Attitude measurement system of cutting head for boom-type roadheader based on vision measurement

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.