摘要
为了解决露天矿轮斗-卡车半连续工艺直接装车对准困难的问题,通过分析CCD(电荷耦合元件)成像4种坐标系之间的坐标转换及现实位置点与图像位置点的对应关系,在轮斗排料臂处安置引导器,依据投影仪原理,根据引导器投影到地面上的影像行驶至设定位置,进行装车位置的区域定位。轮斗排料臂上端安装有双CCD摄像头,依据双CCD定位原理,确定卡车车斗位于轮斗挖掘机坐标系空间位置,卡车双定位点与图像标定点对准实现轮斗挖掘机智能对准装车。以哈密一矿为例进行了实证研究,结果表明:卡车双定位点在轮斗挖掘机坐标系世界坐标为x_(W)^(1)=-3.19 m、y_(W)^(1)=0 m、z_(W)^(1)=3.82 m,x_(W)^(2)=2.59 m、y_(W)^(2)=0 m、z_(W)^(2)=3.82 m时,在像素坐标系坐标为u_(1)=53、v_(1)=246,u_(2)=506、v_(2)=246时可实现对准装车。
In order to solve the problem of direct aiming and loading truck of open-pit mine wheel bucket truck semi continuous process,the coordinate conversion among four coordinate systems of CCD(charge coupled device)imaging and the corresponding relationship between real position points and image position points are analyzed.A guide is placed at the wheel bucket discharge arm,and according to the principle of the projector,the vehicle is driven to the set position based on the image projected onto the ground by the guide to locate the loading area.The upper end of the bucket discharge arm is equipped with dual CCD cameras.Based on the principle of dual CCD positioning,the truck bucket is determined to be located in the spatial position of the bucket excavator coordinate system.The dual positioning points of the truck are aligned with the image calibration points to achieve intelligent alignment and loading of the bucket excavator.Taking Hami No.1 Mine as an example,empirical research is conducted,and the results show that the dual positioning points of trucks can achieve aiming and loading when the world coordinates of the wheel excavator coordinate system are x_(W)^(1)=-3.19 m、y_(W)^(1)=0 m、z_(W)^(1)=3.82 m,x_(W)^(2)=2.59 m、y_(W)^(2)=0 m、z_(W)^(2)=3.82 m,and coordinates of coordinate system are u_(1)=53、v_(1)=246,u_(2)=506、v_(2)=246.
作者
赵明
ZHAO Ming(China Coal Technology and Engineering Group Shenyang Design&Research Institute,Shenyang 110015,China)
出处
《露天采矿技术》
2025年第5期28-33,共6页
Opencast Mining Technology
关键词
露天矿
轮斗挖掘机
对准装车
CCD定位
坐标转换
open-pit mine
wheel bucket excavator
aiming and loading truck
CCD positioning
coordinate transformation
