Visual Detection And Model Research Of Automatic Car Washing Machine

With the increasing number of cars,the car owners have attached great importance to the cleaning and maintenance of their cars.Traditional manual car washing not only consumes a lot of manpower and material resources,but also produces a quiet low efficiency.In order to solve the problems in the traditional manual car washing,this dessertation proposes an automatic car washing machine vision detection model,Using binocular vision and image processing technology,the car body can be accurately positioned,and then the car can be washed by car robotic arm efficiently.The research is shown below:(1)Firstly,the whole workflow of the car washing machine model is introduced.Then,each part of the car washing machine model is analyzed,and detailed description of the use of binocular camera body ranging principle and processing algorithm.(2)Secondly,to solve the problem in body position,this dessertation presents a complete set of detection algorithms for body edge feature points.This algorithm obtains the feature points of one side of the body from the side view,and the width information of the two parts of the body from the front view,and uses the symmetric relationship to obtain the coordinate information of the feature points of the other side of the body.To process the side view image of the body,first preprocess and extract the maximum connected area of the body,then divide it and fit the straight line separately,and the curve of the body edge is fitted into a straight line.The intersection of the fitted straight line of the adjacent part is the feature point of the body.coordinate.The front view of the car body is processed.The processing steps in the upper half are basically the same as those in the side view.The two feature points on both sides of the top of the car body are obtained.The difference of abscissa is the width of the part.The width of the lower half needs to be obtained by observing the smallest enclosing rectangle in the front of the vehicle,which width is the half of the lower body.(3)Thirdly,this dessertation uses improved least squares method for hand-eye calibration,and obtains the data before and after the improvement through experiments.The experimental data is processed to obtain the experimental errors of the two methods.By comparing the experimental errors of the two methods,Finally,it is found that the improvement can greatly reduce the error in the calibration process.(4)Finally,the six degrees of freedom manipulator used in this car washing machine model is designed according to the requirements.First,the improved D-H method is used to mathematically modeling the car wash manipulator,and the related theory of coordinate transformation is used to establish the positive kinematics equation.Solution,and then use MATLAB to simulate the forward and reverse operation.Finally,the trajectory planning of the manipulator’s motion trajectory is linear interpolation and circular interpolation,and the simulation analysis is carried out.