• 论文
主办单位:煤炭科学研究总院有限公司、中国煤炭学会学术期刊工作委员会
煤矿机器人视觉系统除尘方法研究
  • Title

    Research on dust removal method for vision system of coal mine robot

  • 作者

    胡而已 李梦雅王一然吕东翰孙益壮

  • Author

    HU Eryi , LI Mengya, WANG Yiran,LYU Donghan,SUN Yizhuang

  • 单位

    中国矿业大学 机电工程学院应急管理部信息研究院

  • Organization
    1.College of Mechanical and Electrical Engineering, China University of Mining and Technology,Xuzhou ,China;2.Information Institute, Ministry of Emergency Management of the People’s Republic of China, Beijing ,China
  • 摘要

    为了提高煤矿机器人视觉系统在高粉尘、高湿度等恶劣工况下的工作效率和控制精度,提出了一种镜头的复合式防尘除尘方法,为视觉系统镜头和视窗自动清洁提供了新思路。基于自揭膜的方式实现防爆摄像装置的自清洁,而且整个揭膜保护装置的设计满足矿用机电产品的防爆设计要求的原理,设计出典型的防尘系统的虚拟样机,在采集图像的过程中,根据曝光量和图像质量获得当前镜头的清洁度,将洁净度与所设置的能见度阈值进行实时比较,判断是否执行除尘动作,通过揭膜的动作完成主动防尘的动作。防尘的同时考虑在揭膜失效的情况下结合被动式喷淋除尘方法,设计了被动式除尘系统的总体架构,根据CCD成像原理获取镜头的曝光量,将其与预设的洁净度对比判断,进行镜头的清洗动作,在此过程中详细分析了机器人和喷淋冲洗系统间的定位方法和匹配措施。初步实验研究表明:井下现场的高粉尘环境对煤矿机器人视觉系统的图像采集质量影响较大,通过对视觉系统获取的图像进行在线灰度直方图分析,可实时判断图像的劣化程度,启动视觉系统除尘清洁装置,能够有效的提高机器人视觉系统图像拍摄质量,为煤矿机器人导航、定位、巡检作业等提供保障。


  • Abstract
    In order to improve the image collection quality of the coal mine robot vision system under harsh working conditions,such as high dust and high humidity underground, a comprehensive dust removal method of self-exposed film and automatic cleaning of the vision lens is proposed, which provides a new idea for the automatic cleaning of the window of the vision system.The authors adopt the dustproof principle of covering the light-transmitting diaphragm on the window surface, realize the automatic peeling of the film and the dust and self-cleaning of the lens window through clever mechanical structure design, fully consider the explosion-proof design requirements of the film peeling device, and develop the virtual prototype design of the film peeling and dust removing system.The system can automatically calculate the cleanliness of the current lens according to the camera exposure and image acquisition quality to determine whether to perform the film removal and dust removal action.At the same time, in the case of film removal and dust removal failure, supplemented by the coal mine robot lens spray dust removal method, the overall architecture of the automatic cleaning and dust removal system is designed.The robot determines the lens spray cleaning strategy through the automatic judgment algorithm of the lens pollution degree.By tracking, automatic positioning and other technologies to realize the docking and cleaning actions of the spray cleaning system and the robot lens.Preliminary experimental research shows that: through online grayscale histogram analysis of the images obtained by the robot vision system, the real-time image degradation degree can be automatically judged, and the dust removal and cleaning device of the vision system can be activated to effectively improve the image quality of the robot vision system.It can provide technical support for coal mine robot underground navigation, positioning and inspection operations.
  • 关键词

    煤矿机器人机器视觉镜头防尘镜头除尘煤矿智能化智能矿山

  • KeyWords

    coal mine robot; machine vision; lens dust removal;coal mine intelligence

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