CN107131837B - 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 PDF

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CN107131837B
CN107131837B CN201710442853.4A CN201710442853A CN107131837B CN 107131837 B CN107131837 B CN 107131837B CN 201710442853 A CN201710442853 A CN 201710442853A CN 107131837 B CN107131837 B CN 107131837B
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msup
positioning
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CN107131837A (en
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张旭辉
杨文娟
刘永伟
毛清华
谢亚洲
谭厚志
张超
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Xian University of Science and Technology
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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
    • 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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  • General Physics & Mathematics (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a kind of rocker arm of coal mining machine mining height vision measuring methods, install square positioning mark on rocker arm of coal mining machine and fuselage respectively, and pass through video camera and carry out Image Acquisition to coalcutter；To the target image progress noise reduction process collected, the positioning after extraction noise reduction process in image identifies；Edge lines fitting is carried out to each positioning mark, obtains four apex coordinates of each positioning mark；The positioning obtained according to step 3 identifies respective apex coordinate and obtains the angle between two positioning marks, according to the rocking arm mining height of the angle coalcutter between rocking arm brachium and two positioning marks.The present invention utilizes contactless vision measurement technology, can automatic measurement go out in coalcutter video image rocking arm compared with the inclination angle of fuselage, measurement result accuracy is high, it provides the necessary technical support for mine shearer rocking arm mining height measurement, there is significant economic benefit and higher engineering application value.

Description

A kind of rocker arm of coal mining machine mining height vision measuring method
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 measurements Method.
Background technology
Mining height of coal mining machine is the important parameter of coalcutter 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 are difficult to install；Rocking arm is also calculated indirectly to rocking arm oil cylinder displacement measurement using magnetic telescopic sensor Inclination angle, but since the rocking arm of coalcutter has larger forced vibration at work, the service life of both sensors is all very short, The development of the serious intelligent control for limiting coalcutter.
The content of the invention
The defects of for existing technology of preparing and deficiency, the object of the present invention is to provide a kind of rocker arm of coal mining machine mining height visions Measuring method solves the problems, such as that existing detection method is not difficult to install high with accuracy of detection there are detection device.
To achieve these goals, the present invention is realised by adopting the following technical scheme：
A kind of rocker arm of coal mining machine mining height vision measuring method, comprises the following steps：
Step 1：Square positioning mark on rocker arm of coal mining machine and fuselage is installed respectively, and passes through video camera to coalcutter Carry out Image Acquisition；
Step 2：Noise reduction process is carried out to the target image that collects, extracts the positioning mark in image after noise reduction process Know；
Step 3：Edge lines fitting is carried out to each positioning mark, obtains four apex coordinates of each positioning mark, It concretely comprises the following steps：
Step 3.1：To j-th of positioning mark according to the center spacing of setting and size distribution receptive field, using (r*2+ 1) mask of * (r*2+1), j=1,2, N is position the number of marking plate, and r is receptive field cell radius, mask center and impression Wild cell centre overlaps；
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 the top edge of positioning mark, lower edge, left hand edge and right hand edge The receptive field cell of distribution；
Step 3.3：Utilize receptive field model, the response of the calculating each receptive field in top edge direction, according to single impression The contrast fringes position that pixel is formed in open country and the relation of receptive field centre distance, determine each receptive field center 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：Step 3.3 is repeated, straight line where the lower edge, left hand edge, right hand edge of positioning mark is carried out respectively Fitting；
Step 3.5：According to four top edge of fitting, lower edge, left hand edge and right hand edge linear equations, obtain j-th Position four apex coordinates of mark；
Step 3.6：Step 3.1~step 3.5 is repeated, obtains four apex coordinates of all positioning marks.
Step 4：The positioning obtained according to step 3 identifies respective apex coordinate and obtains the folder between two positioning marks Angle calculates the mining height h of rocker arm of coal mining machine 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 that the vertex ξ and vertex υ identified for j-th of positioning is formed, j=1,2, i=1,2,3,4, will each it determine The vertex in the bit identification upper left corner is 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 identify vertex i-th of vertex image coordinate, (Xji,Yji,Zji) identified for j-th of positioning The optical center coordinate on i-th of vertex on vertex；
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 vertex ξ and vertex υ for j-th of positioning mark, C are the effective focal length of video camera.
Further, the 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 based on the method for connected component It takes.
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 coalcutter video image For the inclination angle of fuselage, measurement result accuracy is high, provides the necessary technical branch for mine shearer rocking arm mining height measurement It holds, there is significant economic benefit and higher engineering application value.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 is installation site figure of the present invention positioning mark in coalcutter.
