Mining trolley, mining trolley positioning method and mining trolley application system

Abstract

The invention provides a mining trolley, a mining trolley positioning method and a mining trolley application system, and relates to the technical field of machine vision. The mining trolley positioning method comprises the following steps: shooting an identification target through a first camera to obtain a real-time centering picture, and judging whether the mining trolley completes centering operation or not according to the real-time centering picture; respectively shooting the laser rays emitted by the two laser emitters through two second cameras to obtain a real-time alignment picture, and judging whether the mining trolley completes alignment operation or not according to the real-time alignment picture; when the mining trolley completes the centering operation and the aligning operation at the same time, positioning completion information is output; the positioning completion information is used for indicating the steering wheel of the mining trolley to return and continuously driving to the tunnel face. According to the method, the problems that whether the centering operation and the aligning operation of the mining trolley are completed or not is judged through the rearview sighting telescope and the laser transmitter, the time consumed in the positioning process is long, and the positioning precision is difficult to guarantee are solved.

Description

Technical Field

[0001] The present application relates to the field of machine vision, and in particular to a mining trolley, a mining trolley positioning method, and a mining trolley application system. Background Art

[0002] Before mine tunnel construction begins, operators rely on docking guidance to precisely adjust the position and orientation of the mining trolley and position it to ensure it docks at the designated location during subsequent construction. This step is crucial for the equipment's automated, high-precision control operations and lays the foundation for subsequent construction operations.

[0003] To achieve the positioning of the mining trolley, the traditional approach is to set a marking target at the center of the top of the excavated area of ​​the tunnel, and install a rearview mirror in the cab of the mining trolley. The operator needs to observe the marking target through the rearview mirror to determine whether the mining trolley is in the middle of the excavation area, that is, whether the mining trolley has completed the centering operation. In addition, multiple row marking lines are marked on the side of the tunnel to be excavated, and two laser transmitters are installed on both sides of the mining trolley. The operator needs to use the laser lines emitted by these two laser transmitters to determine whether the laser line coincides with a row marking line, that is, whether the mining trolley has completed the row operation.

[0004] However, due to the complexity of the tunnel environment and space limitations, operators are prone to loss of vision when using rearview mirrors and laser transmitters to determine whether the mining trolley has completed centering and alignment operations, resulting in a time-consuming positioning process and difficulty in ensuring positioning accuracy. Summary of the Invention

[0005] The present application provides a mining trolley, a mining trolley positioning method and a mining trolley application system, which are used to solve the problem that it is difficult to determine whether the mining trolley has completed the centering and alignment operations through a rearview mirror and a laser transmitter, the positioning process is time-consuming, and the positioning accuracy is difficult to guarantee.

[0006] A first aspect of the present application provides a mining trolley positioning method, which is applied to a mining trolley positioning device of a mining trolley. The mining trolley further includes: a first camera installed on a travel direction axis of the mining trolley, and two second cameras and two laser transmitters installed on both sides of the mining trolley respectively. When the mining trolley moves toward a face, the method includes:

[0007] The first camera is used to shoot the marking target to obtain a real-time centering picture, and based on the real-time centering picture, it is determined whether the mining vehicle has completed the centering operation;

[0008] The two second cameras respectively capture the laser lines emitted by the two laser emitters to obtain a real-time alignment image, and judge whether the mining trolley has completed the alignment operation based on the real-time alignment image; wherein, the real-time alignment image displays a number of alignment identification lines;

[0009] When the mining trolley completes the centering operation and the rowing operation at the same time, the positioning completion information is output; wherein, the positioning completion information is used to instruct the steering wheel of the mining trolley to return to the center and continue to drive to the tunnel face.

[0010] In a possible design, the identification target is marked with multiple groups of partitions, each group of partitions is axisymmetric along the vertical axis of the identification target; the middle position of the real-time centering screen is marked with a positioning auxiliary line;

[0011] Based on the real-time centering image, determine whether the mining trolley has completed the centering operation, including:

[0012] According to the real-time centering picture, the real-time distance between the mining trolley and the identification target is obtained;

[0013] According to the real-time distance, a reference partition corresponding to the real-time distance is determined from the multiple groups of partitions;

[0014] Determine whether the positioning auxiliary line falls within the reference partition; wherein, when the positioning auxiliary line falls within the reference partition, the mining trolley completes the centering operation;

[0015] If the shape of the laser line is a straight line, the real-time alignment image is used to determine whether the mining trolley has completed the alignment operation, including:

[0016] Based on the real-time centering image, determine whether the two laser lines coincide with the first pair of identification lines; the first pair of identification lines are the pair of identification lines located on either side of the two laser lines; when the two laser lines coincide with the first pair of identification lines, the mining trolley completes the alignment operation.

[0017] In one possible design, each set of partitions is marked with a color;

[0018] Based on the real-time distance, a reference partition corresponding to the real-time distance is determined from multiple groups of partitions, including:

[0019] According to the real-time distance and the preset distance-color correspondence, a reference color corresponding to the real-time distance is determined from a plurality of colors;

[0020] Identify the reference color from the real-time alignment image through the preset color recognition algorithm;

[0021] The partition corresponding to the reference color is determined as the reference partition.

[0022] In a possible design, the real-time distance between the mining vehicle and the identification target is obtained based on the real-time centering image, including:

[0023] Get the focal length of the first camera;

[0024] The preset distance correction algorithm is used to obtain the real-time distance based on the focal length and the real-time centering image.

