Volume 48 Issue 12
Dec.  2022
Turn off MathJax
Article Contents
Abstract
References
Related Articles
MA Hongwei, CHAO Yong, XUE Xusheng, et al. Binocular vision-based displacement detection method for anchor digging robot[J]. Journal of Mine Automation，2022，48(12)：16-25. DOI: 10.13272/j.issn.1671-251x.2022100066
Citation: MA Hongwei, CHAO Yong, XUE Xusheng, et al. Binocular vision-based displacement detection method for anchor digging robot[J]. Journal of Mine Automation，2022，48(12)：16-25. DOI: 10.13272/j.issn.1671-251x.2022100066
shu

Binocular vision-based displacement detection method for anchor digging robot

  • 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 Detection and Control, Xi'an 710054, China

More Information
  • Received Date: October 19, 2022
  • Revised Date: December 04, 2022
  • Available Online: November 30, 2022
    Graphical Abstract
    • Abstract
  • The problem of low detection accuracy of driving displacement exists in the driving process of anchor digging robots. In order to solve the above problem, taking the supporting bolt as the positioning benchmark, by analyzing the distance relationship between the anchor digging robot and the supporting bolt, the positioning model of "anchor digging robot-supported anchor" is established. This paper proposes a binocular vision-based displacement detection method for anchor digging robots. Due to the complexity of the underground coal mine environment, the disparity map obtained by using the traditional Census transform algorithm has limitations. By analyzing the binocular vision ranging principle, an improved Census transform algorithm is proposed to obtain the disparity map of the anchor and the depth information of the anchor image. This paper presents a method of anchor feature recognition and positioning, and uses edge detection algorithm to extract the anchor contour in disparity map. The minimum circumscribed rectangle and the maximum circumscribed rectangle algorithm are used to frame the anchor outline and extract the pixel coordinates of anchor feature points. By analyzing coordinate conversion relationships, the pixel coordinates of feature points are converted to world coordinates. By using the least square method, the spatial coordinates of feature points are fitted into a straight line. The plane parallel to the roadway section is established through the straight line. The distance between the binocular camera and the plane is calculated, and then the distance between the anchor digging robot and the plane is obtained. A mobile robot platform is set up to carry out the displacement detection experiment of the anchor digging robot. The results show the following points. The improved Census transform algorithm reduces the mismatch rate from 19.85% to 11.52%, which is 41.96% lower than the traditional Census transform algorithm. The method of anchor feature point recognition and positioning can effectively extract the spatial coordinates of anchor feature points. The distance between the camera and the three parallel sections is 3 010.428, 2 215.910, 1 415.127 mm respectively through straight line fitting. In the robot positioning experiment, the real calculated displacement is compared with the theoretical displacement. The results show that the real calculated displacement curve coincides with the theoretical displacement curve basically. The error between the theoretical displacement and the calculated displacement is less than 20 mm. The autonomous, accurate and real-time displacement detection of the anchor digging robot can be realized.
    • FullText(HTML)
    • References (17)
  • [1]
    马宏伟,王鹏,张旭辉,等. 煤矿巷道智能掘进机器人系统关键技术研究[J]. 西安科技大学学报,2020,40(5):751-759.

    MA Hongwei,WANG Peng,ZHANG Xuhui,et al. Research on key technologies of intelligent tunneling robot system for coal mine[J]. Journal of Xi'an University of Science and Technology,2020,40(5):751-759.
    [2]
    张羽飞,马宏伟,毛清华,等. 视觉与惯导融合的煤矿移动机器人定位方法[J]. 工矿自动化,2021,47(3):46-52.

    ZHANG Yufei,MA Hongwei,MAO Qinghua,et al. Coal mine mobile robot positioning method based on fusion of vision and inertial navigation[J]. Industry and Mine Automation,2021,47(3):46-52.
    [3]
    马宏伟,杨金科,毛清华,等. 煤矿护盾式掘进机器人系统精确定位研究[J]. 工矿自动化,2022,48(3):63-70.

    MA Hongwei,YANG Jinke,MAO Qinghua,et al. Research on precise positioning of shield roadheader robot system in coal mine[J]. Journal of Mine Automation,2022,48(3):63-70.
    [4]
    王媛媛,马宏伟,张广明,等. 基于光纤布拉格光栅的超声无损检测系统研究[J]. 现代电子技术,2022,45(9):143-146.

    WANG Yuanyuan,MA Hongwei,ZHANG Guangming,et al. Research on ultrasonic nondestructive testing system based on fiber Bragg grating[J]. Modern Electronics Technique,2022,45(9):143-146.
    [5]
    马宏伟,毛金根,毛清华,等. 基于惯导/全站仪组合的掘进机自主定位定向方法[J]. 煤炭科学技术,2022,50(8):189-195.

