Vision measurement system for cutting head attitude of mine-used boom-type roadheader
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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。Abstract: For problems that current vision measurement methods for cutting head attitude of boom-type 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°.
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Keywords:
- coal mining /
- boom-type roadheader /
- cutting head attitude /
- vision measurement /
- monocular visio
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