[0025] In one possible design, the first camera is a zoom camera and the second camera is a fixed-focus camera.

[0026] In one possible design, when the mining trolley is in reverse, the method further comprises:

[0027] Based on the real-time alignment image, determine whether the two laser lines coincide with the second pair of marking lines; the second pair of marking lines are the marking lines on the reverse side of the two laser lines; each pair of marking lines corresponds to a trolley working surface;

[0028] When the two laser lines coincide with the second pair of marking lines, a stop information is output; wherein the stop information is used to instruct the mining trolley to stop.

[0029] A second aspect of the present application provides a mining trolley, the mining trolley comprising:

[0030] A first camera mounted on a travel direction axis of the mining trolley;

[0031] Two second cameras and two laser transmitters installed on both sides of the mining trolley;

[0032] A mining trolley positioning device is used to implement any one of the mining trolley positioning methods of the first aspect.

[0033] In one possible design, the mining trolley also includes a vehicle-mounted display;

[0034] The vehicle display is used to display the real-time centering image and the real-time alignment image.

[0035] A third aspect of the present application provides a mining trolley application system, the system comprising:

[0036] A marker target installed in the exact center of the top of the excavated area of ​​the mine tunnel;

[0037] Multiple rows of marking lines are marked on the sides of the mine tunnel area to be excavated;

[0038] A mining trolley traveling in a mine tunnel, such as any one of the second aspects.

[0039] In one possible design, the marker target includes:

[0040] Fixing mechanism, vertical slide rail mechanism, horizontal slide rail mechanism, level bubble and back plate;

[0041] There are multiple groups of partitions marked on the back plate, and each group of partitions is symmetrical along the vertical axis of the back plate.

[0042] A fourth aspect of the present application provides a mining trolley positioning device, which is located on the mining trolley. The mining trolley further includes: a first camera installed on the travel direction axis of the mining trolley, and two second cameras and two laser emitters respectively installed on both sides of the mining trolley; when the mining trolley moves toward the face of the tunnel, the device includes:

[0043] A centering judgment module is used to capture the identification target through the first camera to obtain a real-time centering image, and to judge whether the mining trolley has completed the centering operation based on the real-time centering image;

[0044] The alignment judgment module is used to respectively capture the laser lines emitted by the two laser emitters through two second cameras to obtain a real-time alignment picture, and to judge whether the mining trolley has completed the alignment operation based on the real-time alignment picture; wherein the real-time alignment picture displays a plurality of alignment identification lines;

[0045] The first output module is used to output positioning completion information when the mining trolley completes the centering operation and the rowing operation at the same time; wherein the positioning completion information is used to instruct the steering wheel of the mining trolley to return to the center and continue to drive to the tunnel face.

[0046] A fifth aspect of the present application provides an electronic device, comprising: a memory, and the memory communicatively connected to a processor;

[0047] Memory stores computer-executable instructions;

[0048] When the processor executes the computer-executable instructions stored in the memory, it is used to implement the mining trolley positioning method of any one of the first aspects.

[0049] A sixth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the mining trolley positioning method of any one of the first aspects.

[0050] A seventh aspect of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, is used to implement the mining trolley positioning method of any one of the first aspects.

[0051] The present application provides a mining trolley, a mining trolley positioning method and a mining trolley application system. The mining trolley positioning method includes: using a first camera to shoot an identification target to obtain a real-time centering picture, and judging whether the mining trolley has completed the centering operation based on the real-time centering picture; using two second cameras to respectively shoot the laser lines emitted by two laser emitters to obtain a real-time alignment picture, and judging whether the mining trolley has completed the alignment operation based on the real-time alignment picture; when the mining trolley completes the centering operation and the alignment operation at the same time, outputting positioning completion information; the positioning completion information is used to instruct the steering wheel of the mining trolley to return to the center and continue driving to the face. The following technical effects are achieved: machine vision technology is introduced into the mining trolley, and the identification target is photographed by the first camera, and the laser line is photographed by the second camera. There is no need for the operator to actively observe, and it is not restricted by lighting conditions, which solves the problem that the operator is prone to loss of vision; the mining trolley positioning device is used to judge whether the mining trolley has completed the centering operation and the alignment operation, which shortens the time of the positioning process and improves the positioning accuracy; through the positioning completion information, the operator is prompted that the mining trolley has completed the centering operation and the alignment operation at the same time, which enhances the applicability of the mining trolley positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A schematic diagram of a scenario of a mining trolley positioning method provided in an embodiment of the present application;

[0054] Figure 2 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 1 ;

[0055] Figure 3 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 2 ;

[0056] Figure 4 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 3 ;

[0057] Figure 5 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 4 ;

[0058] Figure 6A schematic diagram illustrating the principle of identifying target partitions provided in an embodiment of the present application;

[0059] Figure 7 A schematic diagram of the structure of the identification target provided in an embodiment of the present application;

[0060] Figure 8 A schematic structural diagram of a mining trolley positioning device provided in an embodiment of the present application;

[0061] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0062] Reference numerals:

[0063] 110- Mine tunnel; 111- Tunnel exit; 112- Work face;

[0064] 120 - Marking target; 121 - Fixing mechanism; 122 - Vertical slide rail mechanism; 123 - Horizontal slide rail mechanism; 124 - Level bubble; 125 - Back plate;

[0065] 130-row identification line;

