Positioning system, method and device of coal mining machine

Abstract

The invention provides a coal mining machine positioning system, method and device, the system comprises a visual acquisition device and a positioning processor, the visual acquisition device comprises a first binocular camera and a second binocular camera which are mutually combined, and the observation view direction of the first binocular camera is opposite to the observation view direction of the second binocular camera. The positioning processor is used for determining a first coordinate conversion relation based on the local coordinate of the tag card and the world coordinate of the tag card; determining a second coordinate conversion relationship based on the first coordinate conversion relationship and a pre-configured multi-binocular coordinate conversion relationship; and determining the world coordinate of the target card based on the second coordinate conversion relation and the local coordinate of the target card, and determining the world coordinate of the coal mining machine based on the world coordinate of the target card. According to the invention, the position of the coal mining machine can be accurately positioned in a limited fully-mechanized coal mining environment, and the purpose of monitoring the working condition of the coal mining machine is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of fully mechanized coal mining, and particularly to a positioning system, method and device for a shearer. Background Art

[0002] During the coal cutting process of the shearer, as the shearer advances or retreats along the fully mechanized coal face, it is necessary to know the relative position of the shearer in real time to realize operations such as following the machine to move the support and retracting the rib protection. Currently, most of the technical methods for real-time positioning of shearers in fully mechanized coal faces use robots for measurement. However, in the case of uneven ground or obstacles on the working face, the measurement results of the robots may be inaccurate. Summary of the Invention

[0003] Aiming at the problems existing in the prior art, the present invention provides a positioning system, method and device for a shearer.

[0004] The present invention provides a positioning system for a shearer, including a visual acquisition device and a positioning processor. The visual acquisition device includes a first binocular camera and a second binocular camera combined with each other. The observation field of view direction of the first binocular camera is opposite to that of the second binocular camera; The first binocular camera is used to determine the local coordinates of a tag card arranged in the intake airway or the return airway; The second binocular camera is used to determine the local coordinates of a target card arranged on the shearer; The positioning processor is used for: Based on the local coordinates of the tag card and the world coordinates of the tag card, determining a first coordinate conversion relationship; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; Based on the first coordinate conversion relationship and a pre-configured multi-binocular coordinate conversion relationship, determining a second coordinate conversion relationship, the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; Based on the second coordinate conversion relationship and the local coordinates of the target card, determining the world coordinates of the target card, and based on the world coordinates of the target card, determining the world coordinates of the shearer.

[0005] According to the positioning system for a shearer provided by the present invention, the positioning processor is further used for: determining the position coordinates of the first binocular camera based on the local coordinates of the tag card, and determining the world coordinates of the visual acquisition device based on the position coordinates of the first binocular camera and the first coordinate conversion relationship.

[0006] A positioning system for a shearer according to the present invention, the first binocular camera is specifically configured to: determine the local coordinates of the tag card based on a pre-configured first stereo calibration result and an image containing the tag card; the second binocular camera is specifically configured to: determine the local coordinates of the target card based on a pre-configured second stereo calibration result and an image containing the target card; both the first stereo calibration result and the second stereo calibration result include a rotation matrix, a translation matrix, an intrinsic matrix, and a fundamental matrix.

[0007] A positioning system for a shearer according to the present invention, the visual acquisition device is fixed on the hydraulic support of the fully-mechanized coal mining face.

[0008] According to the positioning method of the shearer based on the above provided by the present invention, it includes: Determine the local coordinates of the tag card arranged in the intake airway or the return airway; Determine the local coordinates of the target card arranged on the shearer; Based on the local coordinates of the tag card and the world coordinates of the tag card, determine the first coordinate conversion relationship; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; Based on the first coordinate conversion relationship and a pre-configured multi-binocular coordinate conversion relationship, determine the second coordinate conversion relationship, the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; Based on the second coordinate conversion relationship and the local coordinates of the target card, determine the world coordinates of the target card, and based on the world coordinates of the target card, determine the world coordinates of the shearer.

