CN115096178B - Lifting container positioning method based on machine vision - Google Patents
Lifting container positioning method based on machine vision Download PDFInfo
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- CN115096178B CN115096178B CN202210513387.5A CN202210513387A CN115096178B CN 115096178 B CN115096178 B CN 115096178B CN 202210513387 A CN202210513387 A CN 202210513387A CN 115096178 B CN115096178 B CN 115096178B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention discloses a lifting container positioning method based on machine vision, when a lifting machine is started, a container end camera can identify a container end marker on a lifting container balancing device, a roller end camera is triggered to start working, the number of times and position information of the roller end marker, which appear along with the rotation of a roller, are transmitted to a signal receiver in real time through the roller end camera, the signal receiver transmits the information to a terminal server for gray level processing and binarization processing, after calculation, the position of the lifting container in a shaft is obtained in real time, the position information is displayed on a terminal display, and relevant signals of machine room operators are given, so that relevant operation of driving and stopping of the whole lifting system is controlled. The invention is not affected by the mine depth, the elastic extension of the steel wire rope, the slipping of the steel wire rope and the like, has no mechanical abrasion, and has the advantages of high positioning precision and high reliability.
Description
Technical Field
The invention relates to the technical field of mine hoisting, in particular to a hoisting container positioning method based on machine vision.
Background
The main task of mine lifts is to lift minerals, lower materials, transport equipment and personnel, which play an important role in the overall mining process. The role of the mine hoist determines that the hoist must have the characteristics of safety, reliability, economy, high efficiency and the like. The lifting container is an important load component of the lifting machine, the position measurement of the lifting container is an important basis for the operation of starting, stopping, decelerating and the like of the mine hoist, the measurement of the position of the lifting container is inaccurate, the production efficiency can be reduced, great inconvenience is brought to personnel and mine cars entering and exiting the container, the situation of tank blocking, overspeed and overwinding occurs in the lifting process, accidents such as mine production interruption, equipment damage and personnel injury are caused, and great economic loss is brought to the coal mine production.
Currently, the determination of the hoisting vessel by a mine hoist is mainly determined by a rotary encoder connected to the main shaft. The main shaft rotates for a circle to drive the encoder to send out a fixed pulse signal, and after the signal enters the control system, the position of the operation of the lifting container is obtained through indirect conversion, and an operator controls the operation of driving, stopping, decelerating and the like of the lifting machine according to the position. However, the encoder is engaged with the spindle by a plurality of gears, and the encoder generates a large error due to the presence of a backlash, and meanwhile, the lifting wire rope can elastically stretch and skid under the action of the dead weight and the heavy load, so that the positioning precision is poor, and the lifting system cannot safely and efficiently operate.
Aiming at the defects in the prior art, a lifting container positioning method based on machine vision for monitoring the position of a lifting container in real time is urgently needed.
Disclosure of Invention
The invention aims at solving the technical problems of the prior art and provides a lifting container positioning method based on machine vision.
In order to solve the technical problems, the invention adopts the following technical scheme: the lifting container positioning method based on machine vision specifically comprises the following steps:
lifting a lifting container to the top of the shaft, and fixing a plurality of container end markers on the balancing device; arranging a container end camera, identifying the positions of the balancing device and the container end marker through the container end camera, and recording the parking position coordinate of the lifting container at the moment;
the lifting container continuously descends along with the steel wire rope, and the other lifting container correspondingly ascends; the descending lifting container moves to the bottom of the shaft, the other lifting container ascends to the wellhead position, the container end camera recognizes the container end marker on the balancing device again, and at the moment, the lifting container is in place, and the stopping of the lifting device is controlled;
and 6, the signal receiver transmits the received information to the terminal server for image processing, and the position of the lifting container in the shaft and the parking position are obtained through image gray level processing and binarization processing of the camera at the container end and calculation and displayed on the terminal display in real time.
