基于双目立体视觉的矿井提升绳横向振动检测研究

发布时间：2018-08-07 16:32

【摘要】：矿井提升系统是一种典型的柔性传动提升系统,提升钢丝绳、平衡钢丝绳是其主要构成部件。矿井提升系统安全、高效地运行必须以提升钢丝绳的安全可靠性为前提。随着煤炭开采技术的不断提升,提升系统的运行速度越来越快,安全性要求也越来越高,因此,获得钢丝绳的摆振参数,对提升系统状况进行评估,预测可能发生的故障,对煤矿安全生产具有重大意义。本文对矿井提升绳横向振动参数检测开展了以下研究:首先,基于立体视觉测量理论和应用场景提出了汇聚式正交双目立体视觉检测系统构型和平行式双目立体视觉检测系统构型,分析了图像采集硬件系统构成和两种不同构型的立体视觉成像范围,给出了两种检测构型在实际应用中的结构图,概述了双目立体检测视觉系统中关键部件摄像机和镜头的重要选型参数和硬件系统搭建的一般流程准则。其次,详细阐述了计算机视觉成像理论,建立了摄像机成像过程中的四个坐标系,即图像像素坐标系、图像物理坐标系、摄像机坐标系和世界坐标系,及它们的相互联系。对两种立体视觉构型的振动参数检测原理进行分析推导,正交双目立体视觉检测参数使用相对坐标法、绝对坐标法两种方式,平行双目立体视觉检测参数使用三角测量原理。然后,研究了针对绳弦类目标提取的图像算法,一个典型的目标提取图像处理过程包括预处理、图像分割和特征提取。绳弦类物体图像处理主要包括减少运算复杂度的ROI技术,预处理中的滤波、变换等,图像分割中的阈值分割和边缘检测,特征提取中的面积筛选和形态学处理等。最后,设计了包括摄像机操作和图像采集、单双目摄像机标定、ROI选择和参数计算以及立体匹配和参数计算等功能模块的双目立体视觉振动参数检测软件。根据微元模型原理搭建旋转实验台,利用短杆的圆周运动来模拟钢丝绳空间复合横向振动,并使用两种立体视觉构型进行图像、视频采集并完成标定,再分别对短杆旋转运动位移参数进行检测,用实际的图像检测结果与理论位移轨迹进行对比分析,验证了本文双目立体视觉检测系统对空间横向振动检测的有效性。
[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.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD532;TP391.41

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