CN106052645B - A kind of boom-type roadheader spatial pose real-time detecting system and method - Google Patents

A kind of boom-type roadheader spatial pose real-time detecting system and method Download PDF

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Publication number
CN106052645B
CN106052645B CN201610141544.9A CN201610141544A CN106052645B CN 106052645 B CN106052645 B CN 106052645B CN 201610141544 A CN201610141544 A CN 201610141544A CN 106052645 B CN106052645 B CN 106052645B
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China
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laser
machine
tunnel
boom
development machine
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CN201610141544.9A
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Chinese (zh)
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CN106052645A (en
Inventor
董海波
刘停
杜雨馨
周玲玲
童敏明
梁良
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中国矿业大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

Abstract

A kind of boom-type roadheader spatial pose real-time detecting system of present invention proposition and method, including two cross laser transmitters, industrial control computer, two web cameras, two laser targets.Using machine vision technique as the acquisition mode of pose parameter, mathematical model is resolved by establishing heading machine pose, obtain fixed some offset on the section of tunnel on yaw angle, pitch angle, roll angle and the fuselage in development machine traveling process, that is the spatial pose of development machine, the correction control that can be used for during development machine is advanced automatically.The experimental results showed that the precision of the system institute detection angles is within the scope of 0.5 °, the precision of displacement is better than 20mm, and is about 5s with display speed per the processing of frame image, meets automatic, the accurate, requirement that positions in real time during roadway construction.

