Binocular infrared vision tunneling positioning and pose detection device for mine roadways

Abstract

This utility model provides a binocular infrared vision tunneling positioning and pose detection device for mine roadways, including a light source control box installed at the tail of the tunneling machine and a binocular vision computing control box installed at the top of the roadway. Four sets of near-infrared light sources arranged in a rectangular pattern are fixedly installed on the upper side of the light source control box. A mounting base is provided at the bottom of the light source control box, and an adjustment component is provided between the mounting base and the light source control box. Two monocular infrared cameras are symmetrically arranged on one side of the binocular vision computing control box, and a connecting component is provided between the monocular infrared cameras and the binocular vision computing control box. Through the design of the adjustment component and the connecting component, the position and angle of the light source control box and the monocular infrared cameras can be flexibly adjusted according to the complex and ever-changing spatial environment within the mine, obtaining accurate image information, thereby improving the accuracy of positioning and pose measurement, and ensuring that the straightness and slope of the roadway tunneling meet design requirements.

Description

Technical Field

[0001] This utility model relates to the field of mine tunneling measurement technology, specifically a binocular infrared vision tunneling positioning and posture detection device for mine roadways. Background Technology

[0002] In mine tunneling operations, precise positioning and pose measurement of the tunneling machine are crucial for controlling the straightness and slope of the tunnel. Existing binocular vision-based mine tunneling positioning and pose measurement devices often have fixed installation angles and positions, making it difficult to flexibly adapt to the complex spatial environment of mines. When the installation angle of the device cannot be adjusted according to the actual environment, the field of view of the binocular vision system may be obstructed, or the imaging angle may be unsatisfactory, resulting in deviations in the acquired image information and ultimately affecting the accuracy of positioning and pose measurement. At the same time, in the relatively enclosed environment of a mine with poor heat dissipation, the device's heat dissipation and protection performance are insufficient, which can easily affect the stable operation and service life of the device. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a binocular infrared vision tunneling positioning and pose detection device for mine roadways to solve the problems mentioned in the background. This invention features a novel structure. Through the design of adjustment and connection components, the position and angle of the light source control box and the monocular infrared camera can be flexibly adjusted according to the complex and varied spatial environment within the mine, such as irregular cross-sections, obstacle distribution, and sharp bends in the roadway. This avoids obstruction of the binocular vision system's field of view, ensures an ideal imaging angle, and acquires accurate image information, thereby improving positioning and pose measurement accuracy and ensuring that the straightness and slope of the roadway tunneling meet design requirements.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution: a binocular infrared vision tunneling positioning and posture detection device for mine roadways, comprising a light source control box installed at the tail of the tunneling machine and a binocular vision computing control box installed at the top of the roadway. Four sets of near-infrared light sources arranged in a rectangular pattern are fixedly installed on the upper side of the light source control box. A mounting base is provided at the bottom of the light source control box, and an adjustment component is provided between the mounting base and the light source control box. Two symmetrically arranged monocular infrared cameras are provided on one side of the binocular vision computing control box, and a connecting component is provided between the monocular infrared cameras and the binocular vision computing control box. A mounting groove is opened on the upper side of the binocular vision computing control box, and an tilt sensor is fixedly installed in the mounting groove.

[0005] Furthermore, a first power module and a first cooling fan are fixedly installed inside the light source control box. The first power module is electrically connected to the near-infrared light source and the first cooling fan. A second power module, a signal trigger, a Windows industrial computer, and a second cooling fan are fixedly installed inside the binocular vision computing control box.

[0006] Furthermore, the signal trigger is used to synchronously trigger two monocular infrared cameras to acquire images. The Windows industrial control computer receives the synchronous images acquired by the monocular infrared cameras and the tilt data acquired by the tilt sensor. It identifies the emitting point of the near-infrared light source through image processing and calculates the three-dimensional position and attitude angle of the light source control box relative to the binocular vision calculation control box based on the principle of binocular vision.

