CN107131837A - A kind of rocker arm of coal mining machine mining height vision measuring method - Google Patents
A kind of rocker arm of coal mining machine mining height vision measuring method Download PDFInfo
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- CN107131837A CN107131837A CN201710442853.4A CN201710442853A CN107131837A CN 107131837 A CN107131837 A CN 107131837A CN 201710442853 A CN201710442853 A CN 201710442853A CN 107131837 A CN107131837 A CN 107131837A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a kind of rocker arm of coal mining machine mining height vision measuring method, square positioning mark is installed on rocker arm of coal mining machine and fuselage respectively, and IMAQ is carried out to coal-winning machine by video camera；Noise reduction process is carried out to the target image collected, the positioning mark after noise reduction process in image is extracted；Edge lines fitting is carried out to each positioning mark, four apex coordinates of each positioning mark are obtained；The positioning obtained according to step 3 identifies respective apex coordinate and obtains two angles positioned between mark, according to the rocking arm mining heights of the angle coal-winning machine between rocking arm brachium and two positioning marks.The present invention utilizes contactless vision measurement technology, can automatic measurement go out inclination angle of the rocking arm relative to fuselage in coal-winning machine video image, the measurement result degree of accuracy is high, provided the necessary technical support for mine shearer rocking arm mining height measurement, with significant economic benefit and higher engineering application value.
Description
Technical field
The invention belongs to mining equipment monitoring running state field, more particularly to a kind of rocker arm of coal mining machine mining height vision measurement
Method.
Background technology
Mining height of coal mining machine is the important parameter of coal-winning machine operating mode, therefore rocker arm of coal mining machine inclination angle detection is very necessary.At present
Mining height of coal mining machine the general measuring method for all using contact of measurement, wherein, using rotary encoder to its rocking arm inclination angle
Measurement, this method installation difficulty；Rocking arm is also calculated indirectly to rocking arm oil cylinder displacement measurement using magnetic telescopic sensor
Inclination angle, but because the rocking arm of coal-winning machine operationally has larger forced vibration, the service life of both sensors is all very short,
The development of the serious intelligent control for limiting coal-winning machine.
The content of the invention
For the defect and deficiency of existing technology of preparing, it is an object of the invention to provide a kind of rocker arm of coal mining machine mining height vision
Measuring method, solves the problem of existing detection method has detection means installation difficulty and not high accuracy of detection.
To achieve these goals, the present invention, which is adopted the following technical scheme that, is achieved：
A kind of rocker arm of coal mining machine mining height vision measuring method, comprises the following steps：
Step one：Square positioning mark is installed on rocker arm of coal mining machine and fuselage respectively, and by video camera to coal-winning machine
Carry out IMAQ；
Step 2：Noise reduction process is carried out to the target image collected, the positioning mark in image after noise reduction process is extracted
Know；
Step 3：Edge lines fitting is carried out to each positioning mark, four apex coordinates of each positioning mark are obtained,
Concretely comprise the following steps：
Step 3.1：To center spacing and size distribution receptive field of j-th of positioning mark according to setting, using (r*2+
1) * (r*2+1) mask, j=1,2, N be the number of positioning marking plate, and r is receptive field cell radius, mask center and impression
Wild cell centre is overlapped；
Step 3.2：Each receptive field mask gradient direction is calculated using gradient operator, by mask gradient direction to each
Receptive field direction is qualitatively judged, so as to be respectively divided out on top edge, lower edge, left hand edge and the right hand edge of positioning mark
The receptive field cell of distribution；
Step 3.3：Using receptive field model, the response of each receptive field of top edge direction is calculated, according to single impression
The contrast fringes position of pixel formation and the relation of receptive field centre distance in wild, it is determined that each receptive field center is to receptive field
Then interior contrast fringes fit marking plate top edge to the distance at receptive field center using the LEAST SQUARES MODELS FITTING of belt restraining
Place straight line；
Step 3.4：Repeat step 3.3, is carried out to straight line where the lower edge, left hand edge, right hand edge of positioning mark respectively
Fitting；
Step 3.5：According to the top edge of fitting, lower edge, four linear equations of left hand edge and right hand edge, obtain j-th
Position four apex coordinates of mark；
Step 3.6：3.1~step 3.5 of repeat step, obtains four apex coordinates of all positioning marks.