Further preferably, the light supplementing lamps are respectively arranged beside the container end camera and the roller end camera, so that the brightness and the precision of image acquisition are improved.
Further preferably, in step 3, a plurality of drum end markers are fixed on the hub of the drum at intervals of an angle θ, wherein θ is 10+.ltoreq.20 °.
Further preferably, the signal receiver is connected to the terminal server by an optical fiber line or a video line.
Further preferably, in step 4, the method for judging that the lifting container is in place is as follows: when the lifting container is at the initial position, five images acquired by a camera at the container end are selected as template images, wherein the five images are respectively four corners and a center position image of the lifting container; when the container is lifted and reaches a parking position, the camera at the container end acquires five images at the same position and transmits the five images to the terminal server through the signal receiver, and the terminal server compares the received images with the template images; when the similarity between the received image and the template image is more than 95%, the position at the moment is the position where the container is lifted in place.
Further preferably, the process of comparing the received image with the template image by the terminal server is as follows:
setting the size of a template image as a, and setting the size of an input image to be compared as b, wherein b is larger than a;
first, starting from one corner (0, 0) of an input image, cutting a temporary image of one block (0, 0) to (a, a);
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is the pixel value of the input image (0, 0);
thirdly, cutting a temporary image of one block (0, 1) to (10, 11), and recording a result image after comparison;
fourth, the above steps are repeated until the diagonal angle input to the image is cut.
Further preferably, the image processing method of the marker in step 6 is as follows:
step 6-1, the terminal server carries out gray processing on the received image; binarizing the image subjected to gray level processing, taking a threshold lambda, and taking 1 when the gray level value is larger than the threshold lambda; when the gray value is smaller than the threshold lambda, taking the gray value as 0, thereby obtaining a gray value image subjected to binarization processing;
step 6-2, selecting a sector area with an angle alpha on the round side surface of the roller hub, so that the sector area can only contain one roller end marker, and ensuring that only two conditions exist in the area swept by each frame of the roller end camera: one is a sector area with a roller end marker, the other is a sector area without a roller end marker;
step 6-3, identifying the moving distance by analyzing the change of gray values of the front and rear frames when the drum rotates: the t1 frame number is like the occurrence of the roller end marker, the t2, t3, … tn-1 frames are not provided with the roller end marker, the tn frame number is provided with the roller end marker again, so that the roller passing through the n-1 frame number is obtained to rotate by an angle theta, and the arc length of the roller is as follows:
wherein: r is the length from the center of the roller to the center of the marker;
and 6-4, continuously collecting images by a camera at the roller end, and carrying out a process of identifying the roller end marker and not identifying the roller end marker to obtain arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames, wherein the moving distance L=s1+s2+s3+ … … +sn of the steel wire rope at the moment, so that the ascending or descending distance of the lifting container in a set time period is obtained.
Further preferably, the method for judging whether the lifting container is lifted or lowered is as follows: selecting a sector area with an angle beta on the round side surface of the roller hub, wherein beta is more than theta; ensuring that each frame of the roller end camera has a roller end marker present in the sector; the rotating direction of the roller is obtained by comparing the positions of the roller end markers in the two adjacent frames of images, namely if the position of the roller end marker of the next frame is in the anticlockwise direction of the previous frame, the roller is indicated to rotate anticlockwise; if the roller end marker position of the following frame is in the clockwise direction of the preceding frame, it is indicated that the roller is rotating clockwise.
The invention has the following beneficial effects:
1. compared with the existing positioning method, the method is not affected by the conditions of mine depth, elastic elongation of the steel wire rope, slipping of the steel wire rope and the like during monitoring, has no mechanical abrasion, and has the advantages of high positioning precision and high reliability.
2. According to the invention, the cameras at the container end and the roller end are lifted for visual identification, so that uninterrupted work can be achieved, the anti-interference capability is high, and the device is suitable for severe working environments.
3. Compared with the prior art, the invention adopts a non-contact working mode to carry out measurement and monitoring, and the transportation production of the whole elevator is not affected.