[0009] The present invention also provides a positioning device for a shearer, including: A first acquisition module for determining the local coordinates of the tag card arranged in the intake airway or the return airway; A second acquisition module for determining the local coordinates of the target card arranged on the shearer; A first determination module for determining the first coordinate conversion relationship based on the local coordinates of the tag card and the world coordinates of the tag card; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; A second determination module for determining the second coordinate conversion relationship based on the first coordinate conversion relationship and a pre-configured multi-binocular coordinate conversion relationship, the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; A processing module for determining the world coordinates of the target card based on the second coordinate conversion relationship and the local coordinates of the target card, and determining the world coordinates of the shearer based on the world coordinates of the target card.

[0010] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the positioning method of any of the above shearers is implemented.

[0011] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the positioning method of any of the above shearers is implemented.

[0012] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the positioning method of any of the above shearers is implemented.

[0013] A positioning system, method, and device for a shearer provided by the present invention determine the local coordinates of a tag card in a roadway in a fully-mechanized mining scene and the local coordinates of a target card on the shearer through multiple binocular devices, and complete coordinate transformation and determine the world coordinates of the target card based on the local coordinates of the tag card, the local coordinates of the target card, the world coordinates of the tag card, and a pre-configured coordinate transformation relationship between multiple binoculars. Finally, the world coordinates of the shearer are determined based on the world coordinates of the target card, which can accurately locate the position of the shearer in a limited fully-mechanized mining environment and achieve the purpose of monitoring the working conditions of the shearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 is a schematic structural diagram of the positioning system for a shearer provided by the present invention.

[0016] Figure 2 is a schematic structural diagram of the visual acquisition device provided by the present invention.

[0017] Figure 3 is a schematic flowchart of the positioning method for a shearer provided by the present invention.

[0018] Figure 4 is a schematic structural diagram of the positioning device for a shearer provided by the present invention.

[0019] Figure 5 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without any creative work fall within the scope of protection of the present invention.

[0021] The following will describe Figures 1 - 5 the positioning system, method, device, equipment, and medium of the shearer of the present invention.

[0022] Figure 1 Fig. shows a schematic structural application diagram of a positioning system of a shearer provided by the present invention. Refer to Figure 1 , the system includes a visual acquisition device 11 and a positioning processor 12. The visual acquisition device includes a first binocular camera 111 and a second binocular camera 112 combined with each other. The observation field of view direction of the first binocular camera 111 is opposite to that of the second binocular camera 112. Both the first binocular camera 111 and the second binocular camera 112 are composed of two monocular cameras.

[0023] The first binocular camera is used to determine the local coordinates of the tag card arranged in the intake airway or the return airway.

[0024] The second binocular camera is used to determine the local coordinates of the target card arranged on the shearer.

[0025] The positioning processor 12 is used for: Based on the local coordinates of the tag card and the world coordinates of the tag card, determining a first coordinate conversion relationship; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera.

[0026] Based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multiple binocular cameras, determining a second coordinate conversion relationship, and the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera.

[0027] Based on the second coordinate conversion relationship and the local coordinates of the target card, determining the world coordinates of the target card, and determining the world coordinates of the shearer based on the world coordinates of the target card.

[0028] It should be noted that the visual acquisition device includes a first binocular camera 111 and a second binocular camera 112 combined with each other. Therefore, this visual acquisition device can be called a multi-binocular device. This visual acquisition device can be installed on the hydraulic support of the fully-mechanized coal mining face. From Figure 1It can be seen that the first binocular camera is on the right side and captures images of the tag cards in the air intake roadway on the right side. Different ID tag cards are arranged at intervals in the air intake roadway, and the interval distance between different tag cards in the air intake roadway is determined by the observation field of view angle of the first binocular camera. The second binocular camera is on the left side and captures images of the target cards on the shearer on the left side.