[0066] 140 - Mining trolley; 141 - First camera; 142 - Second camera; 143 - Laser transmitter; 144 - Onboard computer;

[0067] 810-centering judgment module; 820-row judgment module; 830-first output module;

[0068] 910 - processor; 920 - memory; 930 - communication component; 940 - bus. DETAILED DESCRIPTION

[0069] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0070] In this application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit differences. It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or advantageous than other embodiments or design. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. In this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0071] It should be noted that the term "at the time of..." in this application can refer to the instant when a certain situation occurs or a period of time after the situation occurs, and this application does not specifically limit this. In addition, the mining trolley, mining trolley positioning method, and mining trolley application system provided in this application are only examples. A mining trolley, mining trolley positioning method, and mining trolley application system may also include more or less content. In order to facilitate a clear description of the technical solution of this application, the following is a brief introduction to some of the terms and technologies involved in this application:

[0072] Mine tunnels refer to various passages drilled between the surface and the ore body for underground mining when the burial is deep or the open-pit mine is mined to a certain depth.

[0073] Head face: refers to the working face that continuously advances forward when excavating a mine tunnel.

[0074] The technical solution of the present application is described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The present application will be described below with reference to the accompanying drawings.

[0075] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0076] Before the mine tunnel construction, operators rely on docking guidance to accurately adjust the position and direction of the mining trolley and locate the mining trolley to ensure that it can be docked at the designated location during subsequent construction. This step is crucial for the equipment to automatically and accurately control the operation, laying the foundation for subsequent construction operations.

[0077] Currently, in mining operations, to ensure the trolley docks precisely in the middle of the excavation area and at the designated alignment markings, the traditional approach is to ensure the trolley completes both centering and alignment during the initial positioning phase, and then docks at the designated alignment markings during the docking phase. During this initial positioning phase, a marking target or plumb line is placed at the exact center of the top of the excavated area of ​​the tunnel. A rearview mirror is installed in the trolley's cab. Operators use the rearview mirror to observe the marking target to determine if the trolley is in the middle of the excavation area, effectively confirming whether it has completed centering. Furthermore, multiple alignment markings are marked on the sides of the tunnel's unexplored area. Two laser transmitters are installed on either side of the trolley. Operators use the laser lines emitted by these two laser transmitters to determine if they overlap with an alignment marking, effectively confirming whether the trolley has completed alignment. During the parking phase, the mining trolley reverses until the lasers emitted by the two laser transmitters coincide with the designated row identification lines.

[0078] However, due to the complexity of the tunnel environment and space limitations, operators are prone to loss of vision when using rearview mirrors and laser transmitters to determine whether the mining trolley has completed centering and alignment operations, resulting in a time-consuming positioning process and difficulty in ensuring positioning accuracy.

[0079] While guided docking technology for many vehicles is relatively mature, mining trolleys differ from these vehicles in that they must precisely dock on pre-designated marked lines in dark construction environments, rather than within a limited area. Therefore, existing guided docking technology cannot be applied to mining construction equipment. Despite the development and maturity of machine vision technology, and its increasing widespread application in tunnel construction and other related fields, the docking of mining trolleys in mining areas still relies on manual positioning. Therefore, in order to address these technical issues, research has identified the need to introduce machine vision technology into mining trolleys.

[0080] First, before the mining trolley leaves the factory, the first camera is used to photograph the identification target at different distances, and the first camera is calibrated to obtain the internal parameters of the pixel spacing.

[0081] Secondly, the first camera is installed on the driving direction axis of the mining trolley, and two laser transmitters and two second cameras are installed on both sides of the mining trolley respectively; wherein, these three cameras communicate with the on-board computer.

[0082] Finally, after the mining trolley leaves the scene, it is controlled to stop at the designated location through the first positioning stage and the parking stage.

[0083] Based on the above creative findings, the technical solution of the present application is proposed.

[0084] The following introduces the application scenarios of the mining trolley positioning method provided by this application.

[0085] Figure 1 This is a schematic diagram of a mining trolley positioning method provided in an embodiment of the present application. It should be noted that: Figure 1 What is shown are merely examples of scenarios in which the present application can be applied, to help those skilled in the art understand the technical content of the present application, but does not mean that the present application cannot be used in other devices, systems, environments or scenarios.

[0086] like Figure 1 As shown, the application scenario includes: a mine tunnel 110, an identification target 120 set at the center of the top of the excavated area of ​​the mine tunnel 110, a plurality of paired identification lines 130 marked on the side of the area to be excavated of the mine tunnel 110, and a mining trolley 140 traveling in the mine tunnel 110.

[0087] A first camera 141 is mounted on the driving axis of the mining trolley 140. Specifically, the first camera 141 is located in the center of the rear end of the cab. Two second cameras 142 and two laser emitters 143 are mounted on either side of the mining trolley 140. Specifically, the second cameras 142 and laser emitters 143 on the same side form a group, which are symmetrically mounted on either side of the mining trolley 140. An onboard computer 144 is installed in the cab of the mining trolley 140. The first camera 141 and the two second cameras 142 are each in communication with the onboard computer 144.

[0088] During the initial positioning phase, the mining trolley 140 travels from the tunnel exit 111 of the mine tunnel 110 toward the tunnel face 112, performing both centering and alignment operations. During the docking phase, the mining trolley 140 reverses from the tunnel face 112 toward the tunnel exit 111, stopping at each pre-designated alignment marker 130 until exiting the area to be excavated.

[0089] The embodiments of the present application are introduced below with reference to the accompanying drawings.