Drawings
Fig. 1 is a functional block diagram of a machine vision based lift container positioning method of the present invention.
Fig. 2 is a schematic structural view of the lifting container positioning method based on machine vision of the present invention.
FIG. 3 is a schematic view of a container end marker of the machine vision based lifting container positioning method of the present invention.
FIG. 4 is a schematic view of a drum end marker of the machine vision based lift-container positioning method of the present invention.
FIG. 5 is a roller end marker image processing diagram of the machine vision based lifting container positioning method of the present invention.
FIG. 6 is a thresholded gray value image of the machine vision based lifting vessel locating method of the present invention.
FIG. 7 is a schematic view of the processing of a roller end marker image as the measuring roller turns for the machine vision based lifting container positioning method of the present invention.
Fig. 8A is a previous frame of a first sector area marker position map.
Fig. 8B is a thresholded gray value image corresponding to the previous frame of the first type of fan zone marker position map.
Fig. 8C is a subsequent frame of the first sector area marker position map.
Fig. 8D is a thresholded gray value image corresponding to the next frame of the first sector area marker position map.
Fig. 9A is a previous frame of a second sector area mark position map.
Fig. 9B is a thresholded gray value image corresponding to the previous frame of the second type of fan zone marker position map.
Fig. 9C is a subsequent frame of the second sector area mark position map.
Fig. 9D is a thresholded gray value image corresponding to the next frame of the second sector mark position map.
The method comprises the following steps: 1. a roller; 2. lifting the container; 3. a balancing device; 4. a container end marker; 5. a container end camera; 6. a roller end marker; 7. a roller end camera; 8. a signal receiver; 9. a terminal server; 10. a terminal display; 11. a light supplementing lamp; 12. a container end signal box; 13. roller end signal box.
Detailed Description
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.
The whole principle is as shown in figure 1, when a lifting machine is started, a container end camera can identify a container end marker on a lifting container balancing device, a roller end camera is triggered to start working through a signal transmission line, the number of times and position information of the roller end marker on a roller hub along with rotation of a roller are recorded in real time through the roller end camera, and then a container end signal box and a roller end signal box transmit the acquired information to a signal receiver through a signal transmission line, wherein the signal transmission line is preferably an optical fiber line or a video line; after the signal receiver receives the signal, the signal receiver carries out median filtering operation, the information is transmitted to a terminal server for processing, the position of the lifting container in the shaft is obtained in real time, the position information of the lifting container is displayed on a terminal display, and then relevant signals of machine room operators are given through a control system according to the real-time position information of the roller, so that relevant operation of driving and stopping of the whole lifting system is controlled.
After the cameras at the lifting container end and the cameras at the roller end recognize the information of the marker, the information is processed by the terminal server and fed back to the cameras at the two positions for error adjustment.
Compared with the existing positioning method, the method is not affected by the conditions of mine depth, elastic elongation of the steel wire rope, slipping of the steel wire rope and the like during monitoring, has no mechanical abrasion, and has the advantages of high positioning precision and high reliability; the camera through promoting container end and cylinder end carries out visual identification, can reach incessant work, and interference killing feature is strong, is applicable to abominable operational environment.
The following describes the specific steps of the present invention in connection with the preferred embodiments
As shown in fig. 3, one lifting container 2 is lifted to the top of the shaft, and a plurality of container end markers 4 are fixed on the balancing device 3; laying a container end camera 5, wherein the container end camera 5 can be fixed on a derrick, and the container end camera 5 can encapsulate the lifting container 2 and all container end markers 4 in the field of view; according to the actual light condition of the working environment, a light supplementing lamp is arranged beside the container end camera 5, and if the container end camera 5 adopts an infrared camera, the infrared lamp is required to be selected for light supplementing so as to better perform image recognition and processing subsequently.
