Coal shearer attitude detection system and method based on binocular vision and inertial navigation

Abstract

The invention discloses a coal shearer posture detection system and method based on binocular vision and inertial navigation, including a strapdown inertial navigation system, a laser target, a camera, and a laser pointing device. The laser pointing device is located on a coal mining face. The laser pointing device emits a cross laser light on the laser target, uses two cameras to shoot the laser target in real time, and tracks the cross laser point on the target based on the principle of binocular vision, and adopts the epipolar line based on sequence consistency The constraint algorithm performs three-dimensional matching on the marker points, obtains the three-dimensional coordinates of the marker points, and calculates the attitude of the shearer in real time; then obtains the real-time angular velocity and acceleration of the shearer fuselage through the strapdown inertial navigation system, and calculates the shearer's attitude Real-time attitude angle, and use Kalman filter to realize the fusion of inertial navigation and visual information, so as to obtain the accurate attitude angle of the coal mining machine. The invention can effectively reduce the error of measuring the attitude angle of the coal mining machine and improve the correction effect of the attitude positioning error of the coal mining machine.

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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