掘进机视觉导航系统嵌入式平台研究与开发  

Research and Development of Embedded Platform for Vision Navigation System of Roadheader

作　　者：田原 TIAN Yuan(CCTEG Taiyuan Research Institute Co., Ltd., Taiyuan 030006, China;Shanxi Tiandi Coal Mining Machinery Co., Ltd., Taiyuan 030006, China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006 [2]山西天地煤机装备有限公司,山西太原030006

出　　处：《煤矿机电》2020年第2期1-4,共4页Colliery Mechanical & Electrical Technology

基　　金：山西省煤基重点科技攻关资助项目(201803D121128);天地科技股份有限公司科技创新创业资金专项资助项目(2018-TD-MS042);中国煤炭科工集团太原研究院技术创新资助项目(M2018-02)。

摘　　要：为了使基于机器视觉的掘进机导航系统小型化,提高可靠性,开发设计了基于ARM Cortex-A8处理器、TVP5146模拟摄像头模块、WG7310-0A通信模块的掘进机视觉导航系统嵌入式平台。阐述了嵌入式平台的系统架构、外扩芯片、接口的选择和设计过程,给出了系统软件和调试软件的设计流程,最后完成了系统搭建和初步测试,测试结果表明,该嵌入式平台能满足10帧/s,分辨率为768×576的图像采集、分析以及导航数据的实时上传要求。该嵌入式平台实现了图像采集、预处理、图像分析、导航参数解算和数据无线传输等功能,可将嵌入式平台与工业摄像机、电源模块等集成在同一个隔爆壳体内,使其小型化便于安装。In order to miniaturize the navigation system of roadheader based on machine vision and improve its reliability,an embedded platform of vision navigation system of roadheader based on ARM Cortex-A8 processor,TVP5146 analog camera module and WG7310-0A communication module has been developed and designed.The system architecture,the selection and design process of the extended chip and interface of the embedded platform have been expounded,the design flow of the system software and debugging software have been given and finally the system construction and preliminary test have been completed.The test results showed that the embedded platform could meet the requirements of 10 frames per second,and the resolution of 768×576 image acquisition,and requirements for analysis and guidance of real-time uploading of flight data.The embedded platform can realize the functions of image acquisition,preprocessing,image analysis,navigation parameter calculation and data wireless transmission,so that the embedded platform can be integrated with industrial camera and power module in the same flameproof shell,to make it miniaturized and easy to install.

关 键 词：掘进机 嵌入式系统 视觉导航 

分 类 号：TD421.5[矿业工程—矿山机电] TP391.41[自动化与计算机技术—计算机应用技术]