矿用悬臂式掘进机截割头姿态视觉测量系统
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摘要
针对目前悬臂式掘进机截割头姿态测量方法需要改变掘进机结构且测量稳定性不高的问题,采用单目视觉测量技术,设计了一种矿用悬臂式掘进机截割头姿态视觉测量系统。首先,在安装于截割臂靠近回转台处的红外标靶上采用多点状红外光源组成正方形,通过摄像机定时采集红外标靶图像;然后,通过提取光斑中心计算正方形顶点在像素坐标系中的坐标,再利用四点透视方法得到红外标靶在摄像机坐标系中的坐标;最后,利用建立的截割头姿态测量模型计算出截割头姿态角。实验结果表明,该系统测得的垂直摆角误差在±0.8°以内,水平摆角误差在±0.5°以内。
For problems that current vision measurement methods for cutting head attitude of boomtype roadheader needed to change roadheader structure with low measurement stability,a vision measurement system for cutting head attitude of mine-used boom-type roadheader was designed by use of monocular vision measurement technology.Firstly,multi-point infrared light source is used to form a square on infrared target installed on cutting arm near rotary table,and the infrared target image is regularly collected by camera.Then,center of light spot is extracted to calculate coordinate of the square vertices in pixel coordinate system,and coordinate of the infrared target in camera coordinate system is obtained by use of pesprctive-4-point method.Finally,attitude angle of cutting head is calculated by use of attitude measurement model of cutting head.The experimental results show that vertical swing angle error of the system is within ±0.8°and horizontal swing angle is within ±0.5°.
For problems that current vision measurement methods for cutting head attitude of boomtype roadheader needed to change roadheader structure with low measurement stability,a vision measurement system for cutting head attitude of mine-used boom-type roadheader was designed by use of monocular vision measurement technology.Firstly,multi-point infrared light source is used to form a square on infrared target installed on cutting arm near rotary table,and the infrared target image is regularly collected by camera.Then,center of light spot is extracted to calculate coordinate of the square vertices in pixel coordinate system,and coordinate of the infrared target in camera coordinate system is obtained by use of pesprctive-4-point method.Finally,attitude angle of cutting head is calculated by use of attitude measurement model of cutting head.The experimental results show that vertical swing angle error of the system is within ±0.8°and horizontal swing angle is within ±0.5°.
引文
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[3]李建刚.自动化掘进机仿形截割控制策略研究[D].阜新:辽宁工程技术大学,2012.
[4]TIAN Jie,CHEN Guoqiang,YANG Yang,et al.Application and testing of a vertical angle control for a boom-type road header[J].International Journal of Mining Science and Technology,2010,20(1):152-158.
[5]田劼,吴淼.煤矿掘进机自动截割成形控制方法研究[J].煤矿机械,2015,36(5):54-57.TIAN Jie,WU Miao.Research on automatic cutting shaping control method of coal mine roadheader[J].Coal Mine Machinery,2015,36(5):54-57.
[6]王苏彧,吴淼.基于PCC的纵轴式掘进机自主截割控制系统研究[J].煤炭工程,2016,48(6):132-135.WANG Suyu,WU Miao.Autonomous cutting control system of longitudinal roadheader based on PCC[J].Coal Engineering,2016,48(6):132-135.
[7]刘睿智.基于单目相机的旋转对称目标视觉测量[D].大连:大连理工大学,2016.
[8]张宇.基于计算机视觉的姿态测量方法及测量精度分析[D].哈尔滨:哈尔滨工业大学,2012.
[9]TANG Jianliang,CHEN Wensheng,WANG Jie.A novel linear algorithm for P5Pproblem[J].Applied Mathematics and Computation,2008,205(2):628-634.
[10]蔡佳,黄攀峰,张彬.基于梯度的区域生长和距离直方图的快速圆检测方法[J].光学学报,2015,35(3):185-194.CAI Jia,HUANG Panfeng,ZHANG Bin.Fast circle detector based on region-growing of gradient and histogram of Euclidean distance[J].Acta Optica Sinica,2015,35(3):185-194.
[11]樊晓燕,陈兆学.基于Hough变换的椭圆检测方法[J].微计算机信息,2012(9):411-412.FAN Xiaoyan,CHEN Zhaoxue.Ellipse detection methods based on Hough transform[J].Microcomputer Information,2012(9):411-412.
[12]孙立环,赵霄洋,高凌妤,等.基于亚像素定位技术的激光光斑中心位置测量[J].激光技术,2017,41(4):511-514.SUN Lihuan,ZHAO Xiaoyang,GAO Lingyu,et al.Measurement of laser spot center position based on sub pixel positioning technology[J].Laser Technology,2017,41(4):511-514.
[13]段振云,王宁,赵文珍,等.基于高斯积分曲面拟合的亚像素边缘定位算法[J].仪器仪表学报,2017,38(1):219-225.DUAN Zhenyun,WANG Ning,ZHAO Wenzhen,et al.Sub-pixel edge location algorithm based on Gauss integral curved surface fitting[J].Chinese Journal of Scientific Instrument,2017,38(1):219-225.
[14]鞠英博,李伟,姚磊.基于总体最小二乘的直线拟合方法探究[J].测绘与空间地理信息,2017,40(6):166-168.JU Yingbo,LI Wei,YAO Lei.Linear fitting method based on total least squares[J].Geomatics&Spatial Information Technology,2017,40(6):166-168.
[15]陈利.基于VR的悬臂式掘进机远程操控与仿真系统研究[D].西安:西安科技大学,2017.