基于单目视觉的煤矿井下智能掘进系统研究

Research on Intelligent Tunneling System in Coal Mine Based on Monocular Vision

针对目前煤矿井下掘进系统智能化建设推进的众多阻碍,为了井下悬臂式掘进机在复杂环境下的动态定位测量,提出一种基于单目视觉的采用点-线激光标靶和防爆相机相结合的悬臂式掘进机及截割头的非接触式精准测量智能系统,该系统通过激光束及红外标靶成像进行掘进机机身及截割头的定位测量,具有定位速度快、实时同步数据、结构简单等特点,优化了掘进机在井下复杂环境中动态定位的准确性。同时,针对掘进机械定位过程中可能导致的测量误差进行了分析,并提出了相应的改进措施。

In view of the many obstacles to the intelligent construction of the current coal mine tunneling system,proposed a non-contact precision measurement intelligent system based on monocular vision for the dynamic positioning measurement of the underground cantilever roadheader in a complex environment,the system uses the point-line laser target and the explosion-proof camera to combine for the cantilever roadheader and the cutting head.The system carries out the positioning measurement of the roadheader body and the cutting head through laser beam and infrared target imaging.It has the characteristics of fast positioning speed,real-time synchronous data,simple structure,etc.,and optimizes the accuracy of the dynamic positioning of the roadheader in the complex underground environment.At the same time,analyzed the measurement errors that may be caused in the process of tunneling machinery positioning,and put forward the corresponding improvement measures.