露天矿洒水车注水口自动识别与定位技术研究

Research on automatic identification and location technology of water filling nozzle used in open-pit mines

为解决露天矿应急洒水车加水作业时,注水口人工对中方式速度慢、资源浪费等问题,提出一种基于激光雷达点云的洒水车注水口自动识别与定位方法,实现注水口自动对中,提高加水效率和精度。根据加水架、洒水车及激光雷达位置参数,推导出加水系统坐标相互转换公式;通过激光雷达扫描现场环境,构建洒水车三维点云模型,采用直通滤波法和基于密度的聚类算法处理点云数据,划分出感兴趣区域,提取目标特征信息;运用Matlab最小二乘法对处理后的点云模型做最优圆拟合,建立注水口拟合圆模型求取圆心坐标,并与实际测量结果对比。研究结果表明:采用此方法计算洒水车注水口的圆心坐标,与实际测量数据近似,定位误差小于2 cm,在允许范围内,可应用于露天矿洒水车注水口的识别与定位。

To solve the problems of slow speed and resource waste caused by manual centering of the water filling nozzle during water filling operation of an emergency sprinkler in open-pit mines,a laser radar point cloud-based automatic identification and location method for water filling nozzle of the sprinkler was proposed,so as to achieve automatic centering of the water filling nozzle and improve the efficiency and accuracy of water filling.According to the position parameters of the water filling structure,sprinkler,and laser radar,the mutual conversion formula of the coordinates of the water filling system was derived.Then,a laser radar was used to scan the on-site environment,and a three-dimensional(3D)point cloud model of the sprinkler was constructed.The point cloud data was processed using the through filtering method and the density-based clustering algorithm,respectively.The region of interest(ROI)was delineated,and the feature information of the target was extracted.Finally,the least squares method in Matlab was used to perform the optimal circle fitting on the processed point cloud model,and a fitting circle model for the water filling nozzle was established to obtain the center coordinates of the circle and compare them with the measured results.The research results show that the circle center coordinates of the water filling nozzle of the sprinkler calculated by this method are similar to the measured data,with a location error of less than 2 cm,which is within the allowable range.This proves that it can be applied to the identification and location of the water filling nozzle of the sprinkler used in open-pit mines.