光学靶标遮挡条件下掘进机定位解算方法

王朋朋; 李瑞; 刘鑫; 李响; 付常亮

doi:10.13272/j.issn.1671-251x.2023110001

光学靶标遮挡条件下掘进机定位解算方法

doi: 10.13272/j.issn.1671-251x.2023110001

1.
北京信息科技大学仪器科学与光电工程学院，北京　100080
2.
北京唯实深蓝科技有限公司，北京　100080

基金项目: 北京市自然科学基金青年项目（4224094）。

详细信息

作者简介:
王朋朋（1997—），男，安徽阜阳人，硕士研究生，研究方向为机器视觉，E-mail：wangpp0513@163.com

中图分类号: TD632
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- 文章访问数: 49
- HTML全文浏览量: 14
- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2023-11-05
- 修回日期: 2024-06-01
- 网络出版日期: 2024-06-13

A positioning solution method for roadheader under optical target occlusion conditions

1.
School of Instrument Science and Opto-Electronics Engineering, Beijing Information Science and Technology University, Beijing 100080, China
2.
Beijing Bluevision Science and Technology Co., Ltd., Beijing 100080, China

摘要

摘要: 针对目前常用的基于惯导+视觉测量+光学靶标的掘进机组合式导航定位存在的光学靶标被遮挡情况下掘进机定位中断问题，提出了一种光学靶标遮挡条件下掘进机定位解算方法。首先，采集4个呈矩形分布的靶标点组成的光学靶标在无遮挡情况下的图像，得到靶标点在相机内成像光斑的像素坐标并构造成矩形，再按照一定比例扩大构造辅助矩形区域框。其次，采集部分靶标点被遮挡情况下的图像，得到无遮挡靶标点在相机内成像光斑的像素坐标，根据靶标点的成像光斑与辅助矩形区域框顶点的欧氏距离，确定无遮挡靶标点与成像光斑的对应关系，进而确定被遮挡的靶标点。然后，利用已知的靶标几何尺寸和惯导提供的靶标姿态信息，建立投影后的靶标点与成像光斑的对应关系，进而求解出被遮挡靶标点对应的光斑像素坐标。最后，利用N点位姿透视求解（PNP）算法求得光学靶标中心位置的空间坐标，实现掘进机定位解算。试验结果表明，光学靶标被遮挡情况下，通过推算被遮挡靶标点对应的光斑像素坐标，可以解决掘进机定位中断问题，保证了掘进机定位的实时性，且定位误差满足掘进机实际定位需求。
- 掘进机定位 /
- 光学靶标 /
- 惯导 /
- 视觉测量 /
- 组合导航
Abstract: In order to solve the problem of interruption in the positioning of roadheader in the case that the optical target is blocked under the current commonly used integrated navigation positioning of roadheader based on "inertial navigation+visual measurement+optical target", a positioning solution method for roadheader under optical target occlusion occlusion is proposed. Firstly, the method collects images of an optical target composed of four rectangular distributed target points in unblocked conditions, obtains the pixel coordinates of the imaging spot of the target points in the camera, and constructs a rectangle. Then, the method expands and constructs an auxiliary rectangular area box according to a certain proportion. Secondly, the method collects images of partially blocked target points, obtains the pixel coordinates of the imaging spot of the unblocked target points in the camera. The method determines the corresponding relationship between the unblocked target points and the imaging spot based on the Euclidean distance between the imaging spot of the target points and the vertex of the auxiliary rectangular area box, thereby determining the blocked target points. Thirdly, using the known geometric dimensions of the target and the target attitude information provided by inertial navigation, the method establishes the corresponding relationship between the projected target point and the imaging spot, and then solves for the pixel coordinates of the spot corresponding to the blocked target point. Finally, the spatial coordinates of the center position of the optical target are obtained using the perspective-N-point (PNP) algorithm to achieve the positioning solution of the roadheader. The experimental results show that when the optical target is blocked, by calculating the pixel coordinates of the light spot corresponding to the blocked target point, the problem of interruption in the positioning of the roadheader can be solved. It ensures the real-time positioning of the roadheader, and the positioning error meets the actual positioning requirements of the roadheader.
- roadheader positioning /
- optical targets /
- inertial navigation /
- visual measurement /
- integrated navigation

HTML全文

图 1 掘进机组合式导航定位系统

Figure 1. Combined navigation and positioning system for roadheader

下载: 全尺寸图片幻灯片

图 2 光斑标记与辅助矩形区域框构建

Figure 2. Labeling of light spot and construction of auxiliary rectangular region box

下载: 全尺寸图片幻灯片

图 3 帧间光斑匹配

Figure 3. Light spot matching between the frames

下载: 全尺寸图片幻灯片

图 4 实际靶标点根据惯导姿态信息的投影变换

Figure 4. Projection transformation of the actual target point according to the attitude information provided by inertial navigation

下载: 全尺寸图片幻灯片

图 5 2个靶标点遮挡情况下像素坐标推算

Figure 5. Calculation of pixel coordinates when two target points are blocked

下载: 全尺寸图片幻灯片

表 1 不同距离下掘进机定位试验结果

Table 1. Experimental results of roadheader positioning at different distances

掘进机距激光导引装置距离/m	姿态角/（°）	靶标点	定位结果/mm			定位误差/mm
掘进机距激光导引装置距离/m	姿态角/（°）	靶标点	x	y	z	Δx	Δy	Δz
15	俯仰角：−0.11	A，B，C，D	304	14925	−903	−	−	−
		A，B，C	303	14900	−902	1	25	−1
		A，B，D	303	14920	−904	1	5	1
	横滚角：−0.35	A，C，D	304	14918	−902	0	7	−1
		B，C，D	304	14938	−904	0	−13	1
		A，B	305	14935	−903	−1	−10	0
	航向偏角：−1.14	C，D	303	14939	−904	1	−14	1
		A，D	305	14960	−904	−1	−35	1
		B，C	303	14890	−904	1	35	1
25	俯仰角：0.20	A，B，C，D	258	24951	−943	−	−	−
		A，B，C	259	24919	−939	−1	32	−4
		A，B，D	258	24972	−947	0	−21	4
	横滚角：0.11	A，C，D	258	24917	−940	0	34	−3
		B，C，D	258	24978	−947	0	−27	4
		A，B	259	24926	−941	−1	25	−2
	航向偏角：0.06	C，D	258	24924	−942	0	27	−1
		A，D	259	24977	−943	−1	−26	0
		B，C	258	24962	−943	0	−11	0
40	俯仰角：−0.12	A，B，C，D	49	40036	−869	−	−	−
		A，B，C	49	40069	−869	0	−33	0
		A，B，D	49	40052	−870	0	−16	1
	横滚角：−0.22	A，C，D	49	40007	−868	0	29	−1
		B，C，D	48	40015	−871	1	21	2
		A，B	50	40093	−872	−1	−57	3
	航向偏角：−1.07	C，D	48	40015	−870	1	21	1
		A，D	50	39974	−869	−1	62	0
		B，C	49	40023	−870	0	13	1
60	俯仰角：−0.24	A，B，C，D	16	60312	−997	−	−	−
		A，B，C	16	60367	−1000	0	−54	3
		A，B，D	16	60268	−994	0	44	−3
	横滚角：0.22	A，C，D	16	60356	−1000	0	−44	3
		B，C，D	16	60259	−994	0	53	−3
		A，B	16	60381	−999	0	−69	2
	航向偏角：−0.37	C，D	17	60345	−998	−1	−33	1
		A，D	16	60260	−997	0	52	0
		B，C	15	60262	−996	1	50	−1

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