Step 4：The positioning obtained according to step 3 identifies respective apex coordinate and obtains two folders positioned between mark
Angle, the mining height h of rocker arm of coal mining machine is calculated by following formula (1) and (2)
H=L*sin (θ-θ0) (1)
Wherein, L is the brachium of rocking arm, and θ is the angle between two positioning marks；
njThe vector formed for the summit ξ and summit υ of j-th of positioning mark, j=1,2, i=1,2,3,4, will each it determine
The summit in the bit identification upper left corner is used as first coordinate P1, remaining coordinate is sequentially distributed in the direction of the clock, and ξ ∈ i, υ ∈ i, ξ ≠
υ；(xji,yji) for j-th positioning mark summit i-th of summit image coordinate, (Xji,Yji,Zji) identified for j-th of positioning
The photocentre coordinate on i-th of summit on summit；
Bj1=xj2yj3-xj4yj3+xj4yj2-xj2yj4+xj3yj4-xj3yj2
Bj2=xj3yj4-xj4yj3-xj1yj4-xj4yj1+xj1yj3-xj3yj1
Bj3=xj1yj2-xj4yj2-xj2yj1-xj1yj4+xj4yj1-xj2yj4
Bj4=xj3yj2-xj2yj3+xj1yj3-xj2yj1-xj1yj2-xj3yj1
Wherein, ljThe distance between summit ξ and summit υ for j-th of positioning mark, C are the effective focal length of video camera.
Further, described step two includes：
Step 2.1：Self-adaption binaryzation pretreatment is carried out to the every frame target image collected；
Step 2.2：The positioning mark in pretreated target image is carried using the method based on connected component
Take.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention utilize contactless vision measurement technology, can automatic measurement go out rocking arm phase in coal-winning machine video image
For the inclination angle of fuselage, the measurement result degree of accuracy is high, is that mine shearer rocking arm mining height measurement provides the necessary technical branch
Hold, with significant economic benefit and higher engineering application value.
Brief description of the drawings
Fig. 1 is flow chart of the invention.
Installation site figures of the Fig. 2 for present invention positioning mark in coal-winning machine.
Fig. 3 is the image after the image that the inventive method is gathered and its processing, (a) original image, the pretreatment of (b) binaryzation
Image afterwards, the positioning mark that (c) is extracted.
Explanation is further explained in detail to the particular content of the present invention with reference to embodiments.
Embodiment
The present invention is explained to coordinate system used herein first：
Photocentre coordinate system (camera coordinates system)：Using the photocentre of camera as the origin of coordinates, X-axis, Y-axis are respectively parallel to CCD and put down
The optical axis coincidence of two vertical edges in face, Z axis and camera；Image coordinate system：The origin of coordinates is at the center of ccd image plane, X
Axle, Y-axis are respectively parallel to two vertical edges of CCD planes；Pixel coordinate system：The origin of coordinates in the upper left corner of ccd image plane,
U axles, V axles are respectively parallel to the X-axis of image coordinate, Y-axis.
