CN107292926B - Crusing robot movement locus verticality measuring method based on more image sequences - Google Patents
Crusing robot movement locus verticality measuring method based on more image sequences Download PDFInfo
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- 230000004044 response Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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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
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/181—Segmentation; Edge detection involving edge growing; involving edge linking
Abstract
The invention discloses a kind of crusing robot movement locus verticality measuring method based on more image sequences, including：Rectangular positioning mark is disposed in the same position of each hydraulic support, hydraulic support image is acquired with video camera, distinguishes shooting figure picture when crusing robot walking is to every section scraper plate end, the often junction of section scraper plate and hydraulic support；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 angle between adjacent scraper plate is calculated, the movement locus of crusing robot is fitted according to the angle of scraper plate length and adjacent scraper plate, measures the straightness of movement locus.The present invention measures the movement locus straightness of working face crusing robot using contactless vision measurement technology, and accuracy is high, and control, the safe operation for working face provide the necessary technical support.
Description
Technical field
The invention belongs to mining equipment monitoring running state field more particularly to a kind of survey monitors based on more image sequences
Device people's movement locus verticality measuring method.
Background technology
Monitoring part of the crusing robot as working face, running orbit have reacted the straight line of current scratch board conveyor
It spends, therefore may determine that the operating condition of current fully-mechanized mining working by measuring the movement locus of crusing robot.Pass through at present
The modes such as encoder are installed on crusing robot to detect the displacement of robot, but can not to the straightness of its movement locus into
Row measures.
Invention content
The defects of for existing technology of preparing and deficiency, the object of the present invention is to provide a kind of patrolling based on more image sequences
Robot motion track verticality measuring method is examined, solves the problems, such as that installation encoder can not detect movement locus straightness.
To achieve these goals, the present invention is realised by adopting the following technical scheme：
Crusing robot movement locus verticality measuring method based on more image sequences, this method include N number of hydraulic pressure
Stent, there are one scraper plates, crusing robot to move, include the following steps along scraper plate for connection on each hydraulic support：
Step 1：Rectangular positioning marking plate is installed on each hydraulic support, the positioning on each hydraulic support
The position of marking plate is identical, when crusing robot walking is to every section scraper plate end, the often junction of section scraper plate and hydraulic support
Image is acquired respectively；
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 using receptive field cell model, obtains each positioning
Four apex coordinates of mark；
Step 4：Using visual imaging model, each apex coordinate of each positioning mark that step 3 obtains is carried out
Inverse transformation calculates, and obtains coordinate of each vertex of each positioning mark in optical center coordinate system；
Step 5：The angle between adjacent scraper plate is calculated using formula (1)；
Wherein, k=1,2 ..., N-1, N be marking plate number,For+1 marking plate of kth
I-th of apex coordinate, i are any one positioned in four vertex of marking plate；LkIt is fixed for k-th of scraper plate end and kth+1
Projector distance between bit identification plate in optical center coordinate system, lkFor+1 scraper plate end of kth and the positioning of kth+1 marking plate it
Between projector distance in optical center coordinate system, a is the length for often saving scraper plate；
Step 6：Using first shooting point as coordinate origin, using crusing robot along the first segment scraper plate direction of motion as X
Axis establishes horizontal plane two-dimensional coordinate system, according to scraper plate length along the first segment scraper plate direction of motion perpendicular to crusing robot for Y-axis
The angle β of a and adjacent scraper platekThe movement locus of crusing robot is fitted, measures the straightness of movement locus.
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；
Further, edge lines fitting, tool are carried out to each positioning mark using receptive field cell model in step 3
Body 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) mask of * (r*2+1), j=1,2 ..., N, N be position marking plate number, r be receptive field cell radius, mask center with
Receptive field 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：Using receptive field model, the response of each receptive field in top edge direction is calculated, according to single impression
The contrast fringes position that pixel is formed in open country and the relationship of receptive field centre distance, determine each receptive field center to receptive field
Then the distance of interior contrast fringes fits the straight line where 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 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.