Fig. 3 is the image of the method for the present invention acquisition and its treated image, (a) original image, the pretreatment of (b) binaryzation Image afterwards, the positioning mark of (c) extraction.
Explanation is further explained in detail to the particular content of the present invention with reference to embodiments.
Specific embodiment
The present invention is first explained coordinate system used herein：
Optical center coordinate system (camera coordinates system)：Using the optical center of camera as coordinate origin, 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：Coordinate origin is in the center of ccd image plane, X Axis, Y-axis are respectively parallel to two vertical edges of CCD planes；Pixel coordinate system：Coordinate origin in the upper left corner of ccd image plane, U axis, V axis 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 1：Square positioning mark on rocker arm of coal mining machine and fuselage axis pin is installed respectively, and passes through video camera to adopting Coal machine carries out Image Acquisition, and generally video camera is mounted on coalcutter, is specifically shown in Fig. 2；
Step 2：Noise reduction process is carried out to the target image collected, the positioning mark after extraction pretreatment in image, 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 based on the method for connected component It takes；
Step 3：Edge lines fitting is carried out to each positioning mark, obtains four apex coordinates of each positioning mark, Specially：
Step 3.1：To j-th of positioning mark according to the center spacing of setting and size distribution receptive field, using (r*2+ 1) mask of * (r*2+1), 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 as to which positioning mark be 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 in top edge direction is calculated,
S=S1-S2 (2)
Wherein, σD=rD/ 4, σS=rS/4；rDAnd rSThe center of expression receptive field and perimeter region are (also comprising center respectively The great circle in area) radius, when h (u, v, η) represents comparison to stimulate coverage rate be η, stimulated positioned at the pixel of pixel (u, v) strong Degree, the point value for being 255 for pixel value in bianry image is 1, and the point value that pixel value is 0 is 0；
S1For receptive field center response, S2For the response of receptive field neighboring area, DlTo be located at receptive field center Pixel, SeTo be located 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 that pixel in single receptive field is formed and the relation of receptive field centre distance, determine every A receptive field center is to the distance d of fitting contrast fringes in receptive fieldh, h=1,2 ..., n, wherein 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, c are linear equation where the edge of fitting Coefficient, U, V represent the n*1 matrixes being made 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：Step 3.3 is repeated, straight line where the lower edge, left hand edge, right hand edge of positioning mark is carried out respectively Fitting；
Step 3.5：According to four top edge of fitting, lower edge, left hand edge and right hand edge linear equations, obtain j-th Position four apex coordinates of mark；
Step 3.6：Step 3.1~step 3.5 is repeated, 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 coalcutter rocking arm mining heights.
Step 4.1：Four apex coordinates that step 3 is obtained to positioning mark are converted into image coordinate (xji,yji), according to Image coordinate and optical center coordinate (Xji,Yji,Zji) relation, calculate the vector that vertex ξ and vertex υ are formed in j-th of positioning mark nj；
Wherein, njFor the vector that the vertex ξ and vertex υ of j-th of positioning mark are formed, j=1,2, i=1,2,3,4, ξ ∈ I, υ ∈ i, ξ ≠ υ；(xji,yji) for j-th positioning identify vertex i-th of vertex image coordinate, (Xji,Yji,Zji) it is jth Each positioning is identified the vertex in the upper left corner as first coordinate by the optical center coordinate on i-th of vertex on a positioning mark vertex 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 vertex ξ and vertex 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 be coalcutter rocking arm during the motion, two positioning mark between folders Angle, θ0When parallel with coalcutter fuselage axis for the rocking arm axis of coalcutter, the angle between two positioning marks.
Specific embodiments of the present invention are given below, 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 coalcutter is parallel with fuselage, Image Acquisition is carried out to coalcutter by being mounted on the video camera on coalcutter 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, and camera shooting function is made to take two positioning marks, rocking arm simultaneously Length be 500mm.
Self-adaption binaryzation pretreatment is carried out to the every frame target image collected, shown in handling 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 Extraction is 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 It is qualitatively judged, so as to which the receptive field cell being distributed on the upper any edge of positioning mark be respectively divided out, as shown in Fig. 3 (c)； Using receptive field model, the response that positioning identifies each receptive field of 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 determine each receptive field center to fitting comparison 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, Four lower edge, left hand edge and right hand edge linear equations, the pixel for calculating four vertex that mark is positioned in development machine image are sat Mark.
