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基于线扫描原理的煤矿巷道变形测量系统

杨洪涛 于印 许吉禅 沈梅 陆广慧

杨洪涛,于印,许吉禅,等. 基于线扫描原理的煤矿巷道变形测量系统[J]. 工矿自动化,2022,48(7):113-117, 148.  doi: 10.13272/j.issn.1671-251x.2022060012
引用本文: 杨洪涛,于印,许吉禅,等. 基于线扫描原理的煤矿巷道变形测量系统[J]. 工矿自动化,2022,48(7):113-117, 148.  doi: 10.13272/j.issn.1671-251x.2022060012
YANG Hongtao, YU Yin, XU Jichan, et al. Coal mine roadway deformation measurement system based on line scanning principle[J]. Journal of Mine Automation,2022,48(7):113-117, 148.  doi: 10.13272/j.issn.1671-251x.2022060012
Citation: YANG Hongtao, YU Yin, XU Jichan, et al. Coal mine roadway deformation measurement system based on line scanning principle[J]. Journal of Mine Automation,2022,48(7):113-117, 148.  doi: 10.13272/j.issn.1671-251x.2022060012

基于线扫描原理的煤矿巷道变形测量系统

doi: 10.13272/j.issn.1671-251x.2022060012
基金项目: 安徽省重点研究与开发计划项目(202004a07020046)。
详细信息
    作者简介:

    杨洪涛(1972—),男,福建莆田人,教授,博士,博士研究生导师,研究方向为精密测试技术、仪器精度理论及应用、自动化测控系统,E-mail:lloid@163.com

  • 中图分类号: TD322

Coal mine roadway deformation measurement system based on line scanning principle

  • 摘要: 针对采用三维激光扫描技术测量煤矿巷道变形存在有效扫描距离受限、获取的点云密度低、细节缺失严重、测量精度和效率低等问题,提出了一种基于线扫描原理的煤矿巷道变形测量系统。该系统通过巷道测量机器人的测量相机拍摄线扫描激光器投射出的光平面在巷道表面的光条图像;对光条图像使用线结构光光条中心提取技术,获取光条中心坐标,并将光条中心坐标代入通过光平面标定技术拟合的光平面方程,求解出测量相机坐标系下巷道表面的光条图像点云数据;由旋转电动机带动线扫描激光器和测量相机同步转动,获取巷道全部点云数据;采用多组追踪相机拍摄机器人上的靶标图像,实现机器人位姿连续不间断地追踪与测量;结合机器人位姿测量结果对巷道全部点云数据进行拼接,重构煤矿巷道点云;利用点云切片对煤矿巷道点云进行处理,实现煤矿巷道变形快速测量。实验结果表明,该系统测量误差小于7 mm,具有操作简单、灵活性高、测量速度快、测量范围广及测量精度高等特点。

     

  • 图  1  基于线扫描原理的煤矿巷道变形测量系统组成

    Figure  1.  Composition of coal mine roadway deformation measurement system based on line scanning principle

    图  2  实验平台

    Figure  2.  Experimental platform

    图  3  拟合的光平面

    Figure  3.  Fitted light plane

    图  4  模拟巷道点云重构效果

    Figure  4.  Simulated roadway point cloud reconstruction effect

    图  5  不同变形量下模拟巷道点云切片

    Figure  5.  Simulated roadway point cloud slices under different deformations

    表  1  测量相机参数标定结果

    Table  1.   Calibration results of measurement camera parameters

    参数标定结果
    测量相机X轴方向焦距长度/mm747.924 697 190 578 5
    测量相机Y轴方向焦距长度/mm736.549 011 060 198 0
    图像主点像素坐标/pixel(691.827 974 297 265 9,
    371.736 751 442 043 2)
    镜头径向畸变系数(0.086 71,0.965 99,1.622 98)
    镜头切向畸变系数(0.009 27,0.006 03)
    下载: 导出CSV

    表  2  模拟巷道变形测量结果

    Table  2.   Simulated roadway deformation measurement results mm

    巷道变形前实际值巷道变形后实际值巷道变形前测量值巷道变形后测量值巷道变形实际值巷道变形测量值测量误差
    1 800.0001 780.0001 837.4621 810.52120.00026.9416.941
    1 780.0001 750.0001 810.5211 773.58530.00036.9366.936
    1 750.0001 710.0001 773.5851 726.70440.00046.8816.881
    1 710.0001 650.0001 726.7041 660.08560.00066.6196.619
    1 650.0001 570.0001 660.0851 574.08380.00086.0026.002
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-06-03
  • 修回日期:  2022-07-17
  • 网络出版日期:  2022-07-04

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