基于双目视觉的掘进装备定位系统移站自主标定方法
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张旭辉,杨骏豪,杨文娟,张超,陈鑫,万继成,刘彦徽,王悦
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Automatic calibration method for station transfer in tunneling equipment positioning system based on binocular vision
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Xuhui ZHANG,Junhao YANG,Wenjuan YANG,Chao ZHANG,Xin CHEN,Jicheng WAN,Yanhui LIU,Yue WANG
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| 表1 掘进装备机身位姿的部分测量数据 |
| Table 1 Partial posture measurement data of tunneling equipment body |
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| 对比项 | 观测点 | 机身位姿 |
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| X/mm | Y/mm | Z/mm | ɑ/(°) | β/(°) | γ/(°) |
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| 测量值 | 1 | -493.21 | -287.92 | 2 471.42 | -0.32 | -5.37 | 1.32 | | 2 | 28.34 | -279.65 | 5 517.28 | -0.27 | 4.28 | 1.41 | | 3 | 343.04 | -292.74 | 8 932.37 | -0.51 | 7.62 | 1.27 | | 4 | -85.63 | -283.37 | 13 467.57 | -0.22 | -6.91 | 1.19 | | 5 | -485.79 | -291.13 | 16 595.42 | -0.19 | -5.65 | 1.69 | | 6 | 71.33 | -289.52 | 21 734.71 | -0.33 | 3.28 | 1.52 | | 真实值 | 1 | -503.69 | -274.36 | 2 462.57 | -0.05 | -5.63 | 1.60 | | 2 | 39.81 | -262.13 | 5 504.83 | -0.56 | 4.53 | 1.14 | | 3 | 329.35 | -269.43 | 8 959.69 | -0.10 | 7.99 | 1.02 | | 4 | -69.95 | -266.74 | 13 431.22 | 0.13 | -6.53 | 0.80 | | 5 | -467.52 | -309.08 | 16 566.11 | -0.53 | -5.19 | 2.02 | | 6 | 51.74 | -312.65 | 21 776.69 | 0.23 | 3.79 | 0.99 |
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