[0090] Figure 2 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, in the embodiment of the present application, the execution subject may be a mining trolley positioning device, and the mining trolley positioning device may be located in an electronic device, and the electronic device may be located in Figure 1In the mining trolley shown in FIG. , the mining trolley further includes: a first camera mounted on the axis of the mining trolley in the direction of travel, and two second cameras and two laser emitters mounted on both sides of the mining trolley respectively; when the mining trolley moves toward the face of the tunnel, the mining trolley positioning method includes:

[0091] S201: Use a first camera to shoot the identification target to obtain a real-time centering picture, and determine whether the mining trolley has completed the centering operation based on the real-time centering picture.

[0092] Specifically, when a mining trolley first enters a mine tunnel and approaches the operator, the trolley's positioning device uses a first camera to capture a real-time image of the identification target. The captured information is then retrieved from the first camera via a wired communication line or wireless communication protocol to produce a real-time centering image. If the first camera is a zoom camera, the image size of the identification target in the real-time centering image can vary depending on the position of the mining trolley in the mine tunnel. If the first camera is a fixed-focus camera, the image size of the identification target is negatively correlated with the real-time distance between the mining trolley and the identification target.

[0093] The mining trolley positioning device then determines whether the mining trolley has completed the centering operation based on the image of the identification target in the real-time centering image. The judgment principle can be: when the image of the identification target is located in the center of the real-time centering image, the mining trolley is determined to have completed the centering operation; otherwise, the mining trolley is determined to have not completed the centering operation. Another judgment principle can be: when a positioning auxiliary line is marked in the real-time centering image and the positioning auxiliary line is located at a specified position in the image of the identification target, the mining trolley is determined to have completed the centering operation; otherwise, the mining trolley is determined to have not completed the centering operation.

[0094] S202: Using two second cameras, respectively capture the laser lines emitted by the two laser emitters to obtain a real-time alignment image, and determine whether the mining trolley has completed the alignment operation based on the real-time alignment image.

[0095] Specifically, the mining trolley positioning device simultaneously uses a second camera to capture the laser line in real time and obtains the captured information from the second camera via a wired communication line or a wireless communication protocol to obtain a real-time alignment image. If the second camera is a standard camera, it can only capture a certain range of the side of the mining trolley. In this case, the images on both sides can be displayed through two real-time alignment images, or the images on both sides can be spliced ​​together and displayed through a single real-time alignment image. If the second camera is a wide-angle camera, it can capture images of the side and one top surface of the mining trolley. Using the two second cameras, a real-time alignment image can be directly obtained.

[0096] It should be noted that in addition to the laser line, several row identification lines are also displayed in the real-time row-to-row image. When the distance between two adjacent row identification lines is smaller than the shooting range of the second camera and the laser line is located between the two row identification lines, the real-time row-to-row image will display two row identification lines; when the distance between two adjacent row identification lines is larger than the shooting range of the second camera and the laser line is located near one row identification line, or when the laser line is located to the left of the first row identification line or to the right of the last row identification line (the above left and right directions are for reference only). Figure 1 When the distance between two adjacent row identification lines is greater than the shooting range of the second camera and the laser line is not near any row identification line, the real-time row identification line is displayed with zero row identification line.

[0097] When at least one row identification line is displayed in the real-time row-alignment picture, the mining trolley positioning device determines the positional relationship between the laser line emitted by the laser transmitter on each side and the row identification line based on the real-time row-alignment picture, and judges whether the mining trolley has completed the row-alignment operation based on the positional relationship. The shape of the laser line can be a straight line, and the judgment principle can be: when the laser line coincides with a row identification line in the real-time row-alignment picture, it is determined that the mining trolley has completed the row-alignment operation; otherwise, it is determined that the mining trolley has not completed the row-alignment operation. The laser line can also be a discrete curve composed of multiple laser points, and the judgment principle can be: when the distance between each symmetrical group of discrete points and a row identification line in the real-time row-alignment picture is the same, it is determined that the mining trolley has completed the row-alignment operation; otherwise, it is determined that the mining trolley has not completed the row-alignment operation.

[0098] The mining trolley positioning device can be Figure 2 As shown, S201 is executed first and then S202, or S202 is executed first and then S201, or S201 and S202 are executed simultaneously, which is not limited in this embodiment.

[0099] S203: When the mining trolley completes the centering operation and the rowing operation at the same time, output positioning completion information.

[0100] The positioning completion information is used to instruct the mining vehicle to return its steering wheel to the center position and continue driving to the tunnel face.

[0101] Specifically, when the mining trolley completes both centering and alignment, the trolley's positioning device determines that the trolley has completed the initial positioning phase and can proceed to the docking phase. The trolley's positioning device then outputs various forms of positioning completion information via the trolley's audio system, onboard computer, or steering wheel vibrator. Upon receiving this information, the operator can execute the positioning completion information, returning the trolley's steering wheel to center and continuing to the tunnel face.