The position of the balancing device 3 and the container end marker 4 is recognized by the container end camera 5, and the container end camera 5 transmits information to the signal receiver 8 through the matched container end signal box 12 and records the parking position coordinates of the lifting container 2 at the moment.
Providing a roller end camera 7, wherein the roller end camera 7 can be fixed on a derrick as well, and the roller end camera 7 can encapsulate the roller 1 and all the roller end markers 6 in the field of view; according to the actual light condition of the working environment, a light supplementing lamp is arranged beside the roller end camera 7, and if the roller end camera 7 adopts an infrared camera, the infrared lamp is required to be selected for light supplementing so as to better perform image recognition and processing subsequently.
The positions of the drum 1 and the drum end markers 6 are identified by the drum end camera 7, and the drum end camera 7 transmits signals to the signal receiver 8 through the matched drum end signal box 13.
And 4, starting the lifting container 2, identifying the container end marker 4 on the balancing device 3 by the container end camera 5, triggering the interlocking of the container end camera 5 and the roller end camera 7, and starting the roller end camera 7 to work.
The lifting container 2 descends along with the steel wire rope continuously, and the other lifting container 2 ascends correspondingly; the descending lifting container 2 runs to the bottom of the shaft, the other lifting container 2 ascends to the wellhead position, the container end camera 5 recognizes the container end marker 4 on the balancing device 3 again, the lifting container 2 is in place, and stopping of the lifting device is controlled.
The method for judging the lifting container 2 is as follows: when the lifting container 2 is at the initial position, five images acquired by the container end camera 5 are selected as template images, wherein the five images are respectively four corners and a central position image of the lifting container 2; when the lifting container 2 is about to reach the parking position, the container end camera 5 collects five images at the same position and transmits the images to the terminal server 9 through the signal receiver 8, and the terminal server 9 compares the received images with the template images, wherein the comparison process is as follows:
setting the size of the template image as a, and setting the size of the input image to be compared as b, wherein b is larger than a, and preferably a can divide b completely;
first, starting from one corner (0, 0) of an input image, cutting a temporary image of one block (0, 0) to (a, a);
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is the pixel value of the input image (0, 0);
thirdly, cutting a temporary image of one block (0, 1) to (10, 11), and recording a result image after comparison;
fourth, the above steps are repeated until the diagonal angle input to the image is cut.
When the similarity between the received image and the template image is more than 95%, the position at the moment is the position where the container 2 is lifted in place.
step 6-1, the terminal server 9 carries out gray processing on the received image; binarizing the image subjected to gray level processing, taking a threshold lambda, and taking 1 when the gray level value is larger than the threshold lambda; when the gray value is smaller than the threshold lambda, taking the gray value as 0, thereby obtaining a gray value image subjected to binarization processing;
step 6-2, as shown in fig. 5, selects a sector area with an angle α on the circular side of the hub of the drum 1, so that this area can only contain one drum end marker 6, and ensures that only two cases occur in the area swept by the drum end camera 7 per frame: one in the sector with a roller end marker 6 and the other in the sector without a roller end marker 6;
step 6-3, identifying the moving distance by analyzing the change of gray values of the previous and subsequent frames while the drum 1 is rotating: as shown in fig. 6, t1 frames of images with the roller end marker 6 appear, t2, t3, … tn-1 frames without the roller end marker 6 appear, and tn frames of images reappear the roller end marker 6, so that the roller passing through n-1 frames rotates by an angle θ, and the arc length rotated by the roller is:
wherein: r is the length from the center of the roller to the center of the marker;
and 6-4, continuously acquiring images by a roller end camera 7, and performing a process of identifying the roller end marker 6 and not identifying the roller end marker 6 to obtain arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames, wherein the moving distance L=s1+s2+s3+ … … +sn of the steel wire rope is obtained, so that the ascending or descending distance of the lifting container 2 in a set time period is obtained, the position and the parking position of the lifting container 2 in a shaft are converted, and the real-time display is performed on a terminal display 10.