[0029] The first binocular camera has its own local coordinate system and can identify the coordinates of the markers in the captured image. Therefore, the first binocular camera can determine the local coordinates of the tag cards arranged in the air intake roadway or return air roadway in the local coordinate system based on its own local coordinate system and the positions of the tag cards in the captured image.

[0030] Correspondingly, the second binocular camera also has its own local coordinate system, can identify the coordinates of the markers in the captured image, and can determine the local coordinates of the target cards arranged on the shearer based on its own local coordinate system and the positions of the target cards in the captured image.

[0031] In the present invention, both the first binocular camera and the second binocular camera belong to binocular cameras. A binocular camera is composed of two monocular cameras. First, single calibration is performed on each monocular camera to obtain the internal parameter matrix I, distortion coefficient D, rotation matrix R, and translation vector T of each camera. Then, on the basis of single calibration, stereo calibration is performed on the left and right eyes of the binocular camera respectively to obtain the stereo calibration results of the binocular camera, that is, the rotation matrix R 12 and translation matrix T 12 、essential matrix E, and fundamental matrix F.

[0032] In the present invention, the local coordinates of the tag cards and the local coordinates of the target cards respectively determined by the first binocular camera and the second binocular camera are sent to the positioning processor for use by the positioning processor to determine the coordinates of the shearer. The coordinates here refer to the world coordinates of the shearer. Since the shearer works underground and it is impossible to obtain a relatively accurate position, determining the world coordinates of the shearer at this time can refer to the longitude and latitude information of the shearer, or the coordinate information of the coordinate system configured inside the mine.

[0033] In the present invention, each tag card in the air intake roadway is arranged at a preset fixed position, while the target card moves with the shearer. Thus, the tag card is at a fixed position and the target card is at a changing position. When arranging the tag cards, they are fixed according to the fixed position coordinates, that is, it is possible to determine the world coordinates of the tag cards. The position of the target card will change as the shearer mines. Therefore, it is necessary to track the position of the target card to obtain the world coordinates of the shearer.

[0034] In the present invention, the positioning processor analyzes and calculates the local coordinates of the tag card and the world coordinates of the tag card to determine the first coordinate conversion relationship. This first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera.

[0035] Then, based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multiple binocular cameras, the second coordinate conversion relationship is determined. The second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera. Here, the coordinate conversion relationship between multiple binocular cameras is the conversion relationship between "the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera" and "the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera".

[0036] Finally, based on the second coordinate conversion relationship and the local coordinates of the target card, the world coordinates of the target card are determined. Since the target card is fixed on the shearer, the world coordinates of the shearer are further determined based on the world coordinates of the target card.

[0037] The positioning system of the shearer provided by the present invention determines the local coordinates of the tag card in the roadway in the fully-mechanized mining scene and the local coordinates of the target card on the shearer through a multi-binocular device, and based on the local coordinates of the tag card, the local coordinates of the target card, the world coordinates of the tag card, and the pre-configured coordinate conversion relationship between multiple binocular cameras, completes the conversion of the coordinate system and determines the world coordinates of the target card. Finally, based on the world coordinates of the target card, the world coordinates of the shearer are determined, which can accurately locate the position of the shearer in the limited environment of fully-mechanized mining and achieve the purpose of monitoring the working conditions of the shearer.

[0038] In a further system of the above system, when it is necessary to obtain the position where the visual acquisition device is fixed, the positioning processor is further used to determine the position coordinates of the first binocular camera based on the local coordinates of the tag card, and determine the world coordinates of the visual acquisition device based on the position coordinates of the first binocular camera and the first coordinate conversion relationship. When the visual acquisition device is randomly fixed, the position where the visual acquisition device is fixed can be obtained based on this technical means at this time.