Description

A kind of boom-type roadheader spatial pose real-time detecting system and method
Technical field
The present invention relates to a kind of spatial pose real-time detecting system of mining boom-type roadheader and methods, belong to extractive equipment Using with machine vision applications field.
Background technology
Boom-type roadheader is a kind of common mining machinery, is widely used in the excavation in coal mine roadway and tunnel.
Currently, the tunneling process of development machine relies primarily on laser target and is oriented to and manually estimates realization, is vulnerable to scene Light and the factors interference such as artificial cause enterprise's coal mining inefficiency even to be drawn to cause to the backbreaking of tunnel, owe to dig phenomenon Send out safety problem.Therefore, it realizes that the automation of development machine tunneling process and intelligence just seem particularly urgent, and to solve to tunnel The automatic and accurate driving of machine must just complete the automatic real-time detection to its fuselage spatial pose parameter.It is regarded based on stereo computer The machine body of boring machine pose detection technique of feel, technical spirit are exactly instead of human eye using machine vision technique come detection and analysis The pose of Rigid Body In Space has the characteristics that hardware cost is low, easy to operate, high certainty of measurement using the technical solution.
Have patent of invention such as Publication No. CN101819036A and publication number CN102878976A, is all made of three-dimensional calculating The principle of machine vision measures the fuselage pose parameter of development machine, but when establishing model due to such patent of invention, using dot laser Source is as direction unit, therefore the point light source that there is the transmitting of laser alignment unit is easily blocked, to cause measuring system accurate Property is poor, unstable, and heading machine pose parameter can not be detected by even resulting in.So such invention has limitation, it cannot be into one Step is promoted.
Invention content
Patent of the present invention is directed to the deficiency of background technology, proposes a kind of boom-type roadheader spatial pose real-time detecting system And method, it can real-time and accurately detect the spatial pose parameter of machine body of boring machine, and with strong interference immunity, stability height etc. Feature.
To achieve the goals above, the present invention is achieved by the following technical solutions:
Patent of the present invention is a kind of boom-type roadheader spatial pose real-time detecting system and method, can obtain driving in real time The pose parameter of machine includes the coordinate of yaw angle α, pitch angle β, roll angle γ and fuselage central point D (dx, dy, dz), by In in practical operation Chinese herbaceous peony it is little for the correction use of development machine away from L (i.e. dy), therefore the detecting system and method are only counted The fixed value for a little obtaining dx and dz on machine body of boring machine is calculated.
Further, the system comprises two cross laser transmitters, an industrial control computer, two network shootings Machine, two laser targets.
Further, two cross laser transmitters are mine anti-explosion cross laser transmitter, and vertical suspension is fixed In back, emit cross laser signal to described two laser targets respectively.
Further, described two laser targets are separately fixed at the left front and right back of machine body of boring machine horizontal plane, Projection for the cross laser for receiving the cross laser transmitter transmitting.
Further, two web cameras are mine anti-explosion web camera, are respectively arranged in described two sharp The dead astern of cursor target is imaged for acquiring the development machine time of running in the cross laser of the laser target.
Further, the industrial control computer can handle a large amount of graphics datas in real time, by with two networks Video camera connects, and extracts the imaging on the left and right laser target of the web camera acquisition respectively and carries out image procossing and spy Levy parameter extraction.
Further, web camera acquisition image is handled through the industrial control computer and extracts feature ginseng After number, the coordinate of the optical characteristic point of laser image can be calculated from the laser target target surface, including the cross swashs The coordinate of cross laser and the laser target target surface intersection point that optical transmitting set is launched, the cross laser transmitter are launched The center point coordinate that is projected in the laser target target surface of cross laser.
Further, according to tunnel coordinate system and fuselage coordinates system bi-coordinate system model and the above-mentioned characteristic point calculated Coordinate carries out pose resolving, finally obtains spatial pose parameter of the development machine under the coordinate system of tunnel, i.e. yaw angle α, pitch angle The value of β, roll angle γ, left and right offset distance dx and upper and lower offset distance dz.
Compared with the prior art, present invention has the advantages that:
Machine vision technique is applied to boom-type roadheader fuselage pose detecting system by the present invention, by hardware-software, Has the characteristics that at low cost, easy to operate, high certainty of measurement.In addition, the present invention also uses diesis laser emitter, effectively solve The problem that measuring system caused by point light source of having determined easily is blocked is unstable, measurement result is inaccurate, have strong interference immunity, at The features such as this is controllable, has certain market popularization value.
Description of the drawings
Attached drawing 1 is development machine of the present invention and measuring apparatus mutual alignment figure;
Attached drawing 2 is tunnel coordinate system of the present invention and machine body of boring machine coordinate system illustraton of model;
Attached drawing 3 is development machine spatial pose overhaul flow chart of the present invention;
Attached drawing 4 is bi-coordinate system fuselage pose mathematical model vector of the present invention and angular transition schematic diagram;
Attached drawing 5 is that laser target imaging features point of the present invention resolves schematic diagram;
Attached drawing 6 is that development machine spatial pose of the present invention resolves schematic diagram;
Attached drawing 7 is fuselage coordinates system of the present invention and tunnel coordinate system coordinate transition diagram.
Specific implementation mode
In order to be more clearly understood that above-mentioned purpose, the feature, advantage of the present invention, below in conjunction with the accompanying drawings and it is embodied Mode is further elaborated on the present invention.
Equipment is installed and the foundation of model:
Shown in refer to the attached drawing 1, patent of the present invention is a kind of boom-type roadheader spatial pose real-time detecting system and method, Including two cross laser transmitters 1,2, two laser targets 4,6, two web cameras 5,7 and an industrial control computer.
Back is fixed in vertical suspension to two cross laser transmitters 1,2 respectively, when installation, ensures two beam water Flat laser, which is overlapped and is parallel to development machine, presets direction of travel, the cross laser that two cross laser transmitters 1,2 emit What beam was spatially formed, including the plane in horizontal and vertical directions is vertical with the laser target plane 4,6 respectively, Apart from equal, two laser emitter spacing are l for two laser emitter centers and tunnel central axes;It is described two Laser target 4,6 is separately fixed at the left front and right back of machine body of boring machine horizontal plane, and when installation ensures described two laser Target is parallel to the vertical face of machine body of boring machine and the initial imaging on described two laser targets respectively of two beam cross lasers Positioned at center;Two web cameras 5,7 are installed on the dead astern of target, and adjust mutual distance, to protect Demonstrate,prove the integrality of imaging.