The method for judging the lifting container 2 to ascend or descend is as follows: as shown in fig. 7, a sector area with an angle beta is selected on the circular side surface of the hub of the roller 1, wherein beta is larger than theta; ensuring that each frame of the drum end camera 7 has drum end markers 6 present in the sector; the rotating direction of the roller 1 is obtained by comparing the positions of the roller end markers 6 in the two adjacent frames of images; as shown in fig. 8A, 8B, 8C, and 8D, if the position of the drum end marker 6 of the subsequent frame is in the counterclockwise direction of the previous frame, it is explained that the drum 1 is rotated counterclockwise; as shown in fig. 9A, 9B, 9C, and 9D, if the position of the drum end marker 6 of the subsequent frame is in the clockwise direction of the previous frame, it is explained that the drum 1 is rotated clockwise.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (8)
1. The lifting container positioning method based on machine vision is characterized by comprising the following steps of: the method specifically comprises the following steps:
step 1, when the mine lifting device works normally, a steel wire rope wound on a roller (1) pulls a lifting container (2) to lift in a shaft; the steel wire rope is fixedly connected with the lifting container (2) through the balancing device (3); two lifting containers (2) are arranged, and after one of the two lifting containers is connected with the steel wire ropes, the steel wire ropes bypass the roller and are connected with the second lifting container;
lifting a lifting container (2) to the top of a shaft, and fixing a plurality of container end markers (4) on a balancing device (3); arranging a container end camera (5), identifying the positions of the balancing device (3) and the container end marker (4) through the container end camera (5), and recording the parking position coordinate of the lifting container (2) at the moment;
step 2, the calibrated lifting container (2) descends along with the steel wire rope, the other lifting container (2) ascends along with the steel wire rope, the step 1 is repeated, and the calibration of the two lifting containers (2) is completed; the two lifting containers (2) with completed calibration are positioned at the wellhead position of the shaft, and one lifting container is positioned at the bottom position of the shaft;
step 3, fixing a plurality of roller end markers (6) on the hub of the roller (1) at intervals of an angle theta, arranging a roller end camera (7), and identifying the positions of the roller (1) and the roller end markers (6) through the roller end camera (7);
step 4, starting the lifting container (2), identifying a container end marker (4) on the balancing device (3) by the container end camera (5), triggering the interlocking of the container end camera (5) and the roller end camera (7), and starting the roller end camera (7);
the lifting container (2) continuously descends along with the steel wire rope, and the other lifting container (2) correspondingly ascends; the descending lifting container (2) moves to the bottom of the shaft, the other lifting container (2) ascends to the wellhead position, the container end camera (5) recognizes the container end marker (4) on the balancing device (3) again, at the moment, the lifting container (2) is in place, and the stopping of the lifting device is controlled;
step 5, in the process of continuously rotating the roller, identifying the position and the number of the roller end markers (6) through a roller end camera (7), and feeding information back to the container end camera (5) to adjust errors; the drum end camera (7) and the container end camera (5) transmit the identified information to the signal receiver (8);
and 6, the signal receiver (8) transmits the received information to the terminal server (9) for image processing, and the position and the parking position of the lifting container (2) in the shaft are obtained by carrying out image gray processing and binarization processing on the container end camera (5) and calculating, and are displayed on the terminal display (10) in real time.
2. The machine vision based lift-container positioning method of claim 1, wherein: and the light supplementing lamps (11) are respectively arranged beside the container end camera (5) and the roller end camera (7), so that the brightness and the precision of image acquisition are improved.
3. The machine vision based lift-container positioning method of claim 1, wherein: in the step 3, a plurality of roller end markers (6) are fixed on the hub of the roller (1) at intervals of an angle theta, wherein the theta is more than or equal to 10 degrees and less than or equal to 20 degrees.
4. The machine vision based lift-container positioning method of claim 1, wherein: the signal receiver (8) is connected with the terminal server (9) through an optical fiber line or a video line.
