工业摄影测量技术在矿用机械臂末端位姿测量中的应用  

Application of industrial photogrammetry technology in the end position and posture measurement of mining manipuiator

作　　者：金枫 战凯[1,2,3] 张元生 姜中晔[1,3,4] 陈圣杰 马朝阳 JIN Feng;ZHAN Kai;ZHANG Yuansheng;JIANG Zhongye;CHEN Shengjie;MA Zhaoyang(BGRIMM Technology Group,Beijing 100160,China;University of Science and Technology Beijing,Beijing 100083,China;Beijing Key Laboratory of Nonferrous Intelligent Mining Technology,Beijing 102628,China;BGRIMM Intelligent Technology Co.,Ltd.,Beijing 102628,China)

机构地区：[1]矿冶科技集团有限公司,北京100160 [2]北京科技大学,北京100083 [3]金属矿山智能开采技术北京市重点实验室,北京102628 [4]北京北矿智能科技有限公司,北京102628

出　　处：《有色金属（矿山部分）》2020年第6期97-100,106,共5页NONFERROUS METALS(Mining Section）

基　　金：“十三五”国家重点研发计划项目(2018YFC0604403);矿冶科技集团有限公司科研基金项目(02-2036-WG)。

摘　　要：矿用机械臂是多类矿山装备的核心功能模块,精准测量矿用机械臂末端位姿参数是开展其状态监测与智能控制的关键环节之一。利用具备大尺寸、非接触、高精度优势的摄影测量技术,解决了以破碎机为代表的矿用机械臂末端参数的高精度实时动态测量问题,为矿用机械臂的智能控制提供基础支撑。The mining manipulator is one of the core functional modules of many types of mining equipment.Accurately measuring the end position and posture parameters of mining manipulator is one of the key links for its condition monitoring and intelligent controlling.In this paper,the large size,non-contact,and high precision photogrammetric technology was used to solve the high-precision real-time dynamic measurement problem of the end parameters of mining manipulator with the rock breaker as an example,which can provide the basis for the intelligent control of the mining manipulator.

关 键 词：矿用机械臂 摄影测量 定位精度 重复精度 

分 类 号：TD403[矿业工程—矿山机电] TD679