| 面向矿山无人化破碎系统的视觉引导技术研究及应用 |
投稿时间：2020-02-04 修订日期：2020-06-15  点此下载全文 |
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| 中文摘要:为实现矿山溜破系统中溜井口大块矿石破碎作业的无人化操作,利用RGB-D相机构建视觉系统,引入视觉引导技术对溜破系统中的液压破碎锤进行改造。首先,对RGB-D相机进行标定配准,利用PCL点云库及开源接口函数获取作业目标的点云数据和三维坐标；其次,根据液压破碎锤的机械结构进行运动学建模,求其运动学逆解,解算出目标点机械坐标；最后,对RGB-D相机和液压破碎锤进行手眼标定,求解相机坐标与目标点坐标之间的转换关系,建立坐标转换模型,实现目标点相机坐标到机械坐标的转换。基于.NET平台设计客户端软件进行测试。现场测试结果表明,该转换模型计算所得坐标平均误差小于10mm,作业精度满足破碎锤破碎作业精度。 |
| 中文关键词:液压机械臂建模 视觉引导 矿石破碎 RGB-D相机 |
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| Research and Application of Visual Guidance Technology for Mine Unmanned Crushing System |
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| Abstract:In order to realize the unmanned operation of ore crushing operation in the mine slip break system, his thesis uses rgb-d camera to construct the vision system, and introduces the visual guidance technology to reconstruct the hydraulic hammer in the slip break system.Firstly, the rgb-d camera was calibrated and registered, and the PCL (Point Cloud Library) and open source interface functions were used to obtain the point cloud data and 3d coordinates of the operation target. Secondly, in order to find the inverse kinematic solution and the mechanical coordinates of the target point, the kinematic modeling is carried out according to the mechanical structure of the hydraulic crushing hammer.Finally, the hand-eye calibration of rgb-d camera and hydraulic crushing hammer was carried out to solve the conversion relationship between camera coordinates and target point coordinates, and a coordinate conversion model was established to realize the conversion of target point camera coordinates to mechanical coordinates. Design client software based on.NET platform for testing. The field test results show that the average coordinate error calculated by the transformation model is less than 10mm, and the operation precision meets the crushing operation precision of the hammer. |
| keywords:hydraulic manipulator modeling visual guide ore crushing rgb-d camera |
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