悬臂式掘进机视觉位姿检测系统外参标定方法

张旭辉; 张楷鑫; 张超; 杨文娟; 杜昱阳; 谢楠; 周创

doi:10.13433/j.cnki.1003-8728.20200534

悬臂式掘进机视觉位姿检测系统外参标定方法

doi: 10.13433/j.cnki.1003-8728.20200534

张旭辉^{1, 2,},
张楷鑫¹,
张超¹,
杨文娟^{1, 2},
杜昱阳^{1, 2},
谢楠¹,
周创¹

1.
西安科技大学机械工程学院，西安　710054
2.
陕西省矿山机电装备智能监测重点实验室，西安　710054

基金项目: 国家自然科学基金项目（51974228）、陕西省自然科学基础研究计划项目（2019JLZ-08）及煤矿机电设备智能检测与控制创新团队（2018TD-032）

详细信息

作者简介:
张旭辉（1972−），教授，博士生导师，研究方向为煤矿机电设备智能检测与控制，zhangxh@xust.edu.cn

中图分类号: TD421
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- 文章访问数: 118
- HTML全文浏览量: 52
- PDF下载量: 11
- 被引次数: 0
出版历程
- 收稿日期: 2020-12-23
- 网络出版日期: 2023-02-16
- 刊出日期: 2022-12-05

Calibrating External Parameters of Visual Position Detection System of Cantilever Roadheader

ZHANG XuHui^{1, 2
,},
ZHANG Kaixin¹,
ZHANG Chao¹,
YANG Wenjuan^{1, 2},
DU Yuyang^{1, 2},
XIE Nan¹,
ZHOU Chuang¹

1.
College of Mechanical Engineering, Xi′an University of Science and Technology, Xi′an 710054, China
2.
Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring , Xi′an 710054, China

摘要

摘要: 当前巷道掘进过程中高粉尘、低照度等因素严重影响外参标定精度。针对以平行激光线为特征的悬臂式掘进机位姿检测系统外参标定难题，提出一种基于数字全站仪的系统外参标定方法，详细分析系统外参标定误差对测量系统的影响。通过建立视觉位姿测量系统中各模块之间的坐标转换关系，对系统外参标定原理进行数学建模，利用全站仪位姿检测方法得到全站仪系统外参标定结果下机身相对于巷道的位姿，对普通外参标定结果得到的机身相对于巷道位姿进行精度评价。实验结果表明：悬臂式掘进机全站仪系统外参标定方法位置测量误差在 ± 3 mm内，姿态角角度测量误差在0.08°内；利用全站仪系统外参标定方法得到精度结果： x、y和z方向的位置平均误差分别提高了13.073 mm、21.511 mm和18.159 mm，偏航角、俯仰角和姿态角的角度平均误差分别提高了0.225°、0.246°和0.246°。
- 关健词:视觉测量 /
- 外参标定 /
- 误差分析 /
- 数字全站仪 /
- 悬臂式掘进机
Abstract: At present, high dust, low illumination and other factors affect the accuracy of position measurementseriously. To calibratethe external parameters of the position detection system of thecantilever roadheadersuch as parallel laser line, an external parameter calibration method based on the digital total station is proposed. The influence of external parameter calibration error on position measurement is analyzed in detail. By establishing the coordinate conversion relationship between modules in the visual position measurement system, the calibration principle of the external parameters of the position detectionsystem is modeled mathematically. The position of the fuselage relative to the road according to the calibration results on the external parameters of thedigital total station is obtained with the position detection method for the digitaltotal station. The experimental results show that the position measurement error of the external reference calibration method of the cantilever roadheader is within ±3 mm and that the attitude angle measurement error is within 0.08°. The accuracy results are obtained with the external reference calibration method. The average positionerrorsin x, y and z directions increase by 13.073 mm, 21.511mm and 18.159°, respectively.
- visual measurement /
- external parameter calibration /
- error analysis /
- digital total station /
- cantilever roadheader

HTML全文

图 1 视觉位姿检测系统

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图 2 矩阵转换关系

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图 3 坐标系转换原理

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图 4 视觉位姿检测系统外参标定方案

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图 5 机身姿态检测模型

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图 6 机身姿态测量方法

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图 7 航向角误差模型

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图 8 全站仪位姿检测评价平台

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图 9 全站仪姿态测量结果误差

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图 10 系统外参标定下视觉位姿测量精度实验

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图 11 机身位姿测量结果误差

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表 1 系统外参标定方法的机身位姿部分实验结果

观测点	普通测量系统外参标定						全站仪系统外参标定
观测点	X/mm	Y/mm	Z/mm	α/(°)	β/(°)	γ/(°)	X/mm	Y/mm	Z/mm	α/(°)	β/(°)	γ/(°)
1	778.7	802.6	683.5	−14.74	−0.325	−0.164	765	812	665	−14.62	−0.126	−0.314
2	1090	442.1	683.8	1.746	−3.887	−0.349	1107	447	658	1.511	−4.022	−0.158
3	2244	609.4	696.2	−7.437	−2.383	−0.281	2258	599	668	−7.348	−2.151	−0.127
4	3098	325.4	692.8	5.206	4.163	0.143	3081	321	673	5.068	3.907	−0.177
5	4212	589.8	695.6	−17.15	0.458	0.185	4197	602	680	−16.97	0.611	0.356

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