[0039] In a further system of the above system, the first binocular camera is specifically used to: determine the local coordinates of the tag card based on the pre-configured first stereo calibration result and the image containing the tag card. The second binocular camera is specifically used to: determine the local coordinates of the target card based on the pre-configured second stereo calibration result and the image containing the target card; both the first stereo calibration result and the second stereo calibration result include a rotation matrix, a translation matrix, an intrinsic matrix, and a fundamental matrix.

[0040] It should be noted that, refer to Figure 2, Two cameras with overlapping observation areas are close to each other to form a set of binocular cameras, which monitor the targets within the observation field of view. The two binocular cameras are installed back to back to form a multi-binocular device, that is, a visual acquisition device. These four cameras are fixedly installed on the hydraulic support. For the convenience of distinction and description, these two binocular cameras are respectively abbreviated as the left binocular and the right binocular.

[0041] First, obtain the stereo calibration results of the left and right binoculars and the stereo calibration results between the multi-binoculars through pre-operation on the ground, and then realize the real-time absolute positioning of the target card in the fully mechanized coal mining face based on the results of the pre-operation.

[0042] Obtain the internal parameter matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera in the first binocular camera or the second binocular camera.

[0043] Based on the internal parameter matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera, determine the first stereo calibration result or the second stereo calibration result. Both the first stereo calibration result and the second stereo calibration result include the rotation matrix and the translation matrix, the essential matrix, and the fundamental matrix.

[0044] Obtain the world coordinates of the measurement tag card in the observation field of view directions of the first binocular camera and the second binocular camera respectively.

[0045] Based on the first stereo calibration result or the second stereo calibration result of the first binocular camera and the second binocular camera respectively, determine the local coordinates of the measurement tag card in the observation field of view directions of the first binocular camera and the second binocular camera.

[0046] Based on the local coordinates of the measurement tag card in the observation field of view directions of the first binocular camera and the second binocular camera respectively, determine the pre-configured coordinate conversion relationship between the multi-binoculars. The coordinate conversion relationship between the multi-binoculars is the conversion relationship between "the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera" and "the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera".

[0047] Next, the positioning method of the shearer provided by the present invention will be described. The positioning method of the shearer described below can be correspondingly referred to the positioning system of the shearer described above.

[0048] Figure 3 The flow schematic diagram of a positioning method of a shearer provided by the present invention is shown. Refer to Figure 3 , This method is implemented based on the positioning system of the shearer mentioned above. This method includes the following steps: Step 31, Determine the local coordinates of the tag card arranged in the intake airway or the return airway.

[0049] Step 32: Determine the local coordinates of the target card arranged on the shearer.

[0050] Step 33: Based on the local coordinates of the tag card and the world coordinates of the tag card, determine the first coordinate transformation relationship; the first coordinate transformation relationship represents the transformation relationship between the local coordinate system and the world coordinate system of the first binocular camera.

[0051] Step 34: Based on the first coordinate transformation relationship and the pre-configured coordinate transformation relationship between multiple binocular cameras, determine the second coordinate transformation relationship, where the second coordinate transformation relationship represents the transformation relationship between the local coordinate system and the world coordinate system of the second binocular camera.

[0052] Step 35: Based on the second coordinate transformation relationship and the local coordinates of the target card, determine the world coordinates of the target card, and based on the world coordinates of the target card, determine the world coordinates of the shearer.

[0053] In a further method of the above method, the method further includes: Based on the local coordinates of the tag card, determine the position coordinates of the first binocular camera, and based on the position coordinates of the first binocular camera and the first coordinate transformation relationship, determine the world coordinates of the visual acquisition device.

[0054] In a further method of the above method, determining the local coordinates of the tag card arranged in the intake airway or the return airway includes: based on the pre-configured first stereo calibration result and the image containing the tag card, determine the local coordinates of the tag card.

[0055] Determining the local coordinates of the target card arranged on the shearer includes: Based on the pre-configured second stereo calibration result and the image containing the target card, determine the local coordinates of the target card; both the first stereo calibration result and the second stereo calibration result include a rotation matrix, a translation matrix, an intrinsic matrix, and a fundamental matrix.

