Automatic boom road-header space pose detection system and measurement method thereof

[0015] Such as figure 1 As shown, an automatic detection system for the spatial pose of a cantilever roadheader includes a structured light laser 5 installed on the roof of the roadway, a mine flameproof camera 4 installed on the fuselage of the cantilever roadheader 1, and an image processing platform 3 and step structure 2, the step structure 2 includes two upper and lower steps, the length and height of the two steps are scalable, the step structure 2 is installed at the front end of the upper surface of the fuselage of the cantilever roadheader 1, and the symmetry axis direction of the step structure 2 The direction of the longitudinal symmetry axis of the fuselage is consistent; the structured light laser 5 is provided with a level indicator, which is installed on the roof of the roadway 15 meters away from the tunnel section, and the structured light laser 5 projects two vertical roadways to the cantilever roadheader 1. The sector laser is projected on the step structure 2 to form a cross-shaped structured light; the mine explosion-proof camera 4 is installed at the tail of the upper surface of the cantilever tunneling machine 1, pointing in the same direction as the longitudinal symmetry axis of the tunneling machine body, and the imaging window Pointing to the step structure 2; the image processing platform 3 is installed in the onboard industrial computer of the cantilever tunneling machine 1.

[0016] First install and adjust the structured light laser 5, and select a mine-use flameproof cross structured light laser or two in-line structured light lasers with vertical crosses. The structured light laser 5 is suspended on the roof of the roadway about 15 meters behind the roadheader, and the installation position should ensure that the cross structured light projection is on the body of the roadheader. Use a total station to measure the projection adjustment of the cross structured light on the front double vertical and double horizontal lines And determine the direction of the light laser; the step structure 2 is installed at the front end of the upper surface of the tunneling machine body to ensure that its direction is parallel to the axis of the fuselage; the mine explosion-proof camera 4 is installed at the rear of the tunneling machine body through a vibration isolation platform to ensure that the camera The direction is perpendicular to the step structure 2; the image processing platform 3 is installed in the industrial computer of the roadheader.

[0017] There are no special requirements for the height and height difference of the two steps, and the width of the steps. The height of the two steps is generally designed to be 100mm~200mm. The width of the lower step at the bottom is as wide as the overall structure of the tunneling machine allows. The general design is 300mm~1000mm, and the width of the higher steps is not required. However, no matter what the height difference and width of the steps are, their specific dimensions must be accurately measured for subsequent spatial pose parameter calculations.

[0018] A method for measuring the space pose parameters of a cantilever roadheader using the above-mentioned cantilever roadheader automatic detection system, such as figure 2 , image 3 As shown, the structured light laser 5 is projected on the stepped structure 2 to form a cross-shaped structured light stripe. The mine flameproof camera 4 collects the laser stripe image and inputs it to the image processing platform 3. The special image processing software identifies the characteristic lines and the characteristic points. Position and angle, and then calculate the roll angle, yaw angle, lateral offset distance, pitch angle and longitudinal offset of the fuselage.

[0019] The calculation method of the spatial pose parameters of the roadheader fuselage based on laser positioning and machine vision technology is: (1) Figure 4 As shown, establish a roadway coordinate system O W X W Y W Z W , Fuselage coordinate system O O X O Y O Z O , Camera coordinate system O C X C Y C Z C , Step structure coordinate system OXYZ and image coordinate system oxy; roadway coordinate system O W X W Y W Z W Middle: The origin of the coordinate system is the installation position of the laser pointing instrument, and the vertical direction is Y W Axis, the direction that points to the section and is consistent with the axis of the roadway is Z W Axis, and Y W Axis, Z W The axis of the right-hand system is X W Axis; fuselage coordinate system O O X O Y O Z O Center: The origin of the coordinate system is the geometric center of the upper surface of the fuselage, and the longitudinal and transverse symmetry axes of the fuselage are respectively Z O Axis and X O Axis, the upward direction perpendicular to the upper surface of the fuselage is Y O Axis; camera coordinate system O C X C Y C Z C Middle: The origin of the coordinate system is the camera installation position, X C Axis, Y C Axis and Z C The axes are parallel to X O Axis, Y O Axis and Z O Axis; (2) The vertical fan light of the structured light laser is projected on the step structure to form two vertical laser stripes CD and FL, and the horizontal fan light is projected on the step structure to form two horizontal laser stripes E and K. The images of two vertical laser stripes and two horizontal laser stripes are collected with a flameproof industrial camera and transmitted to the image processing platform. After processing by the image processing software, the position coordinates of E and K in the image coordinate system (x E ,y E ), (x k ,y k ) To obtain the straight line equations of CD and FL in the image coordinate system with , And the center position coordinates of the two vertical laser stripes CD and FL (x CD ,y CD ) And (x FL ,y FL ), where CD slope κ CD =κ FL , Then, the roll angle of the machine body is: γ=αtanκ CD; (3) According to the set relative position relationship between the camera and the step structure, the spatial position coordinates of each point in the camera coordinate system are; The focal length of the camera is ?, and the distance between the camera and the two facades of the step structure is m and n respectively, then the deflection angle of the fuselage is ,among them,;; The lateral offset of the fuselage , Where (s, t) is the position of the center of symmetry of the upper surface of the tunneling machine body in the camera coordinate system; the pitch angle of the body;among them,;; The longitudinal offset of the fuselage.