[0102] The present invention provides a method for positioning a mining trolley, the method comprising: photographing a marking target with a first camera to obtain a real-time alignment image, and judging whether the mining trolley has completed the alignment operation based on the real-time alignment image; photographing the laser lines emitted by two laser emitters with two second cameras to obtain a real-time alignment image, and judging whether the mining trolley has completed the alignment operation based on the real-time alignment image; outputting a positioning completion message when the mining trolley has completed both the centering and alignment operations; the positioning completion message is used to instruct the mining trolley to return the steering wheel to the center position and continue driving to the face. The method achieves the following technical effects: introducing machine vision technology into the mining trolley, photographing the marking target with the first camera and the laser line with the second camera, eliminating the need for active observation by the operator and being unrestricted by lighting conditions, thereby solving the problem of operators easily losing their field of vision; judging whether the mining trolley has completed both the centering and alignment operations using the mining trolley positioning device, thereby shortening the positioning process time and improving positioning accuracy; and prompting the operator through the positioning completion message that the mining trolley has completed both the centering and alignment operations, thereby enhancing the applicability of the mining trolley positioning method.

[0103] Figure 3 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, the mining trolley positioning method provided in the embodiment of the present application is Figure 2 The mining trolley positioning method provided in this embodiment is further refined. The identification target is marked with multiple groups of partitions, each group of partitions being axisymmetric along the vertical axis of the identification target; a positioning auxiliary line is marked in the center of the real-time centering image; and the laser line is a straight line. The mining trolley positioning method provided in this embodiment includes the following steps.

[0104] S301: photograph the identification target through the first camera to obtain a real-time centering image.

[0105] S302: Obtain the real-time distance between the mining trolley and the identification target according to the real-time centering image.

[0106] Specifically, the mining trolley positioning device automatically determines whether the positioning auxiliary line falls within the reference zone based on the real-time centering image. The real-time distance is calculated based on the distance correction.

[0107] In one possible design, Figure 4 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 3 .like Figure 4 As shown, S302 includes:

[0108] S401: Obtain the focal length of the first camera.

[0109] S402: Using a preset distance correction algorithm, the real-time distance is obtained according to the focal length and the real-time centering image.

[0110] Specifically, the mining trolley positioning device uses the complementary metal oxide semiconductor (CMOS) size of the first camera, the real-time centering image size (W×H), the camera resolution (RW×RH), the actual width of the marking target (L), and the focal length of the first camera (F). The real-time distance D is calculated as: D = (F×L) / (RW×W / Rw).

[0111] The technical effect of the embodiment of the present application is that the real-time distance between the mining trolley and the identification target is determined through distance correction calculation.

[0112] In one possible design, the first camera is a zoom camera and the second camera is a fixed-focus camera.

[0113] Specifically, considering that the marking targets vary in distance from the mining trolley, a zoom camera was selected as the first camera to ensure the display size of the marking targets in the real-time centering image. Furthermore, the distance between the mining trolley and the marking lines on both sides varies little, so a fixed-focus camera was selected as the second camera.

[0114] Accordingly, the calibration of the first camera is specifically to calibrate the focal length of the camera by shooting the target at different distances with the first camera. The real-time centering image is the zoom camera image.

[0115] The technical effect of the embodiments of the present application is: by shooting the identification target with a zoom camera, the display size of the identification target in the real-time centering screen is guaranteed; by shooting the laser line with a fixed-focus camera, the computing power requirement for the real-time alignment screen and the cost of the mining trolley are reduced.

[0116] S303: Determine a reference partition corresponding to the real-time distance from the multiple groups of partitions according to the real-time distance.

[0117] In one possible design, Figure 5 Schematic diagram of the process of the mining trolley positioning method provided in the embodiment of the present application Figure 4 .like Figure 5 As shown, each group of partitions is marked with a color; then S303 includes:

[0118] S501: Determine a reference color corresponding to the real-time distance from a plurality of colors according to the real-time distance and a preset distance-color correspondence.

[0119] Specifically, the marking target is divided into areas according to pre-designed dimensions, and each area is affixed with reflective stickers of different colors. The design principles of the marking target are as follows:

[0120] Typically, the distance between the mining trolley and the identification target is between H1 and H2. Figure 6 This is a schematic diagram of the principle of identifying the partition of the target provided in the embodiment of the present application. Figure 6 As shown, the distance is divided into four regions: between 0 and H1, between H1 and H12, between H12 and H22, and between H22 and H2. To control the heading angle error within 1° for error calculation, the partition sizes can be divided into H1 × sin1°, H12 × sin1°, H22 × sin1°, and H2 × sin1°. Each partition is affixed with a different color of reflective sticker.

[0121] The mining trolley positioning device determines a reference color corresponding to the real-time distance from a variety of colors based on the real-time distance calculated in the above steps and the preset distance-color correspondence. It should be noted that the reference color changes in real time based on the real-time distance obtained by the color recognition algorithm and distance correction calculation.

[0122] S502: Identify a reference color from the real-time centering image using a preset color recognition algorithm.

[0123] Specifically, the mining trolley positioning device uses a real-time alignment image through binarization, morphological analysis, Gaussian filtering, denoising, and edge detection to obtain the pixel coordinates of the marker target and calculate the target width (PW) in pixels within the image. This is then combined with pre-stored reflective sticker positions to identify the reference color from the real-time alignment image.

[0124] S503: Determine the partition corresponding to the reference color as the reference partition.

[0125] The technical effect of the embodiment of the present application is: through a preset color recognition algorithm, the reference partition into which the positioning auxiliary line should fall is determined.

[0126] S304: Determine whether the positioning auxiliary line falls within the reference partition.

[0127] When the positioning auxiliary line falls within the reference zone, the mining trolley completes the centering operation.

[0128] S305 , using two second cameras, respectively photographing the laser lines emitted by the two laser emitters to obtain a real-time alignment image.

