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Linear location model based machine body pose monocular-vision measurement method for tunnel boring machine

A measurement method and monocular vision technology, applied in measurement devices, measurement angles, mapping and navigation, etc., can solve the problems of harsh measurement environment, inaccurate measurement results, and easily blocked sight lines, and achieve high engineering application value and significant economic effect

Active Publication Date: 2019-01-01
XIAN UNIV OF SCI & TECH
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Problems solved by technology

The underground measurement environment of the coal mine is harsh, and the line of sight is easily blocked, which leads to inaccurate measurement results of the measurement system based on the total station

Method used

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  • Linear location model based machine body pose monocular-vision measurement method for tunnel boring machine
  • Linear location model based machine body pose monocular-vision measurement method for tunnel boring machine
  • Linear location model based machine body pose monocular-vision measurement method for tunnel boring machine

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Embodiment

[0067] A monocular vision measurement method for the body position and posture of a roadheader based on a linear positioning model in this embodiment includes: installing a track on the top of the roadway in the excavation face, and installing two laser pointers on the track that can move perpendicular to the direction of excavation. To ensure that two laser pointing devices emit two parallel laser beams, another laser pointing device is installed on the track, and the horizontal laser beam emitted is perpendicular to the above-mentioned parallel laser beams. beam and a horizontal laser beam image is acquired. The actual pose of the roadheader under the coordinates of the positioning model is obtained as follows: the pitch angle, yaw angle and roll angle of the fuselage are 28.00°, 0.20° and 4.50° respectively; The positions are -235.00mm, -14.00mm and 338.00mm respectively

[0068] The collected target image is preprocessed with Retinex multi-scale enhancement; Canny edge de...

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Abstract

The invention discloses a linear location model based machine body pose monocular-vision measurement method for a tunnel boring machine. The method comprises the steps: acquiring laser beam images bya camera, carrying out linear detection on acquired laser beams by using Hough conversion, so as to separately obtain linear equations of parallel laser beams and horizontal laser beams; modeling a two-point-three-line-based tunnel boring machine pose computing model, obtaining pose information on the camera in a location model coordinate system according to the linear equations of the horizontallaser beams and the linear equations of the parallel laser beams, and obtaining pose information on a machine body of the tunnel boring machine in the location model coordinate system in light of a conversion relationship between a machine body coordinate system of the tunnel boring machine and a coordinate system of the camera; finally, measuring absolute coordinates of laser orientation instruments by adopting a total station to obtain coordinates of the laser orientation instruments in a tunnel coordinate system so as to obtain a conversion relationship between the location model coordinatesystem and the tunnel coordinate system, and finally obtaining a pitching angle, a drift angle, a rolling angle and location information of the machine body of the tunnel boring machine in the tunnelcoordinate system in light of the pose information on the machine body of the tunnel boring machine in the location model coordinate system.

Description

technical field [0001] The invention belongs to the field of mining equipment operation state monitoring, and in particular relates to a monocular vision measurement method for the body position and posture of a roadheader based on a linear positioning model. Background technique [0002] The body pose of the roadheader is an important parameter of the working condition of the roadheader, so the pose detection of the body of the roadheader is very necessary. At present, there are three methods for measuring the pose of the body of the coal mine underground roadheader: the pose measurement system based on the total station, the pose measurement system based on the inertial sensor, and the pose measurement system based on the machine vision. The underground measurement environment of the coal mine is harsh, and the line of sight is easily blocked, which leads to inaccurate measurement results of the measurement system based on the total station. Measurement systems based on i...

Claims

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Application Information

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IPC IPC(8): G01C1/00G01B11/00G01C11/04
CPCG01B11/002G01C1/00G01C11/04
Inventor 张旭辉杨文娟
Owner XIAN UNIV OF SCI & TECH
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