Real-time detection system and method for spatial pose of boom-type roadheader

Abstract

The invention provides a real-time detection system and method for the spatial pose of a boom-type roadheader. The real-time detection system comprises two cross laser transmitters, an industrial control computer, two Internet protocol cameras and two laser targets. Machine vision technology is used as an acquisition manner for pose parameters; a mathematic model for resolving the pose of the roadheader is established so as to obtain the yaw angle, pitch angle, roll angle of the roadheader in heading process and the offset of a fixed point on the body of the roadheader on the cross section of a tunnel, i.e., the spatial pose of the roadheader, and the spatial pose can be used for deviation rectification in automatic heading of the roadheader. Experimental results show that the precision of an angle detected by the system is within 0.5 DEG and the precision of offset is better than 20 mm; an interval between processing time and displaying time for each frame of an image is about 5 s; so requirements of tunnel construction for automation, precision and real-time positioning are met.

Description

technical field [0001] The invention relates to a system and a method for real-time detection of the spatial position and posture of a mine-used cantilever type roadheader, belonging to the field of mining equipment application and machine vision application. Background technique [0002] The cantilever roadheader is a common mining machine, which is widely used in the excavation of coal mine roadways and tunnels. [0003] At present, the excavation process of the roadheader mainly relies on laser target guidance and manual visual inspection, which is easily interfered by on-site light and human factors, resulting in over-excavation and under-excavation of the roadway, resulting in low coal mining efficiency and even safety issues. . Therefore, it is particularly urgent to realize the automation and intelligence of the tunneling process of the roadheader, and to solve the automatic and precise tunneling of the roadheader, it is necessary to complete the automatic real-time ...

AI Technical Summary

Problems solved by technology

[0004] Existing invention patents, such as publication number CN101819036A and publication number CN102878976A, both use the principle of stereo computer vision to measure the body pose parameters of the roadheader. The point light source emitted by the laser pointing unit is easily blocked, resulting in poor accuracy and instability of the measurement system, and even the inability to detect the pose parameters of the roadheader

Therefore, this type of invention has limitations and cannot be further promoted

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