Refueling Port Identification and Positioning of Refueling Robot Based on RGB-D Camera

In order to realize the automatic operation of the refueling robot, the identification and positioning system of the refueling robot is designed for the rotary piston refueling port of a special vehicle. RealSense D435i RGB-D camera and ring light source were used to build a visual system, and Hoff gradient method and Shi-Tomasi method were used to extract the features of the refueling port. Then, 3D positioning of the refueling port was realized through the registration of color image and depth image, and visual guidance was realized through hand-eye calibration. The experimental verification is carried out on the built experimental platform. The experimental results show that the positioning error of the refueling port is within ±1mm and the angle error of the slot is within 1° through the RGB-D camera method of identification and positioning of the refueling port proposed in this paper.