Coal-miner posture detection system and method based on binocular vision and inertial navigation

Abstract

The invention discloses a coal-miner posture detection system and method based on binocular vision and inertial navigation. The coal-miner posture detection system comprises a strap-down inertial navigation system, a laser target, a camera and a laser orientation instrument, wherein the laser orientation instrument is positioned on a coal-mining working face. The coal-miner posture detection method comprises the following steps: by utilizing the laser orientation instrument, transmitting cross laser onto the laser target; utilizing the two cameras to carry out real-time shooting on the laser target, and based on the binocular vision principle, tracking a cross laser point on the laser target; adopting an epipolar constraint algorithm based on sequential consistency to carry out three-dimensional matching on a mark point and carrying out real-time calculation on the posture of a coal miner; then by the strap-down inertial navigation system, obtaining real-time angular velocity and acceleration of a body of the coal miner, calculating a real-time posture angle of the coal miner, utilizing Kalman filtering to realize fusion of inertial navigation and vision information so as to obtainthe accurate posture angle of the coal miner. The coal-miner posture detection system and method disclosed by the invention have the beneficial effects that the measurement error of the posture angleof the coal miner can be effectively reduced and the correction effect for the positioning error of the posture of the coal miner can be improved.

Description

technical field [0001] The invention relates to a coal shearer attitude detection system and method, in particular to a coal shearer attitude detection system and method based on binocular vision and inertial navigation. Background technique [0002] In order to realize the linkage of "three machines" in mining, it is of great significance to accurately detect the spatial position and attitude of the shearer, that is, to carry out spatial dynamic positioning of the shearer. In order to realize the detection of the position and attitude of the coal mining machine, some scholars have proposed the positioning method of the coal mining machine inertial navigation. The strapdown inertial navigation system refers to fixing the gyroscope and accelerometer directly on the carrier, and using inertial sensitive devices such as the gyroscope and accelerometer to measure the three-axis angular velocity and three-axis acceleration information of the running carrier in real time, combined...

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Problems solved by technology

[0003] But at the same time, for the pure strapdown inertial navigation system, there are also certain problems. Because the attitude information of the coal mining machine needs to be integrated, it has the characteristics of high accuracy in a short time, but the long-term accumulation will diverge. Therefore, in practice If the accumulated errors cannot be corrected during the long-term operation of the system, the requirements for precise positioning of the shearer cannot be met.

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