悬臂式掘进机巷道位姿监测系统设计
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摘要
实现煤矿井下巷道的无人化自动掘进,需要实时掌握掘进机的空间姿态参数。结合巷道和掘进机本身特点,设计了一种基于图像识别的掘进机位姿监测系统。掘进机空间姿态发生变化时,双十字激光在2个激光标靶上的图像出现中心点偏移和角度偏转,对其进行数字图像处理得到精确的特征点、特征光线参数,即可求出掘进机位姿参数。基于Matlab软件GUI模块开发的监测软件具有图形用户界面,通过对标靶的图像识别,实时显示掘进机位姿参数,方便用户使用。模拟环境下的试验测试结果表明,在测量范围<40 m时,位移误差<5 mm。该系统测量精度高,实时性强,能够满足测量需求,实现煤矿井下掘进过程中的位姿监测。
To realize the unmanned automatic tunneling of the coal mine roadway,the attitude parameters of the roadheader need to be monitored in real time.Combined with the characteristics of tunnel and roadheader,an attitude monitoring system of roadheader based on image recognition is designed.When the roadheader attitude changes,the double cross laser image on two laser target will appear the center point offset and angle deflection.Based on the digital image processing technology,the accurate parameters of the feature points and the feature light lines can be obtained from the laser target images,so the roadheader attitude parameters are calculated.Monitoring software is developed based on GUI module of Matlab software,it has the graphical user interface,and it can display the roadheader attitude parameters in real-time by using the target image recognition,it is convenient to use.The experimental results in simulation test environment show that the system displacement error is less than 5 mm,when the measuring range is less then 40 m.The system has high measurement accuracy,simple and reliable construction,good real-time performance,which can meet the measurement requirements and achieve the attitude monitoring of the tunneling process in the mine.
To realize the unmanned automatic tunneling of the coal mine roadway,the attitude parameters of the roadheader need to be monitored in real time.Combined with the characteristics of tunnel and roadheader,an attitude monitoring system of roadheader based on image recognition is designed.When the roadheader attitude changes,the double cross laser image on two laser target will appear the center point offset and angle deflection.Based on the digital image processing technology,the accurate parameters of the feature points and the feature light lines can be obtained from the laser target images,so the roadheader attitude parameters are calculated.Monitoring software is developed based on GUI module of Matlab software,it has the graphical user interface,and it can display the roadheader attitude parameters in real-time by using the target image recognition,it is convenient to use.The experimental results in simulation test environment show that the system displacement error is less than 5 mm,when the measuring range is less then 40 m.The system has high measurement accuracy,simple and reliable construction,good real-time performance,which can meet the measurement requirements and achieve the attitude monitoring of the tunneling process in the mine.
引文
[1]李睿.悬臂式掘进机机身位姿参数检测系统研究[D].北京:中国矿业大学(北京),2012:41-48.
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[3]吴森,张敏骏,贾文浩,等.一种悬臂式掘进机机身与截割头位姿检测方法:中国,CN104776843A[P].2015-07-15.
[4]杨文辉,林嘉睿,高扬,等.双护盾硬岩隧道掘进机位姿测量系统[J].光学学报,2015,35(11):139-147.
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[6]许宏科,秦严严,陈会茹.一种基于改进Canny的边缘检测算法[J].红外技术,2014,36(3):210-214.
[7]康文静,丁雪梅,崔继文,等.基于改进Hough变换的直线图形快速提取算法[J].光电工程,2007,34(3):105-108.
[8]郭斯羽,翟文娟,唐求,等.结合Hough变换与改进最小二乘法的直线检测[J].计算机科学,2012,39(4):196-200.
[2]李铁宁,李万鹏,徐伟,等.航天导航定位仪在全自动掘进机上的应用[J].煤矿机械,2010,31(8):206-208.
[3]吴森,张敏骏,贾文浩,等.一种悬臂式掘进机机身与截割头位姿检测方法:中国,CN104776843A[P].2015-07-15.
[4]杨文辉,林嘉睿,高扬,等.双护盾硬岩隧道掘进机位姿测量系统[J].光学学报,2015,35(11):139-147.
[5]张春美,龚志辉,黄艳.几种特征点提取算法的性能评估及改进[J].测绘科学技术学报,2008,25(3):231-234.
[6]许宏科,秦严严,陈会茹.一种基于改进Canny的边缘检测算法[J].红外技术,2014,36(3):210-214.
[7]康文静,丁雪梅,崔继文,等.基于改进Hough变换的直线图形快速提取算法[J].光电工程,2007,34(3):105-108.
[8]郭斯羽,翟文娟,唐求,等.结合Hough变换与改进最小二乘法的直线检测[J].计算机科学,2012,39(4):196-200.
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