悬臂式掘进机截割头姿态视觉检测系统
Attitude measurement system of cutting head for boom-type roadheader based on vision measurement
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摘要: 针对悬臂式掘进机截割头姿态检测难题, 提出一种利用视觉传感器识别红外标靶特征的截割头姿态测量方法, 并构建了测量系统。该系统以掘进机截割部所安装标识板上的红外LED作为信息来源, 通过对红外LED特征点成像特征的分析, 建立掘进机截割头姿态空间解算模型。通过防爆工业相机采集布置于掘进机截割部标识板的红外LED特征点图像, 利用高斯曲面拟合算法对特征点进行中心定位;采用P4P方法对特征点的空间三维坐标进行求解;并且建立了基于误差模型的对偶四元数截割头位姿最优解算模型, 完成掘进机截割头姿态角解算。最终, 在实验室条件下, 搭建了掘进机截割部姿态视觉测量平台, 模拟截割部实际工况姿态。试验结果表明, 该方法的角度测量误差在0.5°范围以内, 可以满足掘进机截割过程中截割头姿态角自动、准确、实时测量的要求。Abstract: In order to realize a real time automatic detection of cutting head attitude, this paper puts forward a new method for the attitude measurement of cutting head by using visual measuring technique, which does not need to change the structure of the cutting head.The system took infrared LED in the target that was installed in the cutting part as a source of information, and the attitude's resolution modeling of cutting head was built through the analysis of imaging features of the infrared LED feature point.The image of infrared LED was collected by an explosion-proof industrial camera;the center of feature points was determined by using Gauss curved method;a linear idea for solving the P4 P question was taken to obtain spatial three-dimensional coordinates of feature points;the error model was established based on dual quaternion;and the attitude calculation of cutting head was completed based on the optimal position calculating model.On the basis of above theoretical analysis, the attitude measurement experimental platform was build up in laboratory conditions to simulate the pose change of cutting head.The experimental results show that the measurement accuracy of angles is within the 0.5 degree, which can meet the requirement of the automatic, accurate and real-time attitude measurement of roadheader's cutting head.