Further, coordinate P of i-th of the vertex of j-th of positioning mark in optical center coordinate system in the step four
(Xji,Yji,Zji), i=1,2,3,4, it is calculated by formula (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 length of long sides or the length of side of square positioning mark identified for j-th of rectangle positioning, (xji,yji)
For the image coordinate on positioning mark vertex that step 3 obtains, C is the effective focal length of video camera.
Further, in step 6, first vertex of all positioning marks is taken, is carried out in the XOY plane of foundation straight
Line is fitted, and obtains straight line, then the straightness H of the movement locus of crusing robot is：
Wherein, L be video camera first shooting point and the last one shooting point air line distance, djFor j-th of positioning
First distance between vertex and fitting a straight line of mark, the maximum distance for taking fitting a straight line both sides is respectively dmax1And dmax2。
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention measures the movement locus straightness of working face crusing robot using contactless vision measurement technology,
Accuracy is high, and control, the safe operation for working face provide the necessary technical support.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 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.
Fig. 3 is the schematic diagram calculation of crusing robot movement locus.
Fig. 4 is coordinate when being fitted crusing robot movement locus.
Explanation is further explained in detail to the particular content of the present invention with reference to embodiments.
Specific embodiment
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：For coordinate origin at the center of ccd image plane, X-axis, Y-axis are respectively parallel to two of CCD planes
Vertical edges.
Pixel coordinate system：Coordinate origin is respectively parallel to the X of image coordinate in the upper left corner of ccd image plane, U axis, V axis
Axis, Y-axis.
The underground hydraulic support frame group pose measuring method based on more image sequences of the present invention, this method include N number of liquid
Stent is pressed, there are one scraper plates for connection on each hydraulic support, and the scraper plate is end to end, includes the following steps：
Step 1：Rectangular positioning marking plate is installed on each hydraulic support, the positioning on each hydraulic support
The installation site of marking plate is identical, and video camera is being installed, and pass through along the crusing robot moved with working face parallel direction
The video camera being fixedly mounted on crusing robot is acquired hydraulic support image：When crusing robot walking is scraped to every section
Shooting figure picture is distinguished when often saving the junction of scraper plate and hydraulic support in plate end, obtains 2N target image, N is positioning mark
Number；
Step 2：Noise reduction process is carried out to the target image collected, the positioning mark after extraction pretreatment in image,
Wherein, at least one positioning mark 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；
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, N be position marking plate number, r be receptive field cell radius, mask center with
Receptive field cell centre overlaps；
Step 3.2：Each receptive field mask gradient direction is calculated using gradient operator；
By mask gradient direction, each receptive field direction is qualitatively judged, so as to which positioning mark be respectively divided out
Top edge, lower edge, left hand edge, the receptive field cell being distributed on 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 (3)
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, h (u, v, η) represents comparison stimulation coverage rate when being η, and the pixel stimulation positioned at pixel (u, v) is 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 relationship of receptive field centre distance, determine every
The distance d of fitting contrast fringes in a receptive field center to 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 that the pixel coordinate by receptive field cell centre forms, 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 four apex coordinates of all positioning marks.
Step 4：Using visual imaging model, each apex coordinate of each positioning mark that step 3 obtains is carried out
Inverse transformation calculates, and coordinate P of each vertex of each positioning mark in optical center coordinate system be calculated by formula (2)
(Xji,Yji,Zji), i=1,2,3,4, it is calculated by formula (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, ljFor the length of side of j-th of positioning mark, rectangle is identified as if positioning, for the length of side of longer sides, (xji,
yji) it is the image coordinate on positioning mark vertex that step 3 obtains, C is the effective focal length of video camera.
Step 5：The angle between adjacent scraper plate is calculated using formula (1)；
βk=θk-γk (1)
Wherein, k=1,2 ..., N-1, N be marking plate number,For+1 marking plate of kth
I-th of apex coordinate, i are any one positioned in four vertex of marking plate；LkIt is fixed for k-th of scraper plate end and kth+1
Projector distance between bit identification plate in optical center coordinate system, lkFor+1 scraper plate end of kth and the positioning of kth+1 marking plate it
Between projector distance in optical center coordinate system, l0For the length of every section scraper plate, scraper plate length phase is often saved in crusing robot lower section
Together, often section scraper plate is corresponded with positioning mark.Such as β1For first segment scraper plate and second section scraper plate between angle, with such
It pushes away.
