悬臂式掘进机视觉定位方法研究

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英文篇名：Research on vision positioning method for boom-type roadheader 作者：田原 英文作者：TIAN Yuan;Taiyuan Institute Co., Ltd.of China Coal Technology & Engineering Group;National Engineering Laboratory for Coal Mining Machinery; 关键词：悬臂式掘进机 ; 位置检测 ; 机器视觉 英文关键词：boom-type roadheader;;position detection;;machine vision 中文刊名：KSJX 英文刊名：Mining & Processing Equipment 机构：中国煤炭科工集团太原研究院有限公司;煤矿采掘机械装备国家工程实验室; 出版日期：2019-03-10 出版单位：矿山机械 年：2019 期：v.47;No.543 基金：山西省重点研发计划项目(201803D121128);; 天地科技股份有限公司科技创新创业资金专项项目(2018-TD-MS042);; 中国煤炭科工集团太原研究院技术创新项目(M2018-02) 语种：中文; 页：KSJX201903004 页数：5 CN：03 ISSN：41-1138/TD 分类号：15-19

摘要

高精度定位是实现掘进机自动截割和无人化掘进的前提,为此研究了掘进机机器视觉技术定位方法。分析了系统定位原理,提出等效横向偏移量和等效距离的概念,推导了等效横向偏移量与横向偏移量以及等效距离和距离的数学关系。通过仿真,研究了目标偏航角对等效横向偏移量和等效距离2个定位参数检测的影响。仿真结果表明,所提出方法在掘进机机身偏航角不超过15°、距离为55m时,对等效横向偏移量的估计偏差在0.03 m以内,对等效距离的估计偏差可达1.90 m。搭建了试验装置,并用全站仪对这一方法的准确性进行了验证,试验结果与仿真结果基本一致,证明该方法的准确性。
        Precise positioning is the premise of the automatic cutting and unmanned heading of the roadheader,therefore, the roadheader positioning method based on machine vision technology was researched. The positioning principle of the system was analyzed, the concept of equivalent lateral offset and equivalent distance was put forward, and the mathematical relationship between the equivalent lateral offset and the lateral offset as well as the relationship between the equivalent distance and the distance were derived. The influence of the target yaw angle on the detection of the equivalent lateral offset and the equivalent distance was researched by simulation. The simulation results showed: while the proposed method was applied in the operation mode involving the yaw angle of the roadheader was less than 15° and the distance was 55 m, the estimated deviation of the equivalent lateral offset was less than 0.03 m and the estimated deviation of the equivalent distance reached 1.9 m. In addition, the test device was set up, and the total station instrument was applied to verify the precision of the method. The test results basically consisted with the simulation ones, which indicated the validity of the method.

引文

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