天津科技大学学报2025，Vol.40Issue(3)：72-80,9.DOI:10.13364/j.issn.1672-6510.20240003
基于多目视觉的煤矿巷道掘进机位姿测量方法
Position Measurement Method for Coal Mine Roadheader Based on Multi-Vision Target
李馨茹 1黄喆 1李佳雄 1赵世艺 1祝凤娟1
作者信息
- 1. 天津科技大学电子信息与自动化学院,天津 300222
- 折叠
摘要
Abstract
Aiming at the problems of low measurement accuracy and cumbersome equipment arrangement in the existing position measurement technology of coal mine roadheader,a position measurement technology of coal mine roadheader based on multi-vision is proposed in this current study.Based on the principle of visual measurement,the integration of dual-vector orientation,target positioning algorithms and coordinate transformation technology can accurately solve the position of the roadheader,as well as the horizontal/vertical deviation of the centre point of the machine body with respect to the axis of the roadway design.The experimental platform of the position measurement system was built under laboratory conditions,and the experiments of absolute measurement accuracy of position parameters and absolute measurement accur-acy of horizontal/vertical deviation were carried out to measure and statistically analyse the errors of position parameters,horizontal deviation and vertical deviation.The experimental results showed that the maximum error of the fuselage attitude angle was less than-0.32°,the maximum error of the fuselage position was less than 8.5 mm,the horizontal deviation meas-urement error was less than 7.3 mm,and the vertical deviation measurement error was less than 8.4 mm within the 100 m test range.The method was applied to a downhole environment for testing,and the test results showed that the method was cap-able of achieving accurate measurement of the six-degree-of-freedom spatial position of the body of a roadheader.关键词
煤矿巷道掘进机/多目视觉/双矢量定姿/标靶定位/位姿测量Key words
coal mine roadheader/multi-vision/double-vector orientation/target positioning/position measurement分类
矿山工程引用本文复制引用
李馨茹,黄喆,李佳雄,赵世艺,祝凤娟..基于多目视觉的煤矿巷道掘进机位姿测量方法[J].天津科技大学学报,2025,40(3):72-80,9.