[0056] In a further method of the above method, the method further includes: Obtain the intrinsic matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera in the first binocular camera or the second binocular camera.

[0057] Based on the intrinsic matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera, determine the first stereo calibration result or the second stereo calibration result.

[0058] In a further method of the above method, the method further includes: Obtain the world coordinates of the measured tag card in the observation field of view directions of the first binocular camera and the second binocular camera respectively.

[0059] Based on the first stereo calibration result or the second stereo calibration result of the first binocular camera and the second binocular camera respectively, determine the local coordinates of the measurement tag card in the observation field of view directions of the first binocular camera and the second binocular camera.

[0060] Based on the local coordinates of the measurement tag card in the observation field of view directions of the first binocular camera and the second binocular camera, determine the pre-configured coordinate conversion relationship between multiple binocular cameras.

[0061] Since the method of the embodiment of the present invention has the same principle as the system of the above embodiment, the more detailed explanation content will not be elaborated here.

[0062] The positioning method of the shearer provided by the present invention determines the local coordinates of the tag card in the roadway and the local coordinates of the target card on the shearer in the fully-mechanized mining scene through a multi-binocular device, and based on the local coordinates of the tag card, the local coordinates of the target card, the world coordinates of the tag card, and the pre-configured coordinate conversion relationship between multiple binocular cameras, completes the coordinate system conversion and determines the world coordinates of the target card. Finally, based on the world coordinates of the target card, the world coordinates of the shearer are determined, which can accurately position the shearer in the limited environment of fully-mechanized mining and achieve the purpose of monitoring the working conditions of the shearer.

[0063] The positioning device of the shearer provided by the present invention will be described below. The positioning device of the shearer described below can be correspondingly referred to the positioning method of the shearer described above.

[0064] Figure 4 The structural schematic diagram of a positioning device of a shearer provided by the present invention is shown. Refer to Figure 4 The device includes a first acquisition module 41, a second acquisition module 42, a first determination module 43, a second determination module 44, and a processing module 45, where: The first acquisition module is used to determine the local coordinates of the tag card arranged in the intake airway or the return airway; The second acquisition module is used to determine the local coordinates of the target card arranged on the shearer; The first determination module is used to determine a first coordinate conversion relationship based on the local coordinates of the tag card and the world coordinates of the tag card; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; The second determination module is used to determine a second coordinate conversion relationship based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multiple binocular cameras. The second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; The processing module is used to determine the world coordinates of the target card based on the second coordinate conversion relationship and the local coordinates of the target card, and determine the world coordinates of the shearer based on the world coordinates of the target card.

[0065] Since the device of the embodiment of the present invention has the same principle as the method of the above embodiment, no more detailed explanation will be given here.

[0066] It should be noted that in the embodiment of the present invention, relevant functional modules can be implemented by a hardware processor.

[0067] The positioning device of the shearer provided by the present invention determines the local coordinates of the tag card in the roadway in the fully-mechanized mining scenario and the local coordinates of the target card on the shearer through a multi-binocular device, and based on the local coordinates of the tag card, the local coordinates of the target card, the world coordinates of the tag card, and the pre-configured coordinate conversion relationship between multi-binoculars, completes the coordinate system conversion and determines the world coordinates of the target card. Finally, based on the world coordinates of the target card, the world coordinates of the shearer are determined, which can accurately position the shearer in the limited environment of fully-mechanized mining and achieve the purpose of monitoring the working conditions of the shearer.

