基于双相机标靶的直线顶管掘进机导向方法  

Guiding Method of Linear Pipe Jacking Machine Based on Dual Camera Target

作　　者：黄喆 燕庆德 邵震宇 赵旭晔 杜文阳 Huang Zhe;Yan Qingde;Shao Zhenyu;Zhao Xuye;Du Wenyang(College of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222;Tianjin Hengdu Quantum Precision Instrument Technology Co.,Ltd.,Tianjin 300384)

机构地区：[1]天津科技大学电子信息与自动化学院,天津300222 [2]天津恒度量子精密仪器技术有限公司,天津300384

出　　处：《激光与光电子学进展》2022年第4期450-457,共8页Laser & Optoelectronics Progress

基　　金：国家重点研发计划(2019YFB2006100);天津市自然科学基金(18JCYBJC88600);天津大学精密测试技术与仪器国家重点实验室开放课题(pilab1905)。

摘　　要：针对直线顶管掘进机在掘进导向中所面临的响应速度慢、成本高的问题,提出了一种基于双相机靶标的实时位姿测量方法。利用对向安装的两个工业相机及两块感光成像屏组成测量标靶,并辅以一道已知空间方位信息的指示激光。所提方法利用光斑图像分析处理、标定网格检索以及欧拉角解算技术,可完成掘进机相对计划线在工程坐标系下水平/垂直偏差的测量,进而实现导向。实验结果表明,所提双相机标靶的方位角重复性测量精度优于0.03°、绝对测量误差小于0.05°、水平/垂直偏差测量误差小于3 mm,完全满足直线顶管掘进机实时精确导向需求。Aiming at the problems of slow response speed and high cost faced by linear pipe jacking machine in tunneling guidance, a real-time pose measurement method based on dual camera targets is proposed. The measurement target is composed of two opposite industrial cameras and two photosensitive imaging screens installed in the opposite direction, supplemented by an indicator laser with known spatial orientation information. By using the techniques of spot image analysis and processing, calibration grid retrieval and Euler angle calculation, the proposed method can complete the measurement of horizontal/vertical deviation of machine relative to the planning line in the engineering coordinate system, so as to realize the guidance. The experimental results show that the azimuth repeatability measurement accuracy of the proposed dual camera target is better than 0. 03°, the absolute measurement error is less than 0. 05° and the horizontal/vertical deviation measurement error is less than 3 mm,which can fully meet the real-time accurate guidance requirements of the linear pipe jacking machine.

关 键 词：视觉光学 视觉测量 直线顶管导向 双相机标靶 位姿测量 

分 类 号：TH741[机械工程—光学工程]