    MA Hongwei,MAO Jingen,MAO Qinghua,et al. Autonomous positioning and orientation method of roadheader based on combinaiton of INS and digital total station[J]. Coal Science and Technology,2022,50(8):189-195.
    [6]
    马宏伟,姚阳,薛旭升,等. 基于多传感器组合的钻锚机器人机身定位方法研究[J]. 煤炭科学技术,2021,49(1):278-285.

    MA Hongwei,YAO Yang,XUE Xusheng,et al. Research on body positioning method of drilll-anchor robot based on multi-sensor combination[J]. Coal Science and Technology,2021,49(1):278-285.
    [7]
    陈美蓉,王凯,张嘉纯,等. 煤矿井下超宽带定位混合解算方法[J]. 工矿自动化,2021,47(3):53-59.

    CHEN Meirong,WANG Kai,ZHANG Jiachun,et al. Hybrid solution method for ultra-wideb and positioning in coal mines[J]. Industry and Mine Automation,2021,47(3):53-59.
    [8]
    薛旭升,张旭辉,毛清华,等. 基于双目视觉的掘进机器人定位定向方法研究[J]. 西安科技大学学报,2020,40(5):781-789.

    XUE Xusheng,ZHANG Xuhui,MAO Qinghua,et al. Localization and orientation method of road header robot based on binocular vision[J]. Journal of Xi'an University of Science and Technology,2020,40(5):781-789.
    [9]
    顾梦娇,朱宇锋,郭迎庆,等. 基于半全局立体匹配算法的改进研究[J]. 电子测量技术,2020,43(19):89-93.

    GU Mengjiao,ZHU Yufeng,GUO Yingqing,et al. Improvement research based on semi-global stereo matching algorithm[J]. Electronic Measurement Technology,2020,43(19):89-93.
    [10]
    黄超,赵华治. 根据灰度值信息自适应窗口的半全局匹配[J]. 中国图象图形学报,2019,24(8):1381-1390.

    HUANG Chao,ZHAO Huazhi. Semi-global stereo matching with adaptive window based on grayscale value[J]. Journal of Image and Graphics,2019,24(8):1381-1390.
    [11]
    CHANG Y C,TSAI T H,HSU B H,et al. Algroithm and architecture of disparity estimation with mini-census adaptive support weight[J]. IEEE Transactions on Circuits and Systems for Video Technology,2010,20(6):792-805. DOI: 10.1109/TCSVT.2010.2045814
    [12]
    YOON K J,KWEON I S. Adaptive support-weight approach for correspondence search[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence,2006,28(4):650-656. DOI: 10.1109/TPAMI.2006.70
    [13]
    李大华,沈洪宇,于晓,等. 一种改进Census变换的双目匹配测距方法[J]. 激光与光电子学进展,2019,56(11):197-202.

    LI Dahua,SHEN Hongyu,YU Xiao,et al. Binocular ranging method using stereo matching based on improved Census transform[J]. Laser & Optoelectronics Proress,2019,56(11):197-202.
    [14]
    王浩,张善房,朱建高,等. 基于双目视觉的测距系统研究[J]. 家电科技,2022(4):92-95. DOI: 10.19784/j.cnki.issn1672-0172.2022.04.016

    WANG Hao,ZHANG Shanfang,ZHU Jiangao,et al. Research on ranging system based on binocular vision[J]. Journal of Appliance Science & Technology,2022(4):92-95. DOI: 10.19784/j.cnki.issn1672-0172.2022.04.016
    [15]
    虞文杰,叶嵩,郭毓,等. 基于改进Census变换与多特征融合的立体匹配算法[J]. 激光与光电子学进展,2022,59(8):157-163.

    YU Wenjie,YE Song,GUO Yu,et al. Stereo matching algorithm based on improved Census transform and multi-feature fusion[J]. Laser & Optoelectronics Progress,2022,59(8):157-163.
    [16]
    杨文娟,张旭辉,张超,等. 基于三激光束标靶的煤矿井下长距离视觉定位方法[J]. 煤炭学报,2022,47(2):986-1001. DOI: 10.13225/j.cnki.jccs.xr21.1762

    YANG Wenjuan,ZHANG Xuhui,ZHANG Chao,et al. Long distance vision localization method based on triple laser beams target in coal mine[J]. Journal of China Coal Society,2022,47(2):986-1001. DOI: 10.13225/j.cnki.jccs.xr21.1762
    [17]
    谢孟辛,张捍卫,李鹏杰,等. 基于整体最小二乘原理的GPS轨道坐标拟合[J]. 导航定位学报,2021,9(4):11-18. DOI: 10.16547/j.cnki.10-1096.20210402

