工程设计学报2025，Vol.32Issue(1)：1-10,10.DOI:10.3785/j.issn.1006-754X.2025.04.111
基于双目视觉的掘进装备定位系统移站自主标定方法
Automatic calibration method for station transfer in tunneling equipment positioning system based on binocular vision
摘要
Abstract
Stable and continuous visual posture measurement data is of great significance for improving the work efficiency of coal-mine tunneling equipment.Currently,posture measurement methods for tunneling equipment based on visual information face issues such as cumbersome calibration process of cooperative target during station transfer and inability to perform automatic continuous measurements.Aiming at this problem,an automatic calibration method for station transfer based on binocular vision is proposed.Firstly,the HSV(hue,saturation,value)color segmentation and point-line feature extraction technology were employed to process the red features of the cooperative target,so as to obtain the image information of the cooperative target.Then,a calibration solution model for station transfer was designed,and the binocular vision measurement method was used to obtain the spatial parameters of the cooperative target.Finally,based on the characteristic that the relative position between the camera and the cooperative target was unchanged during the calibration process,the L-M(Levenberg-Marquardt)algorithm was used to optimize the spatial parameters of the cooperative target,and the optimization results were applied to the visual positioning system to complete the calibration for station transfer.The experimental results showed that the position measurement error of the tunneling equipment body after the calibration for station transfer was within 50 mm,and the attitude angle measurement error was within 0.6°.The proposed automatic calibration method for station transfer based on binocular vision meets the accuracy requirements of the visual positioning system for coal-mine tunneling equipment,which can provide theoretical support for the research of rapid tunneling technology.关键词
视觉测量/自主标定/合作标靶/特征提取/解算模型Key words
visual measurement/automatic calibration/cooperation target/feature extraction/solution model分类
矿业与冶金引用本文复制引用
张旭辉,杨骏豪,杨文娟,张超,陈鑫,万继成,刘彦徽,王悦..基于双目视觉的掘进装备定位系统移站自主标定方法[J].工程设计学报,2025,32(1):1-10,10.基金项目
国家自然科学基金青年项目(52174150,52104166) （52174150,52104166）
陕煤联合基金项目(2021JLM-03) （2021JLM-03）