[0068] Figure 5 An example of a schematic physical structure diagram of an electronic device is shown as Figure 5 shown. The electronic device may include: a processor 51 (processor), a communication interface 52 (Communications Interface), a memory 53 (memory), and a communication bus 54. Among them, the processor 51, the communication interface 52, and the memory 53 communicate with each other through the communication bus 54. The processor 51 can call the logical instructions in the memory 53 to execute the positioning method of the shearer, and the method includes: determining the local coordinates of the tag card arranged in the intake airway or the return airway; determining the local coordinates of the target card arranged on the shearer; determining the first coordinate conversion relationship based on the local coordinates of the tag card and the world coordinates of the tag card; the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; determining the second coordinate conversion relationship based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multi-binoculars, and the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; determining the world coordinates of the target card based on the second coordinate conversion relationship and the local coordinates of the target card, and determining the world coordinates of the shearer based on the world coordinates of the target card.

[0069] In addition, when the logical instructions in the above-mentioned memory 53 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0070] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the positioning method of the shearer provided by the above-mentioned various methods. The method includes: determining the local coordinates of the tag card arranged in the intake airway or the return airway; determining the local coordinates of the target card arranged on the shearer; determining the first coordinate conversion relationship based on the local coordinates of the tag card and the world coordinates of the tag card. The first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; determining the second coordinate conversion relationship based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multiple binocular cameras. The second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; determining the world coordinates of the target card based on the second coordinate conversion relationship and the local coordinates of the target card, and determining the world coordinates of the shearer based on the world coordinates of the target card.

[0071] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the positioning method of a shearer provided by the above-mentioned various methods. The method includes: determining the local coordinates of the tag cards arranged in the intake airway or the return airway; determining the local coordinates of the target card arranged on the shearer; determining a first coordinate conversion relationship based on the local coordinates of the tag cards and the world coordinates of the tag cards, where the first coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the first binocular camera; determining a second coordinate conversion relationship based on the first coordinate conversion relationship and the pre-configured coordinate conversion relationship between multiple binocular cameras, where the second coordinate conversion relationship represents the conversion relationship between the local coordinate system and the world coordinate system of the second binocular camera; determining the world coordinates of the target card based on the second coordinate conversion relationship and the local coordinates of the target card, and determining the world coordinates of the shearer based on the world coordinates of the target card.

[0072] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solutions or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning system for a coal mining machine, characterized in that: It includes a vision acquisition device and a positioning processor, wherein the vision acquisition device includes a first binocular camera and a second binocular camera combined with each other, and the observation field direction of the first binocular camera is opposite to the observation field direction of the second binocular camera; The first binocular camera is used to determine the local coordinates of the tag card arranged in the air inlet lane or the air return lane; The second binocular camera is used to determine the local coordinates of the target card arranged on the coal mining machine; The positioning processor is used for: Based on the local coordinates of the tag card and the world coordinates of the tag card, a first coordinate transformation relationship is determined; the first coordinate transformation relationship represents the transformation relationship between the local coordinate system of the first binocular camera and the world coordinate system; Based on the first coordinate transformation relationship and the preconfigured multi-binocular coordinate transformation relationship, determine a second coordinate transformation relationship, where the second coordinate transformation relationship represents the transformation relationship between the local coordinate system of the second binocular camera and the world coordinate system; Based on the second coordinate conversion relationship and the local coordinates of the target card, the world coordinates of the target card are determined, and based on the world coordinates of the target card, the world coordinates of the coal mining machine are determined.

2. The positioning system of the coal mining machine according to claim 1, characterized in that: The positioning processor is also used to determine the position coordinates of the first binocular camera based on the local coordinates of the tag card, and determine the world coordinates of the visual acquisition device based on the position coordinates of the first binocular camera and the first coordinate conversion relationship.

3. The positioning system of the coal mining machine according to claim 1, characterized in that: The first binocular camera is specifically used to determine the local coordinates of the tag card based on a preconfigured first stereo calibration result and an image containing the tag card; the second binocular camera is specifically used to determine the local coordinates of the target card based on a preconfigured second stereo calibration result and an image containing the target card; the first stereo calibration result and the second stereo calibration result both include a rotation matrix and a translation matrix, an intrinsic matrix and a fundamental matrix.