[0007] Furthermore, the adjustment assembly includes a fixing strip fixedly connected to one side of the light source control box, with studs fixedly connected to both sides of the outer end of the fixing strip, and positioning nuts threaded onto both studs.

[0008] Furthermore, a first connecting block is fixedly connected to the bottom of the light source control box, a second connecting block that rotates with the first connecting block is fixedly connected to the upper side of the mounting base, an arc-shaped vertical plate is fixedly connected to the side of the mounting base away from the first connecting block, a lifting groove that slides with the fixing strip is opened through the middle of the arc-shaped vertical plate, and a positioning groove that slides with the stud is opened through one side of the arc-shaped vertical plate.

[0009] Furthermore, a displacement groove is provided at a right angle on one side of the lower part of the binocular vision computing control box. Two arc-shaped displacement plates corresponding to the two monocular infrared cameras are slidably fitted in the displacement groove. The connecting component includes a displacement block fixedly connected to the bottom of the monocular infrared camera. The outer side of the arc-shaped displacement plate is provided with a groove that cooperates with the displacement block.

[0010] Furthermore, the inner wall of the arc-shaped displacement groove is provided with a sliding groove, and the inner wall of the sliding groove is rotatably fitted with a bidirectional screw that extends to the side of the binocular vision computing control box. Each of the two arc-shaped displacement plates is fixedly connected to a slider that slides in the sliding groove. The two ends of the bidirectional screw pass through the two sliders and are threadedly engaged with them.

[0011] Furthermore, the inner wall of the groove is provided with limiting grooves on both sides, and the bottom of the groove is fixedly connected with sliding columns that are slidably fitted in the limiting grooves on both sides. The bottom wall of the groove is provided with multiple fixing grooves, and one side of the groove is threaded with a fixing bolt that matches the fixing groove.

[0012] The beneficial effects of this utility model are:

[0013] 1. The binocular infrared vision tunneling positioning and pose detection device for this mine roadway, through the design of adjustment and connection components, can flexibly adjust the position and angle of the light source control box and the monocular infrared camera according to the complex and ever-changing spatial environment in the mine, such as irregular cross-sections, obstacle distribution, and sharp bends in the roadway. This avoids obstruction of the binocular vision system's field of view, ensures an ideal imaging angle, and acquires accurate image information, thereby improving the accuracy of positioning and pose measurement and ensuring that the straightness and slope of the roadway tunneling meet the design requirements.

[0014] 2. The binocular infrared vision tunneling positioning and posture detection device for mine roadways effectively solves the heat dissipation problem in the closed environment of the mine by designing cooling fans inside the light source control box and the binocular vision computing control box, preventing the internal electronic components from degrading or even malfunctioning due to high temperature, and ensuring the stable operation of the device. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the light source control box and the binocular vision computing control box of this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the light source control box of this utility model;

[0017] Figure 3 This is a schematic diagram of the connection between the light source control box and the adjustment component of this utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the binocular vision computing control box of this utility model;

[0019] Figure 5 This is a structural schematic diagram of the binocular vision computing control box from the bottom viewpoint of this utility model;

[0020] Figure 6 This utility model Figure 5 -Enlarged structural diagram at point A;

[0021] Figure 7 This is a schematic diagram of the structure of the connecting component of this utility model.

[0022] In the diagram: 1. Light source control box; 2. Binocular vision computing control box; 3. Near-infrared light source; 4. Mounting base; 5. Adjustment component; 501. Fixing strip; 502. Stud; 503. Positioning nut; 504. First connecting block; 505. Second connecting block; 506. Arc-shaped vertical plate; 507. Lifting groove; 508. Positioning groove; 6. Monocular infrared camera; 7. Connecting component; 701. Displacement block; 702. Groove; 703. Slide groove; 704. Slider; 705. Bidirectional screw; 706. Limiting groove; 707. Slide column; 708. Fixing groove; 709. Fixing bolt; 8. Mounting groove; 9. Tilt sensor; 10. First power module; 11. First cooling fan; 12. Second power module; 13. Second cooling fan; 14. Displacement groove; 15. Arc-shaped displacement plate. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0024] Please refer to Figures 1 to 7 This utility model provides a technical solution: a binocular infrared vision tunneling positioning and posture detection device for mine roadways, including a light source control box 1 installed at the tail of the tunneling machine and a binocular vision calculation control box 2 installed at the top of the roadway. Four sets of near-infrared light sources 3 arranged in a rectangular pattern are fixedly installed on the upper side of the light source control box 1. A mounting base 4 is provided at the bottom of the light source control box 1. An adjustment component 5 is provided between the mounting base 4 and the light source control box 1. Two monocular infrared cameras 6 are arranged symmetrically on one side of the binocular vision calculation control box 2. A connecting component 7 is provided between the monocular infrared cameras 6 and the binocular vision calculation control box 2. An installation groove 8 is opened on the upper side of the binocular vision calculation control box 2. An angle sensor 9 is fixedly installed in the installation groove 8.

