摘要
为实现悬臂式掘进机定向截割和断面截割自动控制,结合目前井下巷道走向控制方法,提出基于机器视觉技术的掘进机机身空间位姿自动检测技术。首先定义了掘进机机身在巷道中的空间位姿,然后采用基于模型的摄像机标定方法描述了掘进机机身相对摄像机的空间位姿计算方法,并利用机器视觉技术检测摄像机与激光指向仪之间的相对空间位姿,通过空间矩阵变换计算出掘进机机身相对指向激光的空间位姿参数。在上述理论分析的基础上建立了试验平台。试验结果表明,系统的平移量检测偏差为3.5mm,系统的航向角检测偏差为0.5°,系统的俯仰角和横滚角检测偏差均为0.1°。
In order to realize the oriented cutting of the boom roadheader and automatic controlling for sectional cutting, a technology was presented of automatically inspecting spatial attitude and position of the roadheader based on machine vision technology in combination with present heading control method in underground tunnels. Firstly, spatial attitude and position of the roadheader in tunnels was defined. Secondly, the parameters of spatial attitude and position of the roadheader relative to the camera were calculated by camera calibration method based on the camera model. Spatial attitude and position of the laser orientation instrument relative to the camera were calculated by the machine vision technology. Thirdly, spatial attitude and position of the roadheader relative to the laser orientation insmunent were calculated by means of spatial matrix transformation. And then, a test bench was set up based on above theoretical analysis. The test results showed： inspection precision of translation was 3.5mm, inspection precision of yaw angle was 0.5°, and both inspection precision of pitch angle and roll angle were 0.1°.
出处
《矿山机械》
北大核心
2013年第2期27-30,共4页
Mining & Processing Equipment
基金
山西省十二五科技重大专项(20111101026)
国家高技术研究发展计划(863计划)项目(2012AA06A405)
关键词
掘进机
空间位姿检测
机器视觉
roadheader
inspection of spatial attitude and position
machine vision