[0129] S306: Determine whether the two laser lines overlap with the first pair of marking lines based on the real-time centering image.

[0130] Specifically, the first pair of marking lines is a pair of marking lines located on either side of the two laser lines. The first pair of marking lines can be located on the left side of the two laser lines or on the right side of the two laser lines.

[0131] Auxiliary lines are marked on the sides of the area to be excavated, and laser lines are projected onto the bottom and / or sides of the area to be excavated. It should be noted that when the laser lines are projected only onto the bottom, the two laser lines overlap with the first pair of marking lines. Specifically, the two laser lines fall between the first pair of marking lines, and the extension of the two laser lines overlaps with the first pair of marking lines.

[0132] When the two laser lines coincide with the first pair of marking lines, the mining trolley completes the row operation.

[0133] The mining trolley positioning device can be Figure 3 As shown, S301 to S304 are executed first, and then S305 to S306 are executed; S305 to S306 can also be executed first, and then S301 to S304; S301 to S304 and S305 to S306 can also be executed simultaneously, which is not limited in this embodiment.

[0134] S307: When the mining trolley completes the centering operation and the rowing operation at the same time, output positioning completion information.

[0135] S308: Determine whether the mining trolley is reversing.

[0136] Specifically, after the mining trolley completes centering and alignment operations, it enters the docking phase and begins reverse. It stops at each trolley working surface and continues drilling until all trolley working surfaces in the area to be excavated are complete. The mining trolley positioning device can determine whether the mining trolley needs to dock based on whether it is reversed.

[0137] S309: When the mining trolley is reversing, determine whether the two laser lines overlap with the second pair of marking lines based on the real-time centering image.

[0138] The second pair of marking lines is located on the reversing side of the two laser lines; each pair of marking lines corresponds to a trolley working surface.

[0139] Specifically, because the mining trolley has completed the centering and alignment operations in the first positioning stage, when the mining trolley reverses directly to the tunnel exit, it only needs to observe whether the two laser lines coincide with the second pair of marking lines.

[0140] Furthermore, during reversing, the mining trolley can be slightly adjusted according to the above steps based on the real-time centering image.

[0141] S310: When the two laser lines coincide with the second pair of marking lines, output the docking information.

[0142] The docking information is used to instruct the mining trolley to dock.

[0143] Specifically, when the two laser lines coincide with the second pair of marking lines, the mining trolley positioning device determines that the mining trolley has reached the parking position, and the mining trolley positioning device outputs various forms of parking information.

[0144] The technical effects of the embodiments of the present application are: by determining whether the positioning auxiliary line falls within the reference partition, it is determined whether the mining trolley has completed the centering operation; by determining whether the two laser lines coincide with the first pair of identification lines, it is determined whether the mining trolley has completed the alignment operation; and by determining whether the two laser lines coincide with the second pair of identification lines, it is indicated whether the mining trolley has docked, thereby reducing positioning time and improving positioning accuracy; through positioning completion information and docking information, the operation of the operating personnel is assisted, labor costs are reduced, and the operating efficiency of the mining trolley is improved.

[0145] The present application also provides a mining trolley, such as Figure 1 As shown, the mining trolley includes:

[0146] A first camera mounted on a travel direction axis of the mining trolley;

[0147] Two second cameras and two laser transmitters installed on both sides of the mining trolley;

[0148] The mining trolley positioning device is used to implement the mining trolley positioning method of the above embodiment.

[0149] The mining trolley provided in the embodiment of the present application can perform Figure 2 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0150] In one possible design, the mining trolley also includes a vehicle-mounted display;

[0151] The vehicle display is used to display the real-time centering image and the real-time alignment image.

[0152] Specifically, the vehicle display is located on the onboard computer and includes a real-time centering view and a real-time row alignment view. The real-time centering view is used to display the real-time centering image, as well as the real-time distance, reference partition, and reference color in the above-mentioned embodiments. The real-time row alignment view is used to display one or both of the real-time row alignment images in the above-mentioned embodiments.

[0153] Furthermore, according to the positional relationship between the positioning auxiliary line and the reference partition, and the positional relationship between the two laser lines and the first pair of marking lines or the second pair of marking lines, the mining trolley is controlled to move forward, reverse or turn. The mining trolley positioning device may be automatically controlled by the automatic driving system, or the operator may be manually controlled according to the content displayed on the vehicle display and with the assistance of the mining trolley positioning device. This is not limited in this embodiment.

[0154] The technical effect of the embodiment of the present application is: real-time centering images and real-time alignment images are displayed through the vehicle display, and multiple mining trolley control methods are provided, thereby further improving the operating efficiency of the mining trolley.

[0155] The present application also provides a mining trolley application system, such as Figure 1 As shown, the mining trolley application system includes:

[0156] A marker target installed in the exact center of the top of the excavated area of ​​the mine tunnel;

[0157] Multiple rows of marking lines are marked on the sides of the mine tunnel area to be excavated;

[0158] A mining trolley such as the above embodiment traveling in a mine tunnel.

[0159] The mining trolley application system provided in the embodiment of the present application can be executed Figure 2 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0160] In one possible design, Figure 7 This is a schematic diagram of the structure of the identification target provided in the embodiment of the present application. Figure 7 As shown, the identification targets include:

[0161] Fixing mechanism 121, vertical slide rail mechanism 122, horizontal slide rail mechanism 123, level bubble 124 and back plate 125;

[0162] There are multiple groups of partitions marked on the back plate 125 , and each group of partitions is axisymmetric along the vertical axis of the back plate 125 .