Fig. 3 show the schematic diagram calculation of crusing robot movement locus, wherein, P1 (1)The 1st for the 1st marking plate
Apex coordinate, P1 (2)For the 1st apex coordinate of the 2nd marking plate, coordinate origin O1For first segment scraper plate and first hydraulic pressure branch
The junction (i.e. the center of first segment scraper plate) of frame, O2For the end of first segment scraper plate, O2O4The distance between for one section scrape
The length l of plate0。
Step 6：Using first shooting point as coordinate origin, using crusing robot along the first segment scraper plate direction of motion as X
Axis establishes horizontal plane two-dimensional coordinate system, as shown in figure 4, sitting along the first segment scraper plate direction of motion perpendicular to crusing robot for Y-axis
Origin is marked in the junction of first segment scraper plate and first hydraulic support (i.e. the center of first segment scraper plate).It is scraped according to every section
Plate length l0With the angle β of adjacent scraper platekIt is fitted the movement locus of crusing robot；
First vertex of all positioning marks is taken, fitting a straight line is carried out in the XOY plane of foundation, obtains one directly
Line, using the straight line as datum line, then the straightness H of the movement locus of crusing robot is：
Wherein, L be video camera first shooting point and the last one shooting point air line distance, djFor j-th of positioning
First distance between vertex and fitting a straight line of mark, the maximum distance for taking fitting a straight line both sides is respectively dmax1And dmax2, such as
Shown in Fig. 4.
Specific embodiments of the present invention are given below, it should be noted 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
A kind of crusing robot movement locus verticality measuring method based on more image sequences of the present embodiment, first,
In the rectangular positioning mark of each hydraulic support same position placement, the crusing robot moved on edge with working face parallel direction
Video camera is installed, the length that scraper plate is often saved in the present embodiment is 480mm, and hydraulic support is seven in the present embodiment, corresponding
Scraper plate is seven sections, wherein, the angle between first segment scraper plate and second scraper plate is 4 °, second scraper plate and third scraper plate it
Between angle be -4 °, the angle between third scraper plate and the 4th scraper plate is -2 °, the 4th scraper plate and the 5th scraper plate it
Between angle be 2 °, the angle between the 5th scraper plate and the 6th scraper plate is 3 °, between the 6th scraper plate and the 7th scraper plate
Angle be -3 °.
Then hydraulic support image is acquired by the video camera being fixedly mounted on crusing robot, to acquisition
Image carries out self-adaption binaryzation pretreatment；Extract the connected component in the coalcutter image after binary conversion treatment；Utilize connection
The axial ratio of component and area information extraction are identified with being positioned in segmentation hydraulic support image, as shown in Figure 2.
It is straight that each positioning mark in the target image obtained using cell receptive field model to segmentation carries out edge respectively
Line is fitted, and then calculates coordinate of four vertex of positioning mark in optical center coordinate system at this time；Then it is obtained by above-mentioned formula (1)
It is to the angle between adjacent scraper plate：β1=4.03 °, β2=-4.08 °, β3=-1.99 °, β4=2.06 °, β5=3.12 °, β6
=-3.07 °.
According to the above-mentioned angle obtained between adjacent scraper plate and the length of scraper plate, the movement locus of crusing robot is carried out
Fitting, as shown in figure 4, wherein：X-axis represents length of the scraper plate composition track along working face, and Y-axis represents that scraper plate composition track exists
The distance of offset linear in progradation, dotted line is actually to measure obtained track in figure, and solid line represents that the method for the present invention measures
Obtained movement locus, wherein straight dashed line represent the fitting a straight line of movement locus, as datum line.Obtain the method for the present invention acquisition
Crusing robot straightness 9.845mm/m, the straightness of practical crusing robot is 9.768mm/m.It can be seen that this hair
The straightness that bright method obtains is almost consistent with the straightness of the movement locus of crusing robot reality, therefore, the method for the present invention
Accurately the straightness of crusing robot can be evaluated.