5. The machine vision based lift-container positioning method of claim 1, wherein: in step 4, the method for judging that the lifting container (2) is in place comprises the following steps: when the lifting container (2) is at an initial position, five images acquired by the container end camera (5) are selected as template images, wherein the five images are respectively four corners and a central position image of the lifting container (2); when the lifting container (2) is about to reach a parking position, the container end camera (5) collects five images at the same position and transmits the images to the terminal server (9) through the signal receiver (8), and the terminal server (9) compares the received images with the template images; when the similarity between the received image and the template image is more than 95%, the position at the moment is the position where the container (2) is lifted in place.
6. The machine vision based lift-container positioning method of claim 5 wherein: the process of the terminal server (9) comparing the received image with the template image is as follows:
setting the size of a template image as a, and setting the size of an input image to be compared as b, wherein b is larger than a;
first, starting from one corner (0, 0) of an input image, cutting a temporary image of one block (0, 0) to (a, a);
secondly, comparing the temporary image with the template image, and marking a comparison result as c, wherein the comparison result c is the pixel value of the input image (0, 0);
thirdly, cutting a temporary image of one block (0, 1) to (10, 11), and recording a result image after comparison;
fourth, the above steps are repeated until the diagonal angle input to the image is cut.
7. A machine vision based lifting container positioning method as claimed in claim 3, wherein: the image processing method of the marker in step 6 is as follows:
step 6-1, the terminal server (9) carries out gray processing on the received image; binarizing the image subjected to gray level processing, taking a threshold lambda, and taking 1 when the gray level value is larger than the threshold lambda; when the gray value is smaller than the threshold lambda, taking the gray value as 0, thereby obtaining a gray value image subjected to binarization processing;
step 6-2, selecting a sector area with an angle alpha on the round side surface of the hub of the roller (1), so that the area only contains one roller end marker (6), and ensuring that only two conditions exist in the area swept by each frame of the roller end camera (7): one in the sector with a roller end marker (6) and the other in the sector without a roller end marker (6);
step 6-3, identifying the moving distance by analyzing the change of gray values of the previous and the following frames when the drum (1) rotates: t1 frames appear with roller end markers (6), t2, t3, … tn-1 frames do not appear with roller end markers (6), tn frames appear with roller end markers (6) again, thus the roller passing n-1 frames is rotated by an angle theta, and the arc length rotated by the roller is:
wherein: r is the length from the center of the roller to the center of the marker;
and 6-4, continuously acquiring images by a roller end camera (7), and carrying out a process of identifying the roller end marker (6) and not identifying the circulation of the roller end marker (6) to obtain arc lengths s1, s2 and s3 … … sn which are separated by a plurality of frames, wherein the moving distance L=s1+s2+s3+ … … +sn of the steel wire rope at the moment, so that the ascending or descending distance of the lifting container (2) in a set time period is obtained.
8. The machine vision based lift-container positioning method of claim 7 wherein: the method for judging the ascending or descending of the lifting container (2) comprises the following steps: selecting a sector area with an angle beta from the round side surface of the hub of the roller (1), wherein beta is more than theta; ensuring that each frame of the roller end camera (7) has a roller end marker (6) present in the sector; the rotating direction of the roller (1) is obtained by comparing the positions of the roller end markers (6) in the two adjacent frames of images, namely if the position of the roller end marker (6) of the next frame is in the anticlockwise direction of the previous frame, the roller (1) is indicated to rotate anticlockwise; if the roller end marker (6) of the following frame is positioned in the clockwise direction of the preceding frame, it is indicated that the roller (1) is rotating clockwise.
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| CN109949366A (en) * | 2019-03-08 | 2019-06-28 | 鲁班嫡系机器人（深圳）有限公司 | A kind of positioning device and its method |
| CN111056404A (en) * | 2019-12-24 | 2020-04-24 | 安徽理工大学 | Mine shaft guide fault positioning system based on binocular vision and laser information fusion |
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