A kind of rocker arm of coal mining machine mining height vision measuring method of the present invention, comprises the following steps：
Step one：Square positioning mark is installed on rocker arm of coal mining machine and fuselage bearing pin respectively, and by video camera to adopting
Coal machine carries out IMAQ, and typically video camera is arranged on coal-winning machine, Fig. 2 is specifically shown in；
Step 2：Noise reduction process is carried out to the target image collected, the positioning mark after pretreatment in image is extracted,
Wherein, there are two positioning marks in each image；
Step 2.1：Self-adaption binaryzation pretreatment is carried out to the every frame target image collected；
Step 2.2：The positioning mark in pretreated target image is carried using the method based on connected component
Take；
Step 3：Edge lines fitting is carried out to each positioning mark, four apex coordinates of each positioning mark are obtained,
Specially：
Step 3.1：To center spacing and size distribution receptive field of j-th of positioning mark according to setting, using (r*2+
1) * (r*2+1) mask, j=1,2, r be receptive field cell radius, and mask center is overlapped with receptive field cell centre；
Step 3.2：Each receptive field mask gradient direction is calculated using gradient operator；
Each receptive field direction is qualitatively judged by mask gradient direction, so that positioning mark is respectively divided out
The receptive field cell being distributed on top edge, lower edge, left hand edge and right hand edge；
Step 3.3：Using receptive field model, the response S of each receptive field of top edge direction is calculated,
S=S1-S2 (2)
Wherein, σD=rD/ 4, σS=rS/4；rDAnd rSRepresent the center and perimeter region of receptive field (also comprising center respectively
The great circle in area) radius, when h (u, v, η) represents contrast to stimulate coverage rate be η, stimulate strong positioned at the pixel of pixel (u, v)
Degree, is 1 for the point value that pixel value in bianry image is 255, the point value that pixel value is 0 is 0；
S1For receptive field center response, S2For the response of receptive field neighboring area, DlFor positioned at receptive field center
Pixel, SeFor positioned at the pixel of receptive field neighboring area, l=0,1,2 ..., f, e=1,2 ..., m, f be positioned at sense
By the pixel of Yezhong heart district, m is the pixel number positioned at receptive field neighboring area.
According to the contrast fringes position of pixel formation and the relation of receptive field centre distance in single receptive field, it is determined that often
Individual receptive field center is to the interior fitting contrast fringes of receptive field apart from dh, h=1, wherein 2 ..., n, n represent receptive field cell
Number.
Assuming that linear equation (a, b) (u, v) where edgeT+ c=0, according to the range formula of point to straight line：
Wherein, (uh, vh) it is the coordinate points that receptive field center is fastened in pixel coordinate.
Straight line where the edge is fitted using the LEAST SQUARES MODELS FITTING of belt restraining；
Wherein, L (a, b, c, λ) represents Lagrangian, and λ is parameter；A, b, the c linear equation where the edge of fitting
Coefficient, U, V represent the n*1 matrixes being made up of the pixel coordinate of receptive field cell centre, and D represents dhThe n*1 matrixes of composition；
In constraints a2+b2Under=1, a, b, c optimal solutions (a are found*,b*,c*)；
Step 3.4：Repeat step 3.3, is carried out to straight line where the lower edge, left hand edge, right hand edge of positioning mark respectively
Fitting；
Step 3.5：According to the top edge of fitting, lower edge, four linear equations of left hand edge and right hand edge, obtain j-th
Position four apex coordinates of mark；
Step 3.6：3.1~step 3.5 of repeat step, obtains the apex coordinate of two positioning marks；
Step 4：The respective apex coordinate of the two positioning marks obtained according to step 3 is obtained between two positioning marks
Angle, according to rocking arm brachium and two positioning mark between angle coal-winning machine rocking arm mining heights.
Step 4.1：Four apex coordinates that step 3 is obtained into positioning mark are converted into image coordinate (xji,yji), according to
Image coordinate and photocentre coordinate (Xji,Yji,Zji) relation, calculate j-th positioning mark in summit ξ and summit υ formation vector
nj；
Wherein, njFor the vector of summit ξ and summit the υ formation of j-th of positioning mark, j=1,2, i=1,2,3,4, ξ ∈
I, υ ∈ i, ξ ≠ υ；(xji,yji) for j-th positioning mark summit i-th of summit image coordinate, (Xji,Yji,Zji) it is jth
The photocentre coordinate on i-th of summit on individual positioning mark summit, the summit that each positioning is identified into the upper left corner is used as first coordinate
P1, remaining coordinate is sequentially distributed in the direction of the clock, as shown in Figure 2；
Bj1=xj2yj3-xj4yj3+xj4yj2-xj2yj4+xj3yj4-xj3yj2
Bj2=xj3yj4-xj4yj3-xj1yj4-xj4yj1+xj1yj3-xj3yj1
Bj3=xj1yj2-xj4yj2-xj2yj1-xj1yj4+xj4yj1-xj2yj4
Bj4=xj3yj2-xj2yj3+xj1yj3-xj2yj1-xj1yj2-xj3yj1
Wherein, ljThe distance between summit ξ and summit υ for j-th of positioning mark, C are the effective focal length of video camera；
Step 4.2：The mining height h of rocker arm of coal mining machine is calculated by following formula (1) and (2),
H=L*sin (θ-θ0) (1)
Wherein, L be rocking arm brachium, θ for coal-winning machine rocking arm in motion process, two positioning mark between folder
Angle, θ0For coal-winning machine rocking arm axis and coal-winning machine fuselage diameter parallel when, the angle between two positioning marks.
