基于改进Canny算子的电铲自动装载目标边缘检测方法  

An Automatic Loading Target Edge Detection Method for Electric Shovels Based on Improved Canny Operators

作　　者：史智杰[1] 乔建强[1] Shi Zhijie;Qiao Jianqiang(State Key Laboratory of Mining and Extraction Equipment and Intelligent Manufacturing,Taiyuan Heavy Industries Co.,Ltd.,Taiyuan Shanxi 030024)

机构地区：[1]太原重工股份有限公司矿山采掘装备及智能制造国家重点实验室,山西太原030024

出　　处：《现代工业经济和信息化》2022年第10期18-20,48,共4页Modern Industrial Economy and Informationization

基　　金：山西省科技重大专项揭榜项目(项目编号:20191102008)。

摘　　要：对电铲自动装载目标边缘的准确、自动检测,是实现智能电铲自动装载作业的关键。结合电铲自动装载作业的实际需求,对Canny算子存在的弱边缘检测准确率低的问题,提出了一种基于边缘隶属度的电铲自动装载目标边缘检测方法。该方法构造了一种新的边缘隶属度图来代替梯度图,综合利用了梯度、局部梯度差、梯度方差等多种信息,有效提高了对弱边缘的检测准确性。同时,针对Canny算子存在的滞后连接双阈值需要人为设定,自适应性不高的问题,提出一种基于Otsu的双阈值自动计算方法,有效提高了边缘检测的自适应性。经过实验验证,提出的改进方法能够有效保留弱边缘信息,边缘更加连续完整,自适应性更好,能够有效满足电铲自动装载作业需求。Accurate and automatic detection of the target edge of electric shovel automatic loading is the key to realize the intelligent electric shovel automatic loading operation.Combining with the actual demand of electric shovel automatic loading operation,an edge detection method based on the edge affiliation is proposed for the problem of low accuracy of weak edge detection by Canny operator.The method constructs a new edge affiliation map instead of gradient map,which integrates various information such as gradient,local gradient difference and gradient variance,and effectively improves the detection accuracy of weak edges.Meanwhile,to address the problem that the lag-connected dual thresholds of the Canny operator need to be set artificially and the adaptiveness is not high,an Otsu-based dual threshold automatic calculation method is proposed,which effectively improves the adaptiveness of edge detection.After experimental verification,the proposed improved method can effectively retain the weak edge information,the edge is more continuous and complete,and the adaptivity is better,which can effectively meet the demand of electric shovel automatic loading operation.

关 键 词：智能电铲 自动装载 边缘检测 CANNY 

分 类 号：TD422[矿业工程—矿山机电]