Shown in refer to the attached drawing 2 and attached drawing 4, tunnel coordinate system and fuselage coordinates system bi-coordinate system fuselage pose mathematical modulo are established Type, the model needs drift section coordinate system are OhXhYhZh, machine body of boring machine center line described in the initial position moment in tunnel Line overlaps, the tunnel coordinate origin OhPositioned at the geometric center of drift section, XhAxis is directed toward on the right side of tunnel, YhAxis and tunnel Axis parallel is simultaneously directed toward development machine direction of advance, ZhIt is positive direction that axis, which vertically constitutes right hand relationship and is orientated with upper two axis,.
The fuselage coordinates system is ObXbYbZbIt establishes on machine body of boring machine, origin ObOn fuselage central axes, first X when beginning positionb、Yb、ZbThree axis respectively with Xh、Yh、ZhThree axis are parallel.
The model can be reduced to the determination of cuboid rigid body pose under the coordinate system of tunnel, the i.e. X of fuselage coordinates systemb、Yb、 ZbVector under the coordinate system of tunnelAnd coordinate of any point under the coordinate system on rigid body.
Wherein, the transformational relation of the normal vector and α, β, γ of three planes of fuselage under fuselage coordinates system is:
And then can obtain,
Machine body of boring machine pose detects overall flow:
Shown in refer to the attached drawing 3, first using the industrial control computer to described in being extracted in two web cameras Imaging on two laser targets is sampled, and periodically can sample a frame image to collected video flowing.
Further, it handles image using the industrial control computer and extracts characteristic parameter, first use Retinex image enhancements Algorithm carries out adaption brightness adjusting to image, since the image collected produces larger barrel distortion, therefore need to be to image Distortion correction is carried out, then by filtering out unwanted laser rays in two target surface images to the processing of color, uses straight line The method of edge detection and the actual size installed according to target calculate the cross laser transmitter transmitting under fuselage coordinates system What the cross laser gone out was launched with the coordinate of the laser imaging target target surface intersection point and the cross laser transmitter respectively The coordinate that cross laser central point is imaged in the laser target surface.
The solution process refer to the attached drawing 4, with the laser target γ1For, respectively straight line is calculated under polar coordinates l1、l2With four reference point (P1-P4) line coordinate under image coordinate system of intersection point A, B, E, F, M, then converted by formula (1) To under fuselage coordinates system:
Wherein, (x, y) is 5 points of coordinates in image coordinate system, h P1、P4Between actual range, w P1、P3Between Actual range, (X, Y, Z) are 5 points of coordinates in fuselage coordinates system.
Further, according to above-mentioned two laser target γ1、γ1In 10 points coordinate, calculate tunnel cross sectional coordinate Fixed some offset on the section of tunnel on the yaw angle of development machine, pitch angle, roll angle and fuselage, that is, tunnel under system The spatial pose (α, β, γ, dx, dz) of machine.
Fuselage is with respect to yaw angle α, pitch angle β and the roll angle γ solution process refer to the attached drawing 6 under the coordinate system of tunnel, by institute The overlaying horizontal face for stating the generation of two cross laser transmitters is considered as face α, and left cross laser vertical plane is β1, right cross laser is perpendicular It faces directly as β2, right cross laser (α, β2) in target surface γ1Two intersecting straight lines of upper projection are AB, EF and meet at point M, left cross Laser (α, β1) in target surface γ2Two intersecting straight lines of upper projection are CD, GH and meet at point N.Because of face γ1With face γ2It is parallel, therefore Two straight line AB and CD that horizontal laser light face α is formed on the laser target target surface are mutually parallel, and pass through the image of previous step Processing and the actual size of the laser target can obtain γ with installation site1With γ2The specific coordinate of upper ten points, to Plane α is obtained in coordinate system ObXbYbZbUnder normal vectorWith plane equation.
In special circumstances, vectorialIt is parallel to vectorThe pitch angle β of development machine is zero at this time, and roll angle γ is straight Line CD and axis XbBetween angle, yaw angle α isWith when initial positionBetween angle;If vectorialIt is not parallel to VectorThenAs plane β1Normal vectorRespectively at tunnel cross-sectional coordinates Xh、ZhDirection It is identical, YhDirection beIt easily acquires, the point N ' on line segment CD extended lines meetsIt is i.e. right The central axis of cross laser.Thus by plane β1It is shifted to the right to plane β2Position, simulate cross laser ideally and throw Shadow effect provides condition for the accurate resolving of point coordinates.
Refer to the attached drawing 7, above-mentioned gainedFor fuselage coordinates system ObXbYbZbUnder fuselage direction vector, Coordinate conversion must be carried out again, obtain tunnel coordinate system OhXhYhZhThe direction vector of lower fuselage.Specific solution process is as follows:To square Battle array (Nx, Ny, Nz)TMatrixing is done, is multiplied with transition matrix R and is converted to unit matrix, you can obtain OhXhYhZhUnder coordinate system The unit vector of three axis.
NR=E (4)
VectorIn OhXhYhZhIt is unit matrix E under coordinate system, doing identical transformation to unit matrix obtains Matrix, as OhXhYhZhFuselage pose under coordinate system.
B=ER (5)
That is B=N-1, can be obtained
Fuselage can be obtained with respect to yaw angle α, pitch angle β and the roll angle γ under the coordinate system of tunnel by (2) formula again.
Fuselage is as follows with respect to the point coordinates solution process under the coordinate system of tunnel:
Further, to determine the pose of a rigid body in space, only know the deflection of three axis of body coordinate system not It can be accurately positioned, also need to obtain any point O on rigid body1Specific coordinate (O in space1x, O1y, O1z).It is positioned in development machine In system, development machine left and right, upper and lower offset distance on the section of tunnel is more more effective than the distance passed by along tunnel central shaft Help mine staff find development machine walking deviation and rectify a deviation in time.And since the detecting system is fixed using vision The method of position, can not definitely know the axial distance O between development machine and tunnel coordinate system coordinate origin1y, therefore the detecting system Resolving for point coordinates only calculates (O1x, O1z), i.e., the O on the section of tunnel1Offset distance of the point relative to section central point.
Refer to the attached drawing 6, straight line MN ' are right cross laser central axis, are parallel to the Y of tunnel cross-sectional coordinateshAxis.It is described Detecting system selects ObPoint is fuselage anchor point, seeks point ObIn face ZhOhXhThe upper offset relative to tunnel central axes can be first reduced to Seek point ObIt is being parallel to ZhOhXhProjection in one plane looks for a point O relative to the offset of MN ' subpoints on straight line MN '0, full FootPoint ObIn coordinate plane ZhOhXhCoordinate (dx, dz) computational methods of upper subpoint are as follows,
Undeclared part involved in the present invention is same as the prior art or is realized using the prior art.