[0025] In this embodiment, a first power module 10 and a first cooling fan 11 are fixedly installed inside the light source control box 1. The first power module 10 is electrically connected to the near-infrared light source 3 and the first cooling fan 11. A second power module 12, a signal trigger, a Windows industrial computer, and a second cooling fan 13 are fixedly installed inside the binocular vision computing control box 2. The signal trigger is used to synchronously trigger two monocular infrared cameras 6 to acquire images. The Windows industrial computer receives the synchronous images acquired by the monocular infrared cameras 6 and the tilt data acquired by the tilt sensor 9. It identifies the light emission point of the near-infrared light source 3 through image processing and calculates the three-dimensional position of the light source control box 1 relative to the binocular vision computing control box 2 based on the binocular vision principle. The adjustment component 5 includes a fixing strip 501 fixedly connected to one side of the light source control box 1. Studs 502 are fixedly connected to both sides of the outer end of the fixing strip 501. Positioning nuts 503 are threaded onto both sides of the studs 502. A first connecting block 504 is fixedly connected to the bottom of the light source control box 1. A second connecting block 505, which rotatably engages with the first connecting block 504, is fixedly connected to the upper side of the mounting base 4. An arc-shaped vertical plate 506 is fixedly connected to the side of the mounting base 4 away from the first connecting block 504. A lifting groove 507, which slidably engages with the fixing strip 501, is opened through the middle of the arc-shaped vertical plate 506. A positioning groove 508, which slidably engages with the studs 502, is opened through one side of the arc-shaped vertical plate 506.

[0026] Specifically, the adjustment component 5 can flexibly adjust the installation angle and position of the light source control box 1. By loosening the positioning nut 503, the fixing bar 501 slides within the lifting groove 507. Simultaneously, the rotational cooperation between the first connecting block 504 and the second connecting block 505 enables the angle rotation of the light source control box 1. After adjustment, the positioning nut 503 is tightened for fixation. The four sets of near-infrared light sources 3 installed on the light source control box 1 at the tail of the tunneling machine continuously emit light under the power supply of the first power module 10, serving as positioning reference marks. Meanwhile, the binocular vision computing control box installed at the top of the tunnel... The signal trigger inside 2 synchronously triggers two monocular infrared cameras 6 to acquire images containing the light emission point of the near-infrared light source 3. The synchronous images acquired by the monocular infrared cameras 6 and the tilt angle data acquired by the tilt angle sensor 9 in the mounting slot 8 are transmitted to the Windows industrial control computer. The industrial control computer identifies the light emission point of the near-infrared light source 3 through image processing algorithms. Utilizing the principle of binocular vision, based on the image information obtained from different perspectives of the two monocular infrared cameras 6, it calculates the three-dimensional position and attitude angle of the light source control box 1 relative to the binocular vision calculation control box 2, thereby determining the posture of the tunneling machine.

