Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision
Abstract
:1. Introduction
2. Scraper Conveyor Straightness Visual Relay Measurement Method
2.1. Target Pose Acquisition Model Based on Binocular Vision 3D Reconstruction
2.2. Scraper Conveyor Straightness Visual Relay Measurement Method
3. Scraper Conveyor Straightness Binocular Vision Measurement System and Experimental Model
3.1. Scraper Conveyor Straightness Binocular Vision Measuring System
3.2. Experimental Model by Binocular Visual Measurement of the Straightness of the Scraper Conveyor
4. Experimental Study of the Straightness Measurement of a Scraper Conveyor Based on Binocular Vision
5. Results and Discussion
5.1. Scraper Conveyor Straightness Measurement Results
5.2. Error Analysis
6. Conclusions
- (1)
- A visual relay measurement method for the straightness of a scraper conveyor is proposed, in which a target pose acquisition model is established based on binocular vision 3D reconstruction, and the image acquisition of multiple stations and sensors is realized by using trapezoidal window matching technology, in which the straightness in each local coordinate system is converted to the global coordinate system by using the pose relay videometric method, so as to realize the 3D reconstruction of scraper conveyor.
- (2)
- The visual joint measurement experimental model of the scraper conveyor was designed, the visual measurement test was carried out to obtain the spatial morphology of the scraper conveyor, and it was found that the minimum relative displacement between two adjacent middle chutes in the horizontal direction was 7 mm and the maximum relative displacement was 72.5 mm, and the minimum relative displacement between two adjacent middle chutes in the vertical direction was 0 and the maximum relative displacement was 40.5 mm.
- (3)
- The visual measurement and manual measurement results were compared and found to be in better agreement. Moreover, the visual measurement process is independent of each other, resulting in some points (anomalies) deviating from the real trajectory trend line of the scraper conveyor, indicating that the straightness measurement method of the scraper conveyor based on binocular vision in this paper has no error accumulation.
- (4)
- The visual measurement of scraper conveyor straightness error was analyzed, finding that the measurement error in both directions is within ±30 mm, which meets the requirement of ±50 mm for straightness accuracy of the coal face. Meanwhile, the standard deviations of the errors in the horizontal and vertical directions are small, 8.4 and 5.3, respectively, indicating that the straightness measurement method of the scraper conveyor based on binocular vision in this paper is highly reliable.
Author Contributions
Funding
Conflicts of Interest
References
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Station Number | Sign Board Number | Rolling Angle | Pitch Angle | Azimuth |
---|---|---|---|---|
1 | 1 | 0° | 0° | −18°28′28″ |
2 | −1°59′54″ | 5°42′38″ | 5°42′38″ | |
2 | 3 | −1°59′44″ | 6°0′32″ | 18°28′58″ |
4 | −1°59′54″ | −7°59′28″ | 17°31′32″ | |
3 | 5 | −1°59′54″ | −3°8′15″ | 0° |
6 | −1°59′54″ | −3°8′15″ | 0° | |
4 | 7 | −1°59′54″ | 2°51′45″ | 0° |
8 | −1°59′54″ | −4°59′14″ | −18°28′28″ | |
5 | 9 | −1°59′57″ | 0° | 0° |
10 | −1°59′50″ | −4°38′1″ | 34°3′41″ |
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Lv, J.; Shi, P.; Wan, Z.; Cheng, J.; Xing, K.; Wang, M.; Gou, H. Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision. Mathematics 2022, 10, 3545. https://doi.org/10.3390/math10193545
Lv J, Shi P, Wan Z, Cheng J, Xing K, Wang M, Gou H. Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision. Mathematics. 2022; 10(19):3545. https://doi.org/10.3390/math10193545
Chicago/Turabian StyleLv, Jiakun, Peng Shi, Zhijun Wan, Jingyi Cheng, Keke Xing, Mingli Wang, and Hong Gou. 2022. "Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision" Mathematics 10, no. 19: 3545. https://doi.org/10.3390/math10193545
APA StyleLv, J., Shi, P., Wan, Z., Cheng, J., Xing, K., Wang, M., & Gou, H. (2022). Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision. Mathematics, 10(19), 3545. https://doi.org/10.3390/math10193545