Claims (3)
1. the crusing robot movement locus verticality measuring method based on more image sequences, this method include N number of hydraulic pressure branch
Frame, there are one scraper plates, crusing robot to be moved along scraper plate for connection on each hydraulic support, which is characterized in that including following step
Suddenly：
Step 1：Rectangular positioning marking plate is installed on each hydraulic support, the positioning mark on each hydraulic support
The position of plate is identical, distinguishes when crusing robot walking is to every section scraper plate end, the often junction of section scraper plate and hydraulic support
Acquire image；
Step 2：To the target image progress noise reduction process collected, the positioning after extraction noise reduction process in image identifies；
Step 3：Edge lines fitting is carried out to each positioning mark using receptive field cell model, obtains each positioning mark
Four apex coordinates, the specific steps are：
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, N are the number for positioning marking plate, and r is receptive field cell radius, mask center and receptive field
Cell centre 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 on the top edge of positioning mark, lower edge, left hand edge and right hand edge so as to be respectively divided out
Receptive field cell；
Step 3.3：Using receptive field model, the response of each receptive field in top edge direction is calculated, according in single receptive field
The contrast fringes position that pixel is formed and the relationship of receptive field centre distance, it is right in each receptive field center to receptive field to determine
Than the distance at edge, the straight line where marking plate top edge is then fitted 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：Using visual imaging model, inversion is carried out to each apex coordinate of each positioning mark that step 3 obtains
Calculating is changed, obtains coordinate of each vertex of each positioning mark in optical center coordinate system；
Step 5：The angle between adjacent scraper plate is calculated using formula (1)；
Wherein, k=1,2 ..., N-1, N be marking plate number,I-th for+1 marking plate of kth
Apex coordinate, i are any one positioned in four vertex of marking plate；LkIt is identified for+1 positioning in k-th of scraper plate end and kth
Projector distance between plate in optical center coordinate system, lkIn light between+1 positioning marking plate in+1 scraper plate end of kth and kth
Projector distance in heart coordinate system, a are the length for often saving scraper plate；
Step 6：Using first shooting point as coordinate origin, using crusing robot along the first segment scraper plate direction of motion as X-axis, hang down
Horizontal plane two-dimensional coordinate system directly is established for Y-axis along the first segment scraper plate direction of motion in crusing robot, according to scraper plate length a and phase
The angle β of adjacent scraper platekThe movement locus of crusing robot is fitted, measures the straightness of movement locus, specially：
First vertex of all positioning marks is taken, fitting a straight line is carried out in the XOY plane of foundation, obtains straight line, then
The straightness H of the movement locus of crusing robot is：
Wherein, L be video camera first shooting point and the last one shooting point air line distance, djIt is identified for j-th of positioning
First distance between vertex and fitting a straight line, the maximum distance for taking fitting a straight line both sides are respectively dmax1And dmax2。
2. the crusing robot movement locus verticality measuring method based on more image sequences as described in claim 1, special
Sign is：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 extracted using based on the method for connected component.
3. the crusing robot movement locus verticality measuring method based on more image sequences as described in claim 1, special
Sign is：Coordinate P (X of i-th of the vertex of j-th of positioning mark in optical center coordinate system in the step fourji,Yji,
Zji), i=1,2,3,4, it is calculated by formula (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 length of long sides or the length of side of square positioning mark identified for j-th of rectangle positioning, (xji,yji) to walk
The rapid three obtained image coordinates on positioning mark vertex, C is the effective focal length of video camera.
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| CN109781036A (en) * | 2019-03-07 | 2019-05-21 | 山东科技大学 | A kind of hydraulic support linearity testing apparatus and detection method |
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| CN113029046B (en) * | 2021-03-11 | 2021-12-14 | 精英数智科技股份有限公司 | Method and device for detecting straightness of scraper conveyor based on video identification |
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| CN102431784A (en) * | 2011-08-25 | 2012-05-02 | 北京天地玛珂电液控制系统有限公司 | Attitude control system and method based on wireless three-dimensional gyroscope technology for scraper conveyer |
| CN106595557A (en) * | 2016-10-31 | 2017-04-26 | 中国矿业大学 | Detection device for straightness of scraper conveyer and detection method |
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| CN108033203A (en) * | 2017-11-28 | 2018-05-15 | 天地科技股份有限公司 | Fully mechanized coal face rear portion drag conveyor straightness determining device, draw shifting system |
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