Vision measurement system for cutting head attitude of mine-used boom-type roadheader

For problems that current vision measurement methods for cutting head attitude of boom-type roadheader needed to change roadheader structure with low measurement stability, a vision measurement system for cutting head attitude of mine-used boom-type roadheader was designed by use of monocular vision measurement technology. Firstly, multi-point infrared light source is used to form a square on infrared target installed on cutting arm near rotary table, and the infrared target image is regularly collected by camera. Then, center of light spot is extracted to calculate coordinate of the square vertices in pixel coordinate system, and coordinate of the infrared target in camera coordinate system is obtained by use of pesprctive-4-point method. Finally, attitude angle of cutting head is calculated by use of attitude measurement model of cutting head. The experimental results show that vertical swing angle error of the system is within ±0.8° and horizontal swing angle is within ±0.5°.