Analysis of Position Measurement Accuracy of Boom-Type Roadheader Based on Binocular Vision
Jiameng Cheng, Hai Jiang, WANG Dongjie, Weixiong Zheng, Yang Shen, Miao Wu
Abstract
The stable and accurate measurement of the position of tunneling machine in coal mines is crucial for enhancing intelligence and efficiency. To address the issue of inaccurate position measurements of binocular vision, an analysis was conducted to examine the accuracy of position measurements made by binocular vision, specifically by analyzing the imaging phenomena in visual sensors and the structural parameters of binocular vision. The study examines how the attitude parameters of a spatial circle impact the vision sensor’s plane projection error, establishes a circular feature projection error model, and conducts simulation analysis. Furthermore, a structural parameter analysis model for binocular vision sensors is proposed based on error analysis theory, and a simulated position measurement accuracy curve is provided along with criteria for selecting structural parameters. Additionally, a model is developed for measuring the accuracy of a vision system on a boom-type roadheader. The model comprehensively analyzes the impact of plane imaging errors and structural parameters on the accuracy of the body position visual measurement system. Finally, experiments are carried out to verify the accuracy and reliability of the proposed system and methods for measuring body position accuracy.