[0163] Specifically, a fixing mechanism 121 is installed at the exact center of the top of the excavated area of ​​the tunnel, one end of the vertical slide trough rail mechanism 122 is installed on the fixing mechanism 121, the horizontal slide trough rail mechanism 123 is installed on the other end of the vertical slide trough rail mechanism 122, and the level bubble 124 and the back plate 125 are installed on the horizontal slide trough rail mechanism 123.

[0164] The height of the back plate 125 is adjusted by the vertical slide rail mechanism 122, and the horizontality of the back plate 125 is adjusted by the horizontal slide rail mechanism 123 according to the level bubble 124. After the adjustment is completed, the bolts of the vertical slide rail mechanism 122 and the horizontal slide rail mechanism 123 are tightened to complete the fixing of the marking target. Figure 6 As shown, this embodiment will not be described in detail.

[0165] Figure 8 This is a structural diagram of the mining trolley positioning device provided in an embodiment of the present application, as shown in FIG. Figure 8 As shown, in the embodiment of the present application, the mining trolley positioning device can be located in an electronic device, which can be located in the mining trolley of the above embodiment. The mining trolley also includes: a first camera installed on the axis of the mining trolley's travel direction, and two second cameras and two laser emitters installed on both sides of the mining trolley respectively; when the mining trolley moves toward the face of the tunnel, the device includes:

[0166] The centering determination module 810 is configured to capture the marking target through the first camera to obtain a real-time centering image, and determine whether the mining vehicle has completed the centering operation based on the real-time centering image;

[0167] The alignment determination module 820 is configured to capture the laser lines emitted by the two laser emitters using two second cameras to obtain a real-time alignment image, and to determine whether the mining vehicle has completed the alignment operation based on the real-time alignment image; wherein the real-time alignment image displays a plurality of alignment identification lines;

[0168] The first output module 830 is used to output positioning completion information when the mining vehicle completes the centering operation and the rowing operation at the same time; wherein the positioning completion information is used to instruct the mining vehicle to return the steering wheel to the center and continue to drive to the tunnel face.

[0169] The mining trolley positioning device provided in the embodiment of the present application can be performed Figure 2 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0170] In a possible design, the identification target is marked with multiple groups of partitions, each group of partitions is axisymmetric along the vertical axis of the identification target; the middle position of the real-time centering screen is marked with a positioning auxiliary line;

[0171] The centering determination module 810 includes:

[0172] A distance determination module is used to obtain the real-time distance between the mining trolley and the identification target based on the real-time centering image;

[0173] A distinction determination module is used to determine a reference partition corresponding to the real-time distance from the multiple groups of partitions according to the real-time distance;

[0174] A partition judgment module is used to judge whether the positioning auxiliary line falls within the reference partition; wherein, when the positioning auxiliary line falls within the reference partition, the mining trolley completes the centering operation;

[0175] The shape of the laser line is a straight line. The row judgment module 820 is used to determine whether the two laser lines coincide with the first pair of identification lines based on the real-time centering image; wherein the first pair of identification lines are the row identification lines located on either side of the two laser lines; when the two laser lines coincide with the first pair of identification lines, the mining trolley completes the row operation.

[0176] In one possible design, each set of partitions is marked with a color;

[0177] Differentiate and determine modules, including:

[0178] A color corresponding module is used to determine a reference color corresponding to the real-time distance from a plurality of colors according to the real-time distance and a preset distance-color corresponding relationship;

[0179] A color recognition module is used to identify the reference color from the real-time alignment image using a preset color recognition algorithm;

[0180] The color determination module is used to determine the partition corresponding to the reference color as the reference partition.

[0181] In one possible design, the distance determination module includes:

[0182] A focal length acquisition module, used to obtain the focal length of the first camera;

[0183] The distance calculation module is used to obtain the real-time distance based on the focal length and the real-time centering image through a preset distance correction algorithm.

[0184] In one possible design, the first camera is a zoom camera and the second camera is a fixed-focus camera.

[0185] In one possible design, when the mining trolley is in reverse, the device further comprises:

[0186] The overlap judgment module is used to judge whether the two laser lines overlap with the second pair of marking lines based on the real-time centering image; wherein the second pair of marking lines are the marking lines located on the reverse side of the two laser lines; each pair of marking lines corresponds to a trolley working surface;

[0187] The second output module is used to output docking information when the two laser lines coincide with the second pair of marking lines; wherein the docking information is used to instruct the mining trolley to dock.

[0188] The mining trolley positioning device provided in the embodiment of the present application can perform Figures 2 to 4 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figures 2 to 4 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0189] The embodiment of the present application also provides an electronic device, Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 9 As shown, the electronic device includes: at least one processor 910 and a memory 920. The electronic device also includes a communication component 930. The processor 910, the memory 920 and the communication component 930 are connected via a bus 940.

[0190] During the specific implementation process, the at least one processor 910 executes the computer-executable instructions stored in the memory 920, so that the at least one processor 910 is used to implement the mining trolley positioning method of the above embodiment.

[0191] The specific implementation process of the processor 910 can be found in the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and the embodiments of this application will not be repeated here.

[0192] In the above embodiment, it should be understood that the processor 910 may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0193] The memory 920 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0194] Bus 940 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Bus 940 can be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the bus 940 in the drawings of this application is not limited to a single bus or a single type of bus.

