Research on a Real-Time Monitoring Method for the Three-Dimensional Straightness of a Scraper Conveyor Based on Binocular Vision

Abstract

Measuring the straightness of the scraper conveyor, which is an indispensable piece of equipment in a fully mechanized coal face, can prevent accidents such as derailment of the shearer and is also important for the precise positioning of the shearer and the accurate control of the hydraulic support. The existing scraper conveyor straightness measurement methods have the disadvantages of inconsistent measurement cost, accuracy, and reliability as well as low dimension of straightness description. To this end, this paper proposes a method for monitoring the three-dimensional straightness of a scraper conveyor based on binocular vision. Trapezoidal window matching technology was used to realize the image acquisition of multiple stations and multiple sensors. The bit pose acquisition model of binocular vision 3D reconstruction was used to obtain the 3D coordinates of the feature points on the sign board in each local coordinate system and the bit pose information of each sign board. The pose relay videometric method was used to convert the straightness in each local coordinate system to the global coordinate system to realize the 3D reconstruction of the scraper conveyor. Finally, the straightness measurement test of the preset scraper conveyor was carried out, and the error analysis was carried out by comparing with the manual measurement results, which showed that the measurement errors were all within ±30 mm. At the same time, the standard deviation of errors in both directions was small, which indicates that the straightness measurement method for the scraper conveyor in this paper has high reliability. In addition, the visual measurement process is independent of each other, so there is no error accumulation in the visual straightness measurement method. The analysis shows that the method of measuring the straightness of a scraper conveyor based on binocular vision can realize continuous and real-time monitoring of the scraper conveyor.

Position measurement technology of boom-type roadheader based on binocular vision

“…However, these pose measurement methods have limitations, including time accumulation errors and unstable measurement accuracy. In recent years, visual perception technology has been preliminarily applied in the underground video surveillance of coal mines and the recognition of abnormal working face conditions [16][17][18]. Consequently, the non-contact measurement of the pose of underground equipment using visual technology has become a research focus in this field.…”

Locating Anchor Drilling Holes Based on Binocular Vision in Coal Mine Roadways

“…In this paper, binocular vision positioning technology is proposed to automatically locate the anchor drilling holes. Vision positioning methods can be categorized into monocular [7,8], binocular [9,10], and multiple camera approaches [11][12][13] based on the number of vision sensors employed. Binocular vision positioning utilizes a pair of visual sensors to capture a single scene from distinct angles.…”

Scraper conveyor chain pitch measurement based on speckle structured light

“…During the working process, the scraper chain also has continuous friction with the chute and coal, resulting in plastic deformation such as the diameter and pitch of the chain, affecting the normal engagement between the chain and the sprocket [3], and causing serious electromechanical accidents such as chain jamming and chain breakage [4]. In recent years, with the acceleration of intelligent mine construction, machine vision and fault diagnosis technology are extensively used in mining scenes, and the automation and intelligence level of scraper conveyor is increasing [6]. However, the hidden danger caused by the deformation of scraper chain cannot be effectively monitored, so it is necessary to monitor and measure the chain pitch of scraper conveyor.…”