锚杆支护自动作业二次定位修正方法  

Method of secondary positioning correction in automatic operation of bolt support

作　　者：李航 李瑞 李响[1] LI Hang;LI Rui;LI Xiang(School of Instrument Science and Optoelectronics Engineering,Beijing Information Science&Technology University,Beijing 100192,China;Beijing Blue Vision Science&Technology Co.,Ltd.,Beijing 110105,China)

机构地区：[1]北京信息科技大学仪器科学与光电工程学院,北京100192 [2]北京唯实深蓝科技有限公司,北京110105

出　　处：《北京信息科技大学学报（自然科学版）》2023年第2期88-94,共7页Journal of Beijing Information Science and Technology University

摘　　要：为提高煤矿井下锚钻孔定位的精度,采用了基于结构光式深度相机的视觉测量系统来辅助机械臂进行锚钻孔的定位,并且提出了一种二次定位修正补偿方法。首先,在目标点偏离相机光轴较远的位置进行粗定位。随后,根据粗定位旋转机械臂,将目标点调整至距离相机光轴较近的区域进行精定位,消除了相机畸变对目标点测量的影响。实验表明该二次定位修正模型的定位误差相比于对一次定位模型的定位误差平均可以减小74.7%,并使得最终锚钻孔定位误差小于5 mm。In order to improve the accuracy of anchor hole positioning in coal mine,a vision measurement system based on structured light depth camera was used to assist the manipulator in anchor hole positioning,and a secondary positioning correction compensation method was proposed.Firstly,coarse positioning was performed at the position where the target point is far away from the optical axis of the camera.Then the target point was adjusted to the area close to the optical axis of the camera for fine positioning according to the coarse positioning rotating mechanical arm,eliminating the influence of camera distortion on the measurement of the target point.The experiment results show that with the secondary positioning correction model,the positioning error can be reduced by 74.7%on average compared with that of the primary positioning model,and the final anchor hole positioning error is less than 5 mm.

关 键 词：锚杆支护 二次定位修正 相机畸变 结构光相机 

分 类 号：U455.71[建筑科学—桥梁与隧道工程]