingmi Gongcheng/Optics and Precision Engineering Pub Date : 2023-01-01 DOI:10.37188/ope.20233121.3135
Lihui WANG, Yuzuwei SU, Chunhua HAN, Liangliang CHEN, Hao ZHANG
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Visual 6D pose estimation of battery package locking mechanism in intelligent battery swapping station
é¢å‘ç”µåŠ¨æ±½è½¦çš„ç”µæ± æ¢ç”µéœ€æ±‚ï¼Œå¯¹æ¢ç”µç«™ç”µæ± åŒ å¯¹æŽ¥ä¸­çš„é”æ­¢æœºæž„å®šä½é—®é¢˜ï¼Œæå‡ºäº†ä¸€ç§åŸºäºŽç‚¹äº‘åˆ†å‰²çš„ç”µæ± åŒ é”æ­¢æœºæž„6D位姿估计方法。该方法使用YOLOv5ç½‘ç»œä»Žåœºæ™¯ä¸­åˆ†å‰²å‡ºé”æ­¢æœºæž„çš„ç‚¹äº‘ï¼Œå¹¶ä½¿ç”¨ä½“ç´ æ»¤æ³¢ä¸Žç§»åŠ¨æœ€å°äºŒä¹˜æ‹Ÿåˆè¿›è¡Œç‚¹äº‘çš„æ»¤æ³¢ä¸Žå¹³æ»‘ï¼›é€šè¿‡å¼•å ¥ç‚¹äº‘åˆ†å‰²ç½‘ç»œé¢„æµ‹ç‚¹äº‘æ ‡ç­¾ï¼Œä¸ºå¿«é€Ÿç‚¹ç‰¹å¾ç›´æ–¹å›¾ç‰¹å¾åŠ å ¥å ¨å±€è¯­ä¹‰ç‰¹å¾ï¼Œå¼¥è¡¥å¿«é€Ÿç‚¹ç‰¹å¾ç›´æ–¹å›¾åªæœ‰ç‚¹äº‘å±€éƒ¨ç‰¹å¾çš„ç¼ºé™·ï¼Œå¹¶æ ¹æ®è¯¥ç‰¹å¾è¿›è¡ŒéšæœºæŠ½æ ·ä¸€è‡´æ€§åˆšä½“ç‚¹äº‘é å‡†ï¼Œä¼°è®¡é”æ­¢æœºæž„ç‚¹äº‘çš„6Dä½å§¿ï¼Œæœ€åŽä½¿ç”¨è¿­ä»£æœ€è¿‘ç‚¹æ–¹æ³•ç®—æ³•æ ¡æ­£ä½å§¿ä¼°è®¡ç»“æžœã€‚å®žéªŒç»“æžœè¡¨æ˜Žï¼ŒåŸºäºŽç‚¹äº‘åˆ†å‰²çš„é”æ­¢æœºæž„6Dä½å§¿ä¼°è®¡ç®—æ³•ç²¾åº¦è¾ƒé«˜ï¼Œå¯ä»¥å ‹æœçŽ¯å¢ƒå™ªå£°å¯¼è‡´çš„è¯¯åŒ¹é ï¼Œç²¾ç¡®èŽ·å–é”æ­¢æœºæž„ä½å§¿ï¼Œå ¶ä½å§¿ä¼°è®¡çš„è§’åº¦è¯¯å·®å¯ä»¥è¾¾åˆ°1.90°，位移误差可以达到1.4 mm，RMSE可以达到1.5 mmï¼Œä¸ºæ¢ç”µç«™ç”µæ± å¯¹æŽ¥å®šä½æä¾›äº†æœ‰æ•ˆçš„è§£å†³é€”å¾„ã€‚
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来源期刊
Guangxue Jingmi Gongcheng/Optics and Precision Engineering
Guangxue Jingmi Gongcheng/Optics and Precision Engineering Materials Science-Electronic, Optical and Magnetic Materials
CiteScore
2.40
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0.00%
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