基于视觉测量的液压支架位姿检测方法
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摘要
针对目前综采工作面液压支架位姿测量方法存在实施成本高、精度和实时性较差的问题,提出了一种基于视觉测量的液压支架位姿检测方法。通过在液压支架上设置红外LED标识板,利用安装在采煤机上的防爆相机进行图像采集,基于4个共面特征点的视觉算法对图像进行处理与解算,得到液压支架底座的位姿,根据液压支架的位姿坐标可以得到其在多个方向的直线度。实验结果表明,该方法测量的液压支架位姿检测精度在0.7°以内,直线度精度在20mm以内,满足综采工作面液压支架的检测精度要求。
In view of problems of high cost,poor accuracy and real-time performance in current position measurement methods of hydraulic support used in fully mechanized coal mining face,aposition detection method of hydraulic support based on vision measurement was proposed.The infrared LED identification plate is set on the hydraulic support,the explosion-proof camera installed on the shearer is used for image acquisition,and the image is processed and calculated based on the visual algorithm of four coplanar feature points to obtain the position and pose of the hydraulic support base,and the straightness in multiple directions can be obtained according to the position and pose coordinates of the hydraulic support.The experimental results show that the method to measure the detection accuracy of the hydraulic support position is within 0.7°,and the straightness accuracy is less than 20 mm,which meets requirements of accuracy detection of the hydraulic support of fully mechanized coal mining face.
In view of problems of high cost,poor accuracy and real-time performance in current position measurement methods of hydraulic support used in fully mechanized coal mining face,aposition detection method of hydraulic support based on vision measurement was proposed.The infrared LED identification plate is set on the hydraulic support,the explosion-proof camera installed on the shearer is used for image acquisition,and the image is processed and calculated based on the visual algorithm of four coplanar feature points to obtain the position and pose of the hydraulic support base,and the straightness in multiple directions can be obtained according to the position and pose coordinates of the hydraulic support.The experimental results show that the method to measure the detection accuracy of the hydraulic support position is within 0.7°,and the straightness accuracy is less than 20 mm,which meets requirements of accuracy detection of the hydraulic support of fully mechanized coal mining face.
引文
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[3]王伟兴.刚体位姿参数单目视觉测量系统研究[D].哈尔滨:哈尔滨工业大学,2013.
[4]解邦福.基于单目视觉的刚体位姿测量系统研究[D].哈尔滨:哈尔滨工业大学,2009.
[5]杜雨馨,刘停,童敏明,等.基于机器视觉的悬臂式掘进机机身位姿检测系统[J].煤炭学报,2016,41(11):2897-2906.DU Yuxin,LIU Ting,TONG Minming,et al.Pose measurement system of boom-type roadheader based on machine vision[J].Journal of China Coal Society,2016,41(11):2897-2906.
[6]马志强,陈广居,单勇,等.机载电子稳像技术综述[J].电子设计工程,2012,20(21):171-175.MA Zhiqiang,CHEN Guangju,SHAN Yong,et al.An overview on electronic image stabilization of the airborne system[J].Electronic Design Engineering,2012,20(21):171-175.
[7]杨曌.基于视觉测量的综采工作面直线度测量技术研究[J].煤炭工程,2016,48(9):134-136.YANG Zhao.Research on measurement technology of working face straightness based on vision measurement[J].Coal Engineering,2016,48(9):134-136.
[8]刘鹏坤,王聪.基于机器视觉的长壁工作面直线度测量算法研究[J].矿业科学学报,2017,2(3):267-273.LIU Pengkun,WANG Cong.Straightness measurement algorithm based on machine vision for coal longwall face[J].Journal of Mining Science and Technology,2017,2(3):267-273.
[9]张旭辉,杨文娟,刘永伟,等.基于多图像序列的井下液压支架组位姿及直线度测量方法:201710442811.0[P].2018-06-29.
[10]汪启跃,王中宇.基于单目视觉的航天器位姿测量[J].应用光学,2017,38(2):250-255.WANG Qiyue,WANG Zhongyu.Position and pose measurement of spacecraft based on monocular vision[J].Journal of Applied Optics,2017,38(2):250-255.
[11]霍炬,崔家山,王伟兴.基于共面特征点的单目视觉位姿测量误差分析[J].光子学报,2014,43(5):150-156.HUO Ju,CUI Jiashan,WANG Weixing.Error of monocular visual position measurement based on coplanar feature points[J].Acta Photonica Sinica,2014,43(5):150-156.
[12]王敏,赵金宇,陈涛.基于各向异性高斯曲面拟合的星点质心提取算法[J].光学学报,2017,37(5):226-235.WANG Min,ZHAO Jinyu,CHEN Tao.A new center location method for star-map targets based on anisotropic Gaussian surface fitting[J].Acta Optica Sinica,2017,37(5):226-235.
[13]任远.方向选择性模型及其在图像处理中的应用[D].上海:复旦大学,2013.
[14]张勇刚,张云浩,李宁.基于互补滤波器的MEMS/GPS/地磁组合导航系统[J].系统工程与电子技术,2014,36(11):2272-2279.ZHANG Yonggang,ZHANG Yunhao,LI Ning.MEMS/GPS/geomagnetic integrated navigation system based on complementary filter[J].Systems Engineering and Electronics,2014,36(11):2272-2279.
[15]李国雄,谢晓铭,孙德宁,等.走向长壁炮采放顶煤工作面顶板控制的实践[J].煤炭技术,2012,31(3):83-85.LI Guoxiong,XIE Xiaoming,SUN Dening,et al.Practice of roof control at blasting and caving face with strike long wall mining[J].Coal Technology,2012,31(3):83-85.