Specific embodiment of the invention given below is, it is necessary to which explanation is that the invention is not limited in implement in detail below
Example, all equivalents done on the basis of technical scheme each fall within protection scope of the present invention.
Embodiment
The present embodiment provides a kind of rocker arm of coal mining machine mining height vision measurement detection method, including：
Square positioning mark is installed on rocker arm of coal mining machine and fuselage respectively, when the rocking arm of coal-winning machine is parallel with fuselage,
IMAQ is carried out to coal-winning machine by the video camera on coal-winning machine fuselage, as shown in Fig. 2 will be imaged by a cross bar
Machine is suspended on a certain position of fuselage between two positioning marks, makes shooting function while photographing two positioning marks, rocking arm
Length be 500mm.
Self-adaption binaryzation pretreatment is carried out to the every frame target image collected, shown in result such as Fig. 3 (a)；
Extract the connected component in the pretreated hydraulic support image of binaryzation；Utilize the axial ratio and area information of connected component
Extract and identified with the positioning in segmentation hydraulic support image, image such as Fig. 3 (b) after extraction；
Each receptive field mask gradient direction is calculated using gradient operator, by gradient direction, to each receptive field direction
Qualitatively judged, so that the receptive field cell being distributed on the upper any edge of positioning mark is respectively divided out, shown in such as Fig. 3 (c)；
Using receptive field model, the response of each receptive field of positioning mark edge direction is calculated, according to pixel in single receptive field
The contrast fringes position of formation and the relation of receptive field centre distance, it is determined that each receptive field center is contrasted to fitting in receptive field
The distance at edge；
Straight line where the edge is fitted using the LEAST SQUARES MODELS FITTING of belt restraining；According to the top edge of fitting,
Lower edge, four linear equations of left hand edge and right hand edge, the pixel for calculating four summits that mark is positioned in development machine image are sat
Mark.
Using above-mentioned calculation formula (1) to (5) calculate obtain rocking arm it is parallel with fuselage when, two positioning identify angles be
1.5413°；
Rocker arm of coal mining machine is adjusted, when 19.1892 ° of rocking arm lifting, when mining height is 164.3443mm, IMAQ, weight is carried out
Multiple above-mentioned steps, the angle for calculating two positioning marks on now coal-winning machine is 20.6979 °, it is contemplated that initially angle is
1.5413 °, the actual angle for finally giving rocker arm of coal mining machine and fuselage is 19.1566 °, and mining height is 164.0756mm, this numerical value
With actual numerical value very close to therefore, the inventive method preferably can provide necessity for mine shearer rocking arm mining height measurement
Technical support.
