| When the mobile coal sampling machine adopts the work mode of " driving on one side and sampling at the same time "("double-motion" mode)to sample the coals transported by train,vehicle driving and sampling work are performed simultaneously,which will greatly shorten the total sampling time and improve work efficiency.However,this “double-motion” work mode requires synchronous control of the motion of vehicle and vehicular manipulator.In order to complete this synchronization control,it is necessary to increase the intelligence of the sampling machine to quickly detect key parameters such as the height of the upper edge of the train carriage relative to the base of the manipulator,the real-time position of the sampling machine relative to the carriage,and the speed of the sampling machine itself,and then feed back these key parameters to the control system of sampling machine.Therefore,on the basis of analyzing the working environment characteristics of the mobile sampling machine and the existing detection technology,this paper determines this binocular vision technology is applied to detect these key parameters.The main contents of this study include the following aspects:(1)After comprehensively analyzing the working requirements of the "doublemotion " working mode of the mobile sampling machine,compared with the existing detection methods,the key parameters detection scheme of the mobile sampling machine based on binocular vision technology was proposed.Simultaneously,a simulation experiment device was developed to provide the necessary conditions for subsequent experiments.(2)On the basis of the analysis of the camera imaging model and the binocular stereo camera model,the calibration method of the binocular camera in the simulation experiment device was determined,and its internal and external parameters were obtained through experiments.Meanwhile,the image correction algorithm used in the experimental study was determined.(3)On the basis of the analysis and comparison of monocular vision measurement method and binocular vision measurement method,a measuring method of the relative height of the upper edge of the train carriage based on binocular vision was proposed.The process of this method is the following:Firstly,the image is segmented so that the carriage contour is separated from image background.Then,the edge image containing the upper edge of the carriage is obtained by edge detection of the carriage contour.Thirdly,the disparity values of matching corner points in the upper edge of carriage are obtained through stereo matching based on corner points for the edge image.Finally,according to the binocular vision principle,the three-dimensional coordinates of the matching points in the manipulator coordinate system are calculated by using the the disparity values,and then the relative height of the upper edge of the carriage is calculated.At the same time,the experimental verification of this measurement method was performed by using a simulation experiment device,which proved that this method is correct and feasible.(4)The measurement method of positioning and self-vehicle speed for mobile sampling machine based on binocular vision were researched.First of all,according to the principle of binocular distance measurement,the distance between the sampling machine and the carriage is calculated through stereo-matching the binocular images collected at various moments during the movement of the sampling machine,thereby the location of carriage is determined by distance measurement.Then,according to the characteristics of sequence image,the speed detection model of sampling machine based on binocular sequence image was established.The transformation parameters of camera coordinates between adjacent two frames are calculated by tracking and matching adjacent two frames,and the moving speed and deflection angle of the sampling machine are calculated through the transformation parameters.The feasibility of the method is verified by the simulation experiment. |
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