工矿自动化2025，Vol.51Issue(3)：32-38,7.DOI:10.13272/j.issn.1671-251x.2025010062
基于视觉-惯导信息融合的采场支架姿态感知方法
Method of support posture perception in mining face based on visual-inertial information fusion
摘要
Abstract
To address the issues of large drift errors and low calculation accuracy in inertial navigation methods,as well as significant posture recognition errors in visual methods due to camera interference from dust and equipment obstructions,a method of support posture perception in mining face based on visual-inertial information fusion was proposed.First,four feature points of infrared targets were fixed to the base platform of the support,and binocular cameras were fixed to the support top beam and shield beam.A target recognition method based on Canny and least squares,along with a BA-PnP algorithm based on four feature points,was used to solve the pitch and roll angles of the top beam and shield beam relative to the base.Then,an inertial measurement unit(IMU)was fixed to the hydraulic support top beam,shield beam,and base.The complementary filtering method of the MEMS gyroscope and accelerometer in the IMU was used to solve the pitch and roll angles of the top beam,shield beam,and base in the world coordinate system.Finally,the posture angles calculated by the visual system and the inertial navigation system were fused using the extended Kalman filter for multi-source information fusion.The low-frequency stability of the vision information was used to suppress the accumulated errors of the IMU,resulting in accurate posture perception of the mining support.Three methods for support posture perception,based on vision,inertial navigation,and visual-inertial information fusion,were compared in experimental results.The findings showed that:① In the initial stationary state,all three methods had high accuracy,but as the support operation cycles increased,the vision-based and inertial navigation-based results gradually deviated from the true values.② The root mean square errors(RMSE)of pitch angle perception for the top beam relative to the base were 0.201°,0.190°,and 0.081° for the vision-based,inertial navigation-based,and visual-inertial information fusion methods,respectively.For the shield beam relative to the base,the RMSE of pitch angle perception were 0.340°,0.297°,and 0.162°,respectively.③ The RMSE of the hydraulic support column extension length calculated by the visual-inertial information fusion method was 13.682 mm,meeting on-site requirements.The visual-inertial information fusion-based support posture perception method could provide more accurate posture parameters for the intelligent control of hydraulic supports.关键词
液压支架姿态感知/视觉惯导信息融合/惯性测量单元/扩展卡尔曼滤波/光束平差-透视点定位姿态估计算法/IMUKey words
hydraulic support posture perception/visual-inertial information fusion/inertial measurement unit/extended Kalman filter/bundle adjustment-perspective point posture estimation algorithm/IMU分类
矿业与冶金引用本文复制引用
邢轲轲,程敬义,许忠鑫,万志军,薛民体,闫万梓,包阔,易俊杰..基于视觉-惯导信息融合的采场支架姿态感知方法[J].工矿自动化,2025,51(3):32-38,7.基金项目
国家自然科学基金青年科学基金资助项目(51604267) （51604267）
中央高校基本科研业务费专项资金资助项目(2022XSCX21). （2022XSCX21）
