Monocular vision measurement method for body position and orientation of roadheader based on linear positioning model
A measurement method and monocular vision technology, which is applied in the directions of measuring devices, measuring angles, surveying and navigation, etc., can solve the problems of poor measurement environment, inaccurate measurement results, and easily blocked line of sight, etc., and achieve high engineering application value and remarkable The effect of economic benefits
Active Publication Date: 2020-09-11
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
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[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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The invention discloses a monocular vision measurement method for the body position and posture of a roadheader based on a linear positioning model. The laser beam image is collected by a camera, and the collected laser beam is detected by Hough transformation to obtain parallel laser beams and laser beams respectively. The straight line equation of the horizontal laser beam; establish a roadheader pose calculation model based on two points and three lines, and obtain the pose information of the camera in the coordinate system of the positioning model according to the straight line equation of the horizontal laser beam and the straight line equation of the parallel laser beam. The conversion relationship between the body coordinate system of the roadheader and the camera coordinate system is used to obtain the pose information of the body of the roadheader under the coordinates of the positioning model; finally, the total station is used to measure the absolute coordinates of the laser pointing device, and the coordinate system of the laser pointing device in the roadway coordinate system is obtained. The lower coordinates, so as to obtain the conversion relationship between the positioning model coordinate system and the roadway coordinate system, combined with the pose information of the roadheader body under the positioning model coordinates, and finally obtain the pitch angle, yaw angle, Roll angle and position information.
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...
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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