    XIE Mengxin,ZHANG Hanwei,LI Pengjie,et al. GPS orbit coordinate fitting method based on total least squares[J]. Journal of Navigation and Positioning,2021,9(4):11-18. DOI: 10.16547/j.cnki.10-1096.20210402
    • Related Articles

  • Related Articles

    [1]WANG Dong, WANG Li. Structure design of bolting propulsion robot for mine[J]. Journal of Mine Automation, 2024, 50(S2): 198-200,214.
    [2]SHAN Jie. Research on binocular vision positioning based on IGA optimized BP neural network[J]. Journal of Mine Automation, 2024, 50(S1): 74-77.
    [3]WU Di, FU Baoding, SUN Bo, KANG Le, LIU Zhixiang, ZOU Kang. Analysis of attitude adjustment for airborne drilling rig of anchor excavator[J]. Journal of Mine Automation, 2024, 50(1): 104-114. DOI: 10.13272/j.issn.1671-251x.2023060016
    [4]ZHANG Zhiwei, MA Xiaoping, BAI Yateng, LEI Zhenya, LI Jiaming. Local path planning for mobile robots based on improved OpenPlanner algorithm[J]. Journal of Mine Automation, 2023, 49(12): 40-46. DOI: 10.13272/j.issn.1671-251x.18151
    [5]ZHANG Fujing, WANG Hongwei, WANG Haoran, LI Zhenglong, WANG Yuheng. Intelligent identification and positioning of steel belt anchor hole in coal mine roadway support[J]. Journal of Mine Automation, 2022, 48(10): 76-81. DOI: 10.13272/j.issn.1671-251x.2022080070
    [6]YANG Xuejun, WANG Ranfeng, WANG Huaifa. Research on laser positioning matrix of straightness detection robot for hydraulic support[J]. Journal of Mine Automation, 2019, 45(1): 52-56. DOI: 10.13272/j.issn.1671-251x.2018060035
    [7]WEI Mingsheng, TONG Minming, ZHANG Chunya, XIA Jing. Electromagnetic positioning system of pipeline blockage clearing robot[J]. Journal of Mine Automation, 2016, 42(6): 1-4. DOI: 10.13272/j.issn.1671-251x.2016.06.001
    [8]ZHAO Jianwei, WANG Hongyan, TANG Bing, YANG Zhongya. Research of GPS track generation and location based on mobile robot[J]. Journal of Mine Automation, 2016, 42(1): 17-19. DOI: 10.13272/j.issn.1671-251x.2016.01.006
    [9]ZHANG Xiaobo, WU Yincheng, SUN Zhifei, HUANG Chu. A non-destructive length measuring method for mine-used bolt or anchor cable[J]. Journal of Mine Automation, 2015, 41(1): 76-79. DOI: 10.13272/j.issn.1671-251x.2015.01.019
    [10]TIAN Feng, FANG Haifeng, LI Yunwang. Research of energy efficiency model of mine rescue robot[J]. Journal of Mine Automation, 2014, 40(10): 15-18. DOI: 10.13272/j.issn.1671-251x.2014.10.005

  • Cited by

    Periodical cited type(6)

    1. 杨焜，王宏伟，张夫净，李进，张之好，李正龙. 多尺度复杂环境下的锚孔定位方法. 矿业研究与开发. 2025(01): 126-134 .
    2. 王宏伟，李进，闫志蕊，郭军军，张夫净，李超. 基于图像与点云融合的巷道锚护孔位识别定位方法. 煤炭科学技术. 2024(05): 249-261 .
    3. 陈万辉，郭瑞，韩伟，宋永明，梁燕翔，刘耀，王佳明，许娜，孟波. 煤矿巷道支护方案智能设计研究. 工矿自动化. 2024(08): 76-83+90 . 本站查看
    4. 张东宝. 钻锚机器人定位性能试验台设计与研究. 煤矿机械. 2024(12): 7-9 .
    5. 付翔，秦一凡，李浩杰，牛鹏昊. 新一代智能煤矿人工智能赋能技术研究综述. 工矿自动化. 2023(09): 122-131+139 . 本站查看
    6. 刘瑞. 巷道掘进支护技术在煤矿工程中的应用研究. 内蒙古煤炭经济. 2023(18): 145-147 .

    Other cited types(3)

Catalog

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (784) PDF downloads (55) Cited by(9)
    Related

    苏ICP备 05016349号-2

    Supported by: Beijing Renhe Information Technology Co., Ltd. Visits：1154297    Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return