[0027] In this embodiment, a displacement groove 14 is provided at a right angle on one side of the lower part of the binocular vision computing control box 2. Two arc-shaped displacement plates 15, corresponding to the two monocular infrared cameras 6, are slidably fitted within the displacement groove 14. The connecting assembly 7 includes a displacement block 701 fixedly connected to the bottom of the monocular infrared camera 6. A groove 702, cooperating with the displacement block 701, is provided on the outer side of the arc-shaped displacement plate 15. A sliding groove 703 is provided inwardly on the inner wall of the arc-shaped part of the displacement groove 14. A double-ended extension tube, with one end penetrating to the side of the binocular vision computing control box 2, is rotatably fitted into the inner wall of the sliding groove 703. The screw 705 and the two arc-shaped displacement plates 15 are each fixedly connected to a slider 704 that slides in the groove 703. The two ends of the bidirectional screw 705 pass through the two sliders 704 and are threaded to them. The inner wall of the groove 702 is provided with limit grooves 706 on both sides. The bottom of the groove 702 is fixedly connected to a sliding column 707 that slides in the limit groove 706. The bottom wall of the groove 702 is provided with multiple fixing grooves 708. The side of the groove 702 is threaded with a fixing bolt 709 that mates with the fixing groove 708.

[0028] Specifically, the connecting component 7 can adjust the position of the monocular infrared camera 6. Rotating the bidirectional screw 705 causes the slider 704, which is threaded with it, to slide in the groove 703, thereby moving the arc-shaped displacement plate 15. The monocular infrared camera 6 can be finely adjusted in the groove 702 through the displacement block 701 cooperating with the groove 702, and is fixed by the fixing bolt 709 cooperating with the fixing groove 708.

[0029] In mine tunneling operations, a binocular infrared vision tunneling positioning and posture detection device is activated. First, the first power module 10 in the light source control box 1, installed at the tail of the tunneling machine, powers four sets of near-infrared light sources 3, causing them to emit light continuously as reference markers for positioning. Simultaneously, in the binocular vision computing control box 2 installed at the top of the tunnel, a signal trigger synchronously triggers two monocular infrared cameras 6 to acquire images containing the emission points of the near-infrared light sources 3. The acquired images, along with the tilt angle data collected by the tilt sensor 9 in the mounting slot 8, are transmitted to a Windows industrial computer. The industrial computer uses image processing algorithms to identify the emission points of the near-infrared light sources 3 and, based on the principle of binocular vision, uses image information acquired from different angles by the two monocular infrared cameras 6 to calculate the three-dimensional position and attitude angle of the light source control box 1 relative to the binocular vision computing control box 2, thereby determining the posture of the tunneling machine. This process is crucial during the installation and operation of the device. If adjustments are needed, the positioning nut 503 can be loosened by adjusting component 5, allowing the fixing bar 501 to slide within the lifting groove 507. The angle of the light source control box 1 can be adjusted by the rotational engagement of the first connecting block 504 and the second connecting block 505. After adjustment, the positioning nut 503 is tightened for fixation. The bidirectional screw 705 is rotated by connecting component 7, causing the slider 704 to slide within the groove 703, thus moving the arc-shaped displacement plate 15. The monocular infrared camera 6 is finely positioned within the groove 702 by the engagement of the displacement block 701 and the groove 702, and is fixed by the fixing bolt 709 and the fixing groove 708. Furthermore, during operation, the first cooling fan 11 within the light source control box 1 and the second cooling fan 13 within the binocular vision computing control box 2 operate under the power supply of their respective power modules, promptly dissipating the heat generated by the internal electronic components and ensuring the device remains in a normal operating temperature environment, thus ensuring continuous and stable detection and feedback of the tunneling machine's position and attitude.

[0030] Among them, the single-lens infrared camera 6 has a spectral range of 850nm, and the four sets of near-infrared light sources 3 also have a spectral range of 850nm; the tilt sensor 9 adopts the SVG626T model of Yongwei Sensing, and its specific structure and working principle are common knowledge in the field and are not the innovation of this invention, so they will not be described in detail here.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model.