[0195] The above functions implemented by the electronic device and the main control device have been used to introduce the solutions provided in the embodiments of the present application. It is understandable that, in order to implement the above functions, the electronic device or the main control device includes hardware structures and / or software modules corresponding to the execution of each function. In combination with the units and algorithm steps of the various examples described in the embodiments disclosed in the embodiments of the present application, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present application.

[0196] The present application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions implement the mining trolley positioning method of the aforementioned embodiment. In the specific implementation of the aforementioned mining trolley positioning method, each module may be implemented as a processor.

[0197] The readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0198] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium may be an integral part of the processor. The processor and the readable storage medium may be located in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium may be present as discrete components in an electronic device or a host control device.

[0199] An embodiment of the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, it is used to implement the mining trolley positioning method of the above embodiment.

[0200] The computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium, and at least one processor can execute the computer program to perform the solution provided in any of the above embodiments.

[0201] Those skilled in the art will appreciate that all or part of the steps in implementing the aforementioned embodiments of the application can be accomplished by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the aforementioned method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0202] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the scope of protection of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mining trolley positioning method, characterized in that: The method is applied to a mining trolley positioning device of a mining trolley, wherein the mining trolley further comprises: a first camera installed on the axis of the driving direction of the mining trolley, and two second cameras and two laser transmitters respectively installed on both sides of the mining trolley; when the mining trolley moves toward the face of the mining face, the method comprises: The first camera is used to photograph the identification target to obtain a real-time centering picture, and according to the real-time centering picture, it is determined whether the mining trolley has completed the centering operation; The laser lines emitted by the two laser emitters are photographed respectively by the two second cameras to obtain a real-time alignment picture, and according to the real-time alignment picture, it is judged whether the mining trolley has completed the alignment operation; wherein the real-time alignment picture displays a plurality of alignment identification lines; When the mining trolley completes the centering operation and the rowing operation at the same time, the positioning completion information is output; wherein the positioning completion information is used to instruct the steering wheel of the mining trolley to return to the center and continue to drive to the tunnel face.

2. The method according to claim 1, characterized in that The identification target is marked with multiple groups of partitions, and each group of the partitions is symmetrical along the vertical axis of the identification target; the middle position of the real-time centering screen is marked with a positioning auxiliary line; The step of judging whether the mining trolley has completed the centering operation according to the real-time centering picture includes: According to the real-time centering picture, a real-time distance between the mining trolley and the identification target is obtained; According to the real-time distance, determining a reference partition corresponding to the real-time distance from the multiple groups of partitions; Determining whether the positioning auxiliary line falls within the reference partition; wherein, when the positioning auxiliary line falls within the reference partition, the mining trolley completes the centering operation; The shape of the laser line is a straight line, and judging whether the mining trolley has completed the row operation according to the real-time row picture includes: According to the real-time centering picture, it is determined whether the two laser lines overlap with the first pair of identification lines; wherein the first pair of identification lines are the pair of identification lines located on either side of the two laser lines; when the two laser lines overlap with the first pair of identification lines, the mining trolley completes the alignment operation.

3. The method according to claim 2, characterized in that Each group of said partitions is marked with a color; Determining, according to the real-time distance, a reference partition corresponding to the real-time distance from the multiple groups of partitions includes: According to the real-time distance and a preset distance-color correspondence relationship, determining a reference color corresponding to the real-time distance from the plurality of colors; Identifying the reference color from the real-time centering picture by using a preset color recognition algorithm; The partition corresponding to the reference color is determined as the reference partition.

4. The method according to claim 2, characterized in that: The step of obtaining the real-time distance between the mining trolley and the identification target according to the real-time centering picture includes: Obtaining the focal length of the first camera; The real-time distance is obtained by using a preset distance correction algorithm according to the focal length and the real-time centering picture.

5. The method according to claim 4, characterized in that The first camera is a zoom camera, and the second camera is a fixed-focus camera.

6. The method according to claim 1, characterized in that When the mining trolley is in reverse, the method further comprises: According to the real-time centering picture, it is determined whether the two laser lines overlap with the second pair of marking lines; wherein the second pair of marking lines are the pair of marking lines located on the reverse direction side of the two laser lines; each pair of marking lines corresponds to a trolley working surface; When the two laser lines overlap with the second pair of marking lines, the docking information is output; wherein the docking information is used to instruct the mining trolley to dock.

7. A mining trolley, characterized in that: The mining trolley comprises: A first camera mounted on the axis of the mining trolley in the direction of travel; Two second cameras and two laser transmitters respectively mounted on both sides of the mining trolley; A mining trolley positioning device is used to implement the mining trolley positioning method according to any one of claims 1 to 6.

8. The mining trolley according to claim 7, characterized in that: The mining trolley also includes a vehicle display; The vehicle display is used to display the real-time centering picture and the real-time alignment picture.

9. A mining trolley application system, characterized in that: The system comprises: A marker target installed at the exact center of the top of the excavated area of ​​the mine tunnel; A plurality of rows of marking lines marked on the side of the area to be excavated in the mine tunnel; A mining trolley as claimed in claim 7 or 8 travelling in the mine tunnel.

10. The system according to claim 9, characterized in that The identification target comprises: Fixing mechanism, vertical slideway rail mechanism, horizontal slideway rail mechanism, level bubble and back plate; The back plate is marked with a plurality of partitions, and each group of the partitions is symmetrical along the vertical axis of the back plate.

Images