Claims (6)

1. a kind of boom-type roadheader spatial pose real-time detecting system, which is characterized in that including:Two cross laser transmittings Device, an industrial control computer, two web cameras, two laser targets, wherein
Two cross laser transmitters are mine anti-explosion cross laser transmitter, and tunnel top is fixed in vertical suspension respectively Plate emits cross laser beam;
Described two laser targets are the translucent PC plate of frosting, after being fixed on the left front and the right side of machine body of boring machine horizontal panel Side is respectively used to receive the projection of the cross laser beam of the cross laser transmitter transmitting;
Two web cameras be mine anti-explosion web camera, be respectively arranged in described two laser targets just after Side, the acquisition development machine time of running are imaged in the cross laser of the laser target;
The industrial control computer extracts a left side for the web camera acquisition respectively by being connect with two web cameras Image on right laser target, and processing and characteristic parameter extraction are carried out, finally obtain sky of the development machine under the coordinate system of tunnel Between pose parameter.
2. a kind of boom-type roadheader spatial pose real-time detecting system according to claim 1, which is characterized in that described The installation of two cross laser transmitters need to ensure that two beam horizontal laser lights are overlapped and are parallel to development machine and preset direction of travel, described What the cross laser beam of two cross laser transmitters transmitting was spatially formed, including it is flat in horizontal and vertical directions Face is vertical with the laser target plane respectively, two cross laser transmitter centers and tunnel central axes apart from equal, Two cross lasers transmitter spacing is l.
3. a kind of boom-type roadheader spatial pose real-time detecting system according to claim 1, which is characterized in that described It need to ensure the tail plane for being parallel to machine body of boring machine when two laser target installations and two beam cross laser beams are respectively described Initial imaging on two laser targets is located at center.
4. a kind of boom-type roadheader spatial pose real-time detecting system according to claim 1, which is characterized in that described It need to ensure the dead astern for being located at the laser target when two web camera installations, and adjust distance between each other and ensure The integrality of imaging.
5. a kind of boom-type roadheader spatial pose real-time detecting system according to claim 1, which is characterized in that described Industrial control computer can handle Various types of data immediately, be mounted on inside development machine, be rigidly connected with development machine, pass through network connection Line is connect with two web cameras respectively, obtains the imaging of described two laser targets, and carry out image procossing and spy Parameter extraction is levied, spatial pose parameter of the development machine under the coordinate system of tunnel is finally calculated.
6. a kind of inspection of boom-type roadheader spatial pose real-time detecting system according to any one of claim 1 to 5 Survey method, which is characterized in that the cross laser transmitter being fixed on tunnel using two is to the corresponding laser mark Target is projected, when the web camera being then fixed on machine body of boring machine by two acquires development machine work in real time Imaging on the laser target, then using images such as Retinex algorithm for image enhancement, image distortion correction and straight-line detections Processing method handles collected vision signal, and finally resolving model using established pose obtains development machine traveling Fixed some offset on the section of tunnel on yaw angle in the process, pitch angle, roll angle and fuselage.
CN201610141544.9A 2016-03-11 2016-03-11 A kind of boom-type roadheader spatial pose real-time detecting system and method CN106052645B (en)

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