[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A binocular infrared vision tunneling positioning and pose detection device for mine roadway, comprising a light source control box (1) installed at the tail of a tunneling machine and a binocular vision calculation control box (2) installed at the top of the roadway, characterized in that: Four sets of near-infrared light sources (3) arranged in a rectangular pattern are fixedly installed on the upper side of the light source control box (1). A mounting base (4) is provided at the bottom of the light source control box (1). An adjustment component (5) is provided between the mounting base (4) and the light source control box (1). Two monocular infrared cameras (6) are arranged symmetrically on one side of the binocular vision computing control box (2). A connecting component (7) is provided between the monocular infrared camera (6) and the binocular vision computing control box (2). An installation groove (8) is opened on the upper side of the binocular vision computing control box (2). An tilt sensor (9) is fixedly installed in the installation groove (8).

2. The binocular infrared vision tunneling positioning and pose detection device according to claim 1, characterized in that: The light source control box (1) is internally fixedly equipped with a first power module (10) and a first cooling fan (11). The first power module (10) is electrically connected to the near-infrared light source (3) and the first cooling fan (11). The binocular vision computing control box (2) is internally fixedly equipped with a second power module (12), a signal trigger, a Windows industrial computer, and a second cooling fan (13).

3. The binocular infrared vision tunneling positioning and pose detection device according to claim 2, characterized in that: The signal trigger is used to synchronously trigger two monocular infrared cameras (6) to acquire images. The Windows industrial control computer receives the synchronous images acquired by the monocular infrared cameras (6) and the tilt data acquired by the tilt sensor (9). It identifies the light-emitting point of the near-infrared light source (3) through image processing and calculates the three-dimensional position and attitude angle of the light source control box (1) relative to the binocular vision calculation control box (2) based on the binocular vision principle.

4. The binocular infrared vision tunneling positioning and pose detection device according to claim 1, characterized in that: The adjustment component (5) includes a fixing strip (501) fixedly connected to one side of the light source control box (1). Both sides of the outer end of the fixing strip (501) are fixedly connected with studs (502), and both sides of the studs (502) are threaded with positioning nuts (503).

5. The binocular infrared vision tunneling positioning and pose detection device for mine roadways according to claim 4, characterized in that: The bottom of the light source control box (1) is fixedly connected to a first connecting block (504), and the upper side of the mounting base (4) is fixedly connected to a second connecting block (505) that rotates with the first connecting block (504). An arc-shaped vertical plate (506) is fixedly connected to the side of the mounting base (4) away from the first connecting block (504). A lifting groove (507) that slides with the fixing strip (501) is opened through the middle of the arc-shaped vertical plate (506), and a positioning groove (508) that slides with the stud (502) is opened through one side of the arc-shaped vertical plate (506).

6. The binocular infrared vision tunneling positioning and pose detection device for mine roadways according to claim 1, characterized in that: A displacement groove (14) is provided at a right angle on one side below the binocular vision computing control box (2). Two arc-shaped displacement plates (15) corresponding to the two monocular infrared cameras (6) are slidably fitted in the displacement groove (14). The connecting assembly (7) includes a displacement block (701) fixedly connected to the bottom of the monocular infrared camera (6). A groove (702) that cooperates with the displacement block (701) is provided on the outer side of the arc-shaped displacement plate (15).

7. The binocular infrared vision tunneling positioning and pose detection device for mine roadways according to claim 6, characterized in that: The inner wall of the arc-shaped displacement groove (14) is provided with a sliding groove (703). The inner wall of the sliding groove (703) is rotatably fitted with a bidirectional screw (705) that extends through one end to the side of the binocular vision computing control box (2). Each side of the two arc-shaped displacement plates (15) is fixedly connected with a slider (704) that slides in the sliding groove (703). The two ends of the bidirectional screw (705) pass through the two sliders (704) respectively and are threadedly fitted to them.

8. The binocular infrared vision tunneling positioning and pose detection device for mine roadways according to claim 7, characterized in that: The inner wall of the groove (702) has a limiting groove (706) on both sides. The bottom of the groove (702) is fixedly connected to a sliding column (707) that slides in the limiting groove (706). The bottom wall of the groove (702) has multiple fixing grooves (708). One side of the groove (702) is threaded with a fixing bolt (709) that matches the fixing groove (708).

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