煤炭工程 ›› 2022, Vol. 54 ›› Issue (12): 90-96.doi: 10.11799/ce202212017

• 生产技术 • 上一篇    下一篇

基于嵌入式Linux与深度视觉的井下多轴机械臂系统设计

杨鹏民   

  1. 中煤陕西榆林能源化工有限公司
  • 收稿日期:2022-07-11 修回日期:2022-09-28 出版日期:2022-12-14 发布日期:2023-02-06
  • 通讯作者: 杨鹏民 E-mail:pmyang1970@163.com

Design of underground multi-axis mechanical arm system based on Embedded Linux and deep perception

min pengyang   

  • Received:2022-07-11 Revised:2022-09-28 Online:2022-12-14 Published:2023-02-06
  • Contact: min pengyang E-mail:pmyang1970@163.com

摘要: 针对我国目前煤矿辅助作业自动化水平不高,相关设备智能化程度低的现状,文章开展了煤矿井下多轴机械臂控制系统研究,包括两个方面:基于嵌入式Linux操作系统、多源传感器信号采集,分析与融合处理、多轴液压机械臂及其控制系统,智能算法等技术,设计研发了多轴机械臂感知与控制系统|基于多轴机械臂感知与控制系统采集的红外视频图像和激光雷达点云数据,提出基于深度视觉的管架目标识别方法,在实际煤矿井下巷道管架场景下,能够有效识别和标注巷道中管路与管架,展现了所提出方法应用于实际煤矿井下管道辅助安装的潜力。 

关键词: 多轴机械臂, 多源传感器, 智能算法, 深度视觉

Abstract: At present, the automation level of coal mine auxiliary operation in China is not high, and the degree of intelligence of relevant equipment is low. Among them, the installation equipment of underground auxiliary pipelines in coal mines are rarely studied, most mining enterprises still use traditional manual installation, which consumes a lot of labor. For these problems, the study of the control system of multi-axis mechanical arm in coal mines is carried out, including two aspects: (1) Based on embedded Linux operating system, multi-source sensor signal acquisition, analysis and fusion processing, multi-axis hydraulic manipulator and its control system, intelligent algorithm and other technologies, the perception and control system of an automatic installation robot of underground pipelines is designed and developed; (2) Based on the infrared video image and laser radar point cloud data collected by the perception and control system of multi-axis mechanical arm, the pipe support target recognition methods based on image and point cloud data are proposed respectively. In the actual underground coal mine tunnel pipe support scene, the proposed target recognition methods can effectively identify and tag the pipeline and pipe support in the tunnel, which shows the potential of the proposed methods to be applied to the actual coal mine automation auxiliary installation of pipeline.

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