Pose measurement system of boom-type roadheader based on machine vision

In order to meet the needs of roadway automatically drivage under mine,a new system,real-time posture and position detection scheme is proposed for the mine-used boom-type roadheader. By regarding cross lasers and laser tar- gets as information sources,this system establishes a mathematical model to describe the machine position in space. U- tilizing machine vision technology to extract image feature parameters,the authors realize the precise localization of ref- erence points on targets. After setting up the machine body position calculation model,the system takes use of the space matrix transformation method and obtains the yaw,pitch,roll angles and horizontal,vertical deviations of the roadheader. Finally,the automatic machine pose detection in real time is fulfilled. On the basis of above theoretical a- nalysis,the authors build up the position automatic detection experiment platform in laboratory conditions to simulate the pose changes of the machine inside the tunnel. The experimental results show that the measurement accuracy of an- gles is within 0. 5 degree and the detection precision of displacement is less than 20 mm,which satisfies the require- ments of roadheader automatic,precise and real-time positioning in the process of tunnel construction.