本文選題：測(cè)量　切入點(diǎn)：位姿檢測(cè)　出處：《激光與光電子學(xué)進(jìn)展》2017年04期 　論文類型：期刊論文

【摘要】：針對(duì)煤礦井下巷道掘進(jìn)機(jī)位姿的測(cè)量需求,采用雙激光標(biāo)靶的圖像識(shí)別測(cè)量方式,構(gòu)建了位姿實(shí)時(shí)檢測(cè)系統(tǒng)。研究了激光標(biāo)靶上光學(xué)特征點(diǎn)和特征光線的空間分布,提出一種基于雙激光標(biāo)靶的掘進(jìn)機(jī)位姿解算方法。通過對(duì)圖像數(shù)字處理得到精確的特征點(diǎn)、特征光線參數(shù),實(shí)現(xiàn)對(duì)標(biāo)靶參考點(diǎn)的精確定位,使用空間矩陣變換方法,解算出掘進(jìn)機(jī)位姿參數(shù)。在實(shí)驗(yàn)室條件下建立機(jī)身位姿自動(dòng)檢測(cè)實(shí)驗(yàn)平臺(tái),模擬環(huán)境下的測(cè)試結(jié)果表明,在測(cè)量范圍小于40m時(shí),位移誤差小于2mm,角度誤差小于0.5°。該系統(tǒng)測(cè)量精度高,結(jié)構(gòu)簡(jiǎn)單可靠,實(shí)時(shí)性強(qiáng),能夠很好地滿足測(cè)量需求,實(shí)現(xiàn)對(duì)掘進(jìn)機(jī)在煤礦井下掘進(jìn)過程中的位姿檢測(cè)。
[Abstract]:According to the requirement of position and pose measurement of roadway tunneling machine in underground coal mine, a real time detecting system of position and pose is constructed by using the image recognition and measurement method of double laser target. The spatial distribution of optical characteristic points and characteristic light on laser target is studied. In this paper, a method for calculating the position and pose of tunneling machine based on double laser target is proposed. The accurate feature points and characteristic ray parameters are obtained by digital image processing, and the precise location of target reference points is realized, and the spatial matrix transformation method is used. The position and attitude parameters of the tunneling machine are solved. An automatic testing platform for the fuselage position and pose is established under the laboratory conditions. The test results in the simulated environment show that, when the measuring range is less than 40 m, the test results show that, when the measurement range is less than 40 m, The displacement error is less than 2 mm and the angle error is less than 0.5 擄. The system has the advantages of high measuring precision, simple and reliable structure and strong real time performance.
【作者單位】： 中國(guó)礦業(yè)大學(xué)信息與電氣工程學(xué)院;
【分類號(hào)】：TD421.5;TP391.41

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