摘要
对掘进机截割机构模型进行简化,采用俯仰角和旋转角作为描述截割头姿态的参数,设计了基于机器视觉的掘进机截割头位姿检测系统,并介绍了双目视觉检测方法的原理。为了验证检测系统的检测效果,通过实验将采用本系统得到的截割头姿态参数与采用传感器测得的数据进行对比,结果显示截割头姿态参数相差不到1°,误差基本都在10%以内,由此证明采用机器视觉对掘进机截割头进行姿态检测得到的数据是有效的。
Simplified the model of the roadheader cutting mechanism,used pitch and rotation angles to describe the attitude of cutting head.The attitude detection system of cutting head of roadheader based on machine vision was designed.The principle of the binocular vision detection method was introduced.In order to verify the detection effect of the detection system,an experiment was used to compare the attitude parameters of the cutting head obtained by this system with the data measured by sensors.The results show that the attitude parameters of the cutting head differ by less than 1°,the error is basically within 10%,which can prove that the data obtained by using machine vision to detect the attitude of the cutting head of the roadheader is valid.
作者
刘勇
Liu Yong(Shandong Polytechnic,Jinan 250104,China)
出处
《煤矿机械》
北大核心
2020年第3期187-189,共3页
Coal Mine Machinery
基金
山东省高等学校科技计划项目(J16LN83)。
关键词
机器视觉
掘进机截割头
姿态检测系统
双目视觉
角度
machine vision
cutting head of roadheader
attitude detection system
binocular vision
angle