Claims (2)
1. a kind of rocker arm of coal mining machine mining height vision measuring method, it is characterised in that comprise the following steps：
Step one：Square positioning mark is installed on rocker arm of coal mining machine and fuselage respectively, and coal-winning machine carried out by video camera
IMAQ；
Step 2：Noise reduction process is carried out to the target image collected, the positioning mark after noise reduction process in image is extracted；
Step 3：Edge lines fitting is carried out to each positioning mark, four apex coordinates of each positioning mark are obtained, specifically
Step is：
Step 3.1：To center spacing and size distribution receptive field of j-th of positioning mark according to setting, using (r*2+1) * (r*
Mask 2+1), j=1,2, N be the number of positioning marking plate, and r is receptive field cell radius, mask center and receptive field cell
Center superposition；
Step 3.2：Each receptive field mask gradient direction is calculated using gradient operator, by mask gradient direction to each impression
Wild direction is qualitatively judged, and is distributed so as to be respectively divided out on top edge, lower edge, left hand edge and the right hand edge of positioning mark
Receptive field cell；
Step 3.3：Using receptive field model, the response of each receptive field of top edge direction is calculated, according in single receptive field
The relation of contrast fringes position and the receptive field centre distance of pixel formation, it is determined that each receptive field center is to right in receptive field
Than the distance at edge to receptive field center, then marking plate top edge place is fitted using the LEAST SQUARES MODELS FITTING of belt restraining
Straight line；
Step 3.4：Repeat step 3.3, is fitted to straight line where the lower edge, left hand edge, right hand edge of positioning mark respectively；
Step 3.5：According to the top edge of fitting, lower edge, four linear equations of left hand edge and right hand edge, j-th of positioning is obtained
Four apex coordinates of mark；
Step 3.6：3.1~step 3.5 of repeat step, obtains four apex coordinates of all positioning marks.
Step 4：The positioning obtained according to step 3 identifies respective apex coordinate and obtains two angles positioned between mark, leads to
Cross following formula (1) and (2) calculate the mining height h of rocker arm of coal mining machine
H=L*sin (θ-θ0) (1)
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Bj1=xj2yj3-xj4yj3+xj4yj2-xj2yj4+xj3yj4-xj3yj2
Bj2=xj3yj4-xj4yj3-xj1yj4-xj4yj1+xj1yj3-xj3yj1
Bj3=xj1yj2-xj4yj2-xj2yj1-xj1yj4+xj4yj1-xj2yj4
Bj4=xj3yj2-xj2yj3+xj1yj3-xj2yj1-xj1yj2-xj3yj1
Wherein, ljThe distance between summit ξ and summit υ for j-th of positioning mark, C are the effective focal length of video camera.
2. rocker arm of coal mining machine mining height vision measuring method as claimed in claim 1, it is characterised in that：Described step two is wrapped
Include：
Step 2.1：Self-adaption binaryzation pretreatment is carried out to the every frame target image collected；
Step 2.2：The positioning mark in pretreated target image is extracted using the method based on connected component.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111127406A (en) * | 2019-12-10 | 2020-05-08 | 创维集团智能装备有限公司 | Back plate machining position adjusting method, terminal, system and storage medium |
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| CN201433792Y (en) * | 2009-07-17 | 2010-03-31 | 西安煤矿机械有限公司 | Real-time monitoring system for mining height of coal mining machine |
| CN101975061A (en) * | 2010-09-30 | 2011-02-16 | 三一重型装备有限公司 | Coal winning machine and mining height system thereof |
| CN102287186A (en) * | 2011-07-16 | 2011-12-21 | 西安煤矿机械有限公司 | Self-positioning system and self-positioning method for coal mining machine |
| CN205593503U (en) * | 2016-02-17 | 2016-09-21 | 神华集团有限责任公司 | A high detecting system is adopted to rocking arm that is used for single cylinder shortwall coal -winning machine |
| CN106568424A (en) * | 2016-10-27 | 2017-04-19 | 西安科技大学 | Machine vision-based coal cutter rocker arm mining height detection method |
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| CN201433792Y (en) * | 2009-07-17 | 2010-03-31 | 西安煤矿机械有限公司 | Real-time monitoring system for mining height of coal mining machine |
| CN101975061A (en) * | 2010-09-30 | 2011-02-16 | 三一重型装备有限公司 | Coal winning machine and mining height system thereof |
| CN102287186A (en) * | 2011-07-16 | 2011-12-21 | 西安煤矿机械有限公司 | Self-positioning system and self-positioning method for coal mining machine |
| CN205593503U (en) * | 2016-02-17 | 2016-09-21 | 神华集团有限责任公司 | A high detecting system is adopted to rocking arm that is used for single cylinder shortwall coal -winning machine |
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| CN111127406A (en) * | 2019-12-10 | 2020-05-08 | 创维集团智能装备有限公司 | Back plate machining position adjusting method, terminal, system and storage medium |
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