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

A cantilever-type roadheader and real-time detection technology, which is applied in the directions of measuring devices, surveying and navigation, photogrammetry/video measurement, etc. Problems such as being occluded, to achieve the effect of solving the instability of the measurement system, easy operation, and controllable cost

Inactive Publication Date: 2016-10-26
CHINA UNIV OF MINING & TECH
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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...

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

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Embodiment Construction

[0024] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0025] Equipment installation and model establishment:

[0026] Reference attached figure 1 As shown, the patent of the present invention is a real-time detection system and method for the space position and posture of a cantilever type roadheader, including two cross laser transmitters 1, 2, two laser targets 4, 6, two network cameras 5, 7 and An industrial computer.

[0027] The two cross laser transmitters 1 and 2 are vertically suspended and fixed on the roof of the roadway respectively. When installing, ensure that the two horizontal laser beams overlap and are parallel to the preset travel direction of the roadheader. The two cross laser transmitters 1 and 2 The cross laser planes emitted are respectively perpendicular to ...

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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 ...

Claims

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Application Information

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IPC IPC(8): G01C11/00
CPCG01C11/00
Inventor 董海波刘停杜雨馨周玲玲童敏明梁良
Owner CHINA UNIV OF MINING & TECH
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