4. The positioning system for a coal mining machine according to claim 1, characterized in that: The visual acquisition device is fixed on the hydraulic support of the comprehensive mining working face.

5. A method for positioning a coal mining machine according to any one of claims 1 to 4, characterized in that: include: Determine the local coordinates of the label cards arranged in the air intake or return air channel; Determine the local coordinates of the target card arranged on the coal mining machine; Based on the local coordinates of the tag card and the world coordinates of the tag card, a first coordinate transformation relationship is determined; the first coordinate transformation relationship represents the transformation relationship between the local coordinate system of the first binocular camera and the world coordinate system; Based on the first coordinate transformation relationship and the preconfigured multi-binocular coordinate transformation relationship, determine a second coordinate transformation relationship, where the second coordinate transformation relationship represents the transformation relationship between the local coordinate system of the second binocular camera and the world coordinate system; Based on the second coordinate conversion relationship and the local coordinates of the target card, the world coordinates of the target card are determined, and based on the world coordinates of the target card, the world coordinates of the coal mining machine are determined.

6. The method for positioning a coal mining machine according to claim 5, characterized in that: The method further comprises: The position coordinates of the first binocular camera are determined based on the local coordinates of the tag card, and the world coordinates of the visual acquisition device are determined based on the position coordinates of the first binocular camera and the first coordinate conversion relationship.

7. The method for positioning a coal mining machine according to claim 5, characterized in that: The determining of the local coordinates of the label card arranged in the air inlet lane or the air return lane includes: determining the local coordinates of the label card based on a preconfigured first stereo calibration result and an image containing the label card; Determining the local coordinates of the target card arranged on the coal mining machine includes: Determine the local coordinates of the target card based on the preconfigured second stereo calibration result and the image containing the target card; The first stereo calibration result and the second stereo calibration result both include a rotation matrix and a translation matrix, an intrinsic matrix and a fundamental matrix.

8. The method for positioning a coal mining machine according to claim 7, characterized in that: The method further comprises: Obtain the intrinsic parameter matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera in the first binocular camera or the second binocular camera; Based on the intrinsic parameter matrix, distortion coefficient, rotation matrix, and translation vector of each monocular camera, a first stereo calibration result or a second stereo calibration result is determined.

9. The method for positioning a coal mining machine according to claim 5, characterized in that: The method further comprises: Obtain the world coordinates of the measurement tag card in the respective observation fields of the first binocular camera and the second binocular camera; Determine the local coordinates of the measurement tag cards of the first binocular camera and the second binocular camera in the directions of their respective observation fields based on the first stereo calibration results or the second stereo calibration results of the first binocular camera and the second binocular camera; Based on the local coordinates of the measurement tag cards of the first binocular camera and the second binocular camera in the directions of their respective observation fields, a preconfigured multi-binocular coordinate conversion relationship is determined.

10. A positioning device for a coal mining machine, characterized in that: include: A first acquisition module is used to determine the local coordinates of the label card arranged in the air inlet lane or the return air lane; A second acquisition module is used to determine the local coordinates of the target card arranged on the coal mining machine; A first determination module is used to determine a first coordinate transformation relationship based on the local coordinates of the tag card and the world coordinates of the tag card; the first coordinate transformation relationship represents the transformation relationship between the local coordinate system of the first binocular camera and the world coordinate system; A second determination module is used to determine a second coordinate transformation relationship based on the first coordinate transformation relationship and a preconfigured multi-binocular coordinate transformation relationship, wherein the second coordinate transformation relationship represents a transformation relationship between a local coordinate system of a second binocular camera and a world coordinate system; The processing module is used to determine the world coordinates of the target card based on the second coordinate transformation relationship and the local coordinates of the target card, and determine the world coordinates of the coal mining machine based on the world coordinates of the target card.

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