Using above-mentioned calculation formula (1) to (5) be calculated rocking arm it is parallel with fuselage when, two positioning mark 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, carries out Image Acquisition, weight Multiple above-mentioned steps, the angle for calculating two positioning marks on coalcutter at this time is 20.6979 °, it is contemplated that initially angle is 1.5413 °, the actual angle for finally obtaining rocker arm of coal mining machine and fuselage is 19.1566 °, mining height 164.0756mm, this numerical value With actual numerical value very close to therefore, the method for the present invention 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, including：
Step 1：Square positioning mark on rocker arm of coal mining machine and fuselage is installed respectively, and passes through video camera and coalcutter is carried out Image Acquisition；
Step 2：To the target image progress noise reduction process collected, the positioning after extraction noise reduction process in image identifies；
It is it is characterized in that, further comprising the steps of：
Step 3：Edge lines fitting is carried out to each positioning mark, obtains four apex coordinates of each positioning mark, specifically Step is：
Step 3.1：To j-th of positioning mark according to the center spacing of setting and size distribution receptive field, using (r*2+1) * (r* Mask 2+1), j=1,2, N is position the number of marking plate, and r is receptive field cell radius, mask center and receptive field cell Center overlaps；
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 the top edge of positioning mark, lower edge, left hand edge and right hand edge Receptive field cell；
Step 3.3：Utilize receptive field model, the response of the calculating each receptive field in top edge direction, according in single receptive field The relation of contrast fringes position and receptive field centre distance that pixel is formed determines each receptive field center to right in receptive field Than the distance at edge, straight line where then fitting marking plate top edge using the LEAST SQUARES MODELS FITTING of belt restraining；
Step 3.4：Step 3.3 is repeated, straight line where the lower edge, left hand edge, right hand edge of positioning mark is fitted respectively；
Step 3.5：According to four top edge of fitting, lower edge, left hand edge and right hand edge linear equations, j-th of positioning is obtained Four apex coordinates of mark；
Step 3.6：Step 3.1~step 3.5 is repeated, obtains four apex coordinates of all positioning marks；
Step 4：The positioning obtained according to step 3 identifies respective apex coordinate and obtains the angle between two positioning marks, leads to It crosses following formula (1) and (2) calculates the mining height h of rocker arm of coal mining machine,
H=L*sin (θ-θ0) (1)
<mrow> <mi>&amp;theta;</mi> <mo>=</mo> <msup> <mi>cos</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mfrac> <mrow> <mover> <msub> <mi>n</mi> <mn>1</mn> </msub> <mo>&amp;RightArrow;</mo> </mover> <mo>*</mo> <mover> <msub> <mi>n</mi> <mn>2</mn> </msub> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mrow> <mo>|</mo> <mover> <msub> <mi>n</mi> <mn>1</mn> </msub> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> <mo>*</mo> <mrow> <mo>|</mo> <mover> <msub> <mi>n</mi> <mn>2</mn> </msub> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Wherein, L is the brachium of rocking arm, and θ is the angle between two positioning marks；
njThe vector that the vertex ξ and vertex υ identified for j-th of positioning is formed, j=1,2, i=1,2,3,4, it will each position mark The vertex in the upper left corner is as first coordinate P1, remaining coordinate is sequentially distributed in the direction of the clock, ξ ∈ i, υ ∈ i, ξ ≠ υ；(xji, yji) for j-th positioning identify vertex i-th of vertex image coordinate, (Xji,Yji,Zji) it is that j-th of positioning identifies vertex The optical center coordinate on i-th of vertex；
<mrow> <msub> <mi>X</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> </mrow> <mi>C</mi> </mfrac> <mo>,</mo> <msub> <mi>Y</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> </mrow> <mi>C</mi> </mfrac> <mo>,</mo> <msub> <mi>Z</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mi>i</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>Cl</mi> <mi>j</mi> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msup> <mi>C</mi> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
<mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>Cl</mi> <mi>j</mi> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msup> <mi>C</mi> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
<mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mn>3</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>3</mn> </mrow> </msub> <msub> <mi>Cl</mi> <mi>j</mi> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msup> <mi>C</mi> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
<mrow> <msub> <mi>t</mi> <mrow> <mi>j</mi> <mn>4</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>4</mn> </mrow> </msub> <msub> <mi>Cl</mi> <mi>j</mi> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>x</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>y</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>B</mi> <mrow> <mi>j</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msup> <mi>C</mi> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
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 vertex ξ and vertex 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 described in claim 1, it is characterised in that：The step two is wrapped It 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 extracted using based on the method for connected component.
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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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Publication number Priority date Publication date Assignee Title
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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