基于雙目立體視覺(jué)的礦井提升繩橫向振動(dòng)檢測(cè)研究
[Abstract]:Mine hoisting system is a typical flexible transmission hoisting system. Hoisting wire rope and balancing wire rope are the main components of mine hoisting system. Safe and efficient operation of mine hoisting system must be based on the safety and reliability of wire rope. With the continuous improvement of coal mining technology, the running speed of the lifting system is faster and faster, and the safety requirements are higher and higher. Therefore, the swing parameters of the wire rope are obtained, the condition of the hoisting system is evaluated, and the possible faults are predicted. It is of great significance to coal mine safety production. In this paper, the transverse vibration parameters of mine hoist rope are studied as follows: first, Based on the stereo vision measurement theory and application scene, the confluent binocular stereo vision detection system configuration and the parallel binocular stereo vision detection system configuration are proposed. The structure of the image acquisition hardware system and the stereoscopic vision imaging range of two different configurations are analyzed, and the structure diagrams of the two detection configurations in practical application are given. The important selection parameters of camera and lens in binocular stereo inspection vision system and the general rules of hardware system construction are summarized. Secondly, the theory of computer vision imaging is described in detail, and four coordinate systems in the process of camera imaging are established, that is, image pixel coordinate system, image physical coordinate system, camera coordinate system and world coordinate system, and their interrelation. The principle of vibration parameter detection of two stereo vision configurations is analyzed and deduced. The relative coordinate method and absolute coordinate method are used to detect the parameters of orthogonal binocular stereo vision, and the triangulation principle is used to detect the parameters of parallel binocular stereo vision. Then, the image extraction algorithm for rope string is studied. A typical image processing process includes preprocessing, image segmentation and feature extraction. The image processing of string objects mainly includes ROI technology which reduces the computational complexity, filtering and transformation in preprocessing, threshold segmentation and edge detection in image segmentation, area filtering and morphological processing in feature extraction. Finally, a binocular stereo vision vibration parameter detection software including camera operation and image acquisition, single and binocular camera calibration ROI selection and parameter calculation, stereo matching and parameter calculation is designed. According to the principle of micro-element model, the rotating experiment table is built, and the circular motion of the short rod is used to simulate the composite transverse vibration of wire rope in space, and two stereo vision configurations are used to carry out the image, and the video is collected and calibrated. Then the rotation displacement parameters of the short rod are detected and compared with the theoretical displacement trajectory by the actual image detection results. The effectiveness of the binocular stereo vision detection system for the detection of spatial lateral vibration is verified by the comparison and analysis of the actual image detection results and the theoretical displacement trajectory.
【學(xué)位授予單位】:中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】:碩士
【學(xué)位授予年份】:2017
【分類號(hào)】:TD532;TP391.41
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