声明
致谢
变量注释表
1 绪论
1.1 研究背景及意义(Study Background and Significance)
1.2 研究现状(Research Status)
1.3 主要研究内容(Main Research Contents)
1.4 论文组织结构(Organization of the Dissertation)
2 掘进机位姿感知及定位方法分析与总体方案设计
2.1 悬臂式掘进机基本结构(Boom-type Roadheader Machinery Structure)
2.2 掘进机空间定位坐标系统( Roadheader Spatial Positioning Coordinate Systems)
2.3 掘进机机身位姿数学模型与测量方法对比分析( Mathematical Model and Measuring Methods Comparison for Roadheader Body Positioning)
2.4 掘进机截割机构简化模型与定位方法对比分析( Simplified Model and Positioning Methods Comparison for Roadheader Cutting Mechanism)
2.5 悬臂式掘进机空间位姿感知及定位系统总体方案设计( General Research Plan of Spatial Attitudes Detection and Location System for Boom-type Roadheader)
2.6 位姿感知及定位参数考核指标( Assessment Indices of Roadheader Pose Perception and Location)
2.7 本章小结(Chapter Summary)
3 基于双十字激光的掘进机机身位姿感知
3.1 引言(Introduction)
3.2 基于双十字激光的机身位姿测量方案( Pose Measurement Scheme of Roadhead Body Based on Double Cross Lasers)
3.3 位姿感知系统设备选型与安装( Equipments Selection and Installation)
3.4 基于 Retinex 与小波多尺度积的低照度图像边缘检测算法(Edge Detection Algorithm for Low Illumination Images Based on Retinex Theory and Wavelet Multiscale Product)2
3.5 激光标靶特征点识别与坐标解算( Recognition and Coordinates Calculation of Feature Points on Laser Targets)
3.6 悬臂式掘进机机身位姿解算(Posture and Position Calculation for Roadhead Body)
3.7 悬臂式掘进机机身位姿检测实验与误差来源分析(Attitudes Detection Experiments and Error Sources Analysis for Roadheader Body)
3.8 本章小结(Chapter Summary)
4 基于双目视觉的截割头定位系统建立与标定
4.1 引言(Introduction)
4.2 基于双目立体视觉的截割头定位系统建立(Establishment of Binocular Stereo Vision System for Cutting Head Positioning)
4.3 双目视觉系统基本原理(Basic Principles of Binocular Vision System)
4.4 截割头定位系统单目摄像机内参数标定(Internal Parameters Calibration of Monocular Camera for Cutting Head Positioning System)
4.5 截割头双目定位系统结构参数标定( Structural Parameters Calibration of Binocular System for Cutting Head Positioning)
4.6 单目摄像机标定实验( Monocular Camera Calibration Experiments)
4.7 双目立体系统标定实验(Calibration Experiments of Binocular Stereo System)
4.8 本章小结(Chapter Summary)
5 基于轮廓特征的悬臂式掘进机截割头目标匹配
5.1 引言(Introduction)
5.2 图像匹配算法(Image Matching Algorithms)
5.3 基于轮廓特征的目标匹配算法(Object Matching Algorithms Based on Contour Features)
5.4 悬臂式掘进机截割头轮廓匹配方法( Contour Matching Method of Roadheader Cutting Head)
5.5 掘进机截割头轮廓特征表示(Contour Features Representation of Roadheader Cutting Head)
5.6 改进MVM轮廓匹配算法(Improved MVM Contour Matching Algorithm)
5.7 基于 SIATL 轮廓描述子与改进 MVM 算法的轮廓匹配实验(Contours Matching Experiments Based on SIATL Descriptor and Improved MVM Algorithm)
5.8 本章小结(Chapter Summary)
6 基于视觉匹配和位姿检测的截割头定位
6.1 引言(Introduction)
6.2 悬臂式掘进机截割头定位方法( Roadheader Cutting Head Location Methods)
6.3 左摄像机坐标系下截割头三维定位实验( Positioning Experiments of Roadheader Cutting Head in Left Camera Coordinate System)
6.4 基于双目系统的目标点三维信息解算精度分析( Location Accuracy Analysis of Target Points 3D Information Calculation Based on Binocular System)
6.5 巷道坐标系下截割头定位实验(Positioning Experiments of Roadheader Cutting Head in Tunnel Coordinate System)
6.6 本章小结(Chapter Summary)
7 结论与展望
7.1 结论(Conclusions)
7.2 创新点(Innovations)
7.3 展望(Prospects)
参考文献
作者简历
学位论文数据集