Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard

Xin Jian; Quan Zhou; Tianlong Yang

doi:10.3788/IRLA20200099

Journals >Infrared and Laser Engineering >Volume 50 >Issue S2 >Page 20200099 > Article

Infrared and Laser Engineering
Vol. 50, Issue S2, 20200099 (2021)

Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard

Xin Jian¹, Quan Zhou^1、2、*, and Tianlong Yang²

Author Affiliations

¹CCC Water Transportation Consultants Co., Ltd, Beijing 100083 China

²School of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100 China

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DOI: 10.3788/IRLA20200099 Cite this Article

Xin Jian, Quan Zhou, Tianlong Yang. Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard[J]. Infrared and Laser Engineering, 2021, 50(S2): 20200099 Copy Citation Text

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Fig. 1. System architecture diagram

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Fig. 2. Global coordinate system layout

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Fig. 3. Establishment of each coordinate system

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Fig. 4. Feature point extraction of sphere surface

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Fig. 5. Back-calculation error of standard sphere

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Fig. 6. Effect diagram of data mosaic

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Fig. 7. Path planning

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Fig. 8. Field test

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Pose data rotation/(°), Pitch/(°), Travel/m	Spherical coordinates/m
[0.926, −4.124, 89.344]	[−64.74, −10.273, 31.496]、[−37.625, 47.591, 28.838]、 [−26.578, 54.498, 28.758]、[37.375, 53.581, 29.715]
[11.309, −4.123, 89.344]	[−63.213, −22.81, 32.29]、[−47.015, 38.96, 29.121]、 [−37.423, 47.749, 28.891]、[25.659, 58.433, 29.122]
[13.374, −4.125, 89.344]	[−62.656, 25.153, 32.455]、[−48.621, 37.131, 29.181]、 [−39.326, 46.258, 28.923]、[23.338, 59.108, 29.015]
[29.1, −4.134, 89.344]	[−55.534, −42.707, 33.695]、[−58.839, 21.039, 29.91]、 [−52.39, 32.263, 29.433]、[4.471, 61.561, 28.384]
···	···
···	···
[−10.307, 4.129, 89.344]	[−63.791, 3.635, 30.671]、[−25.7, 54.933, 28.684]、 [−13.533, 59.511, 28.783]、[48.973, 45.927, 30.479]
[−22.542, −4.141, 89.344]	[−59.717, 17.968, 29.908]、[−11.577, 60.013, 28.738]、 [1.289, 61.894, 29.009]、[59.388, 35.452, 31.381]

Table 1. The calculation of spherical center coordinates

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Ball number	Global coordinate value/m
Ball (1)	[123.295，660.216，0.847]
Ball (2)	[159.001，606.504，0.743]
Ball (3)	[158.997，593.499，0.697]
Ball (4)	[124.305，539.784，1.376]

Table 2. Global coordinate value of calibrated sphere

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Parameter	Result
k₁	[−0.0241322356578230, −0.00848742929874968, −1.00345840212693]
k₂	[−0.00698639711665264, 1.00404411551583, −0.00687821749052725]
k₃	[0.442325868464691, 0.884651736929383, 0.147441956154897]
t₁	[89.4487452221133, 600.106793609578, 14.5859227389128]
t₂	[−4.96064857485726, 125.966577019193, −32.5089193040485]
t₃	[14.4040035283724, −126.590439618449, −13.5939620742438]
RT1	[0.904785904567622, −0.427438292148760, 0.00592253298597620, 89.4487452221133; 0.427477318501016, 0.904737285802332, −0.00946857001315529, 600.106793609578; −0.00130849501319894, 0.0110913504977723, 1.00066010049210, 14.5859227389128; 0, 0, 0, 1]
RT2	[0.974304531826196, −0.00172950424822600, −0.226149808195282, −4.96064857485726; 0.00136899717336400, 1.00020826129429, −0.00175107953908600, 125.966577019193; 0.226152277853766, 0.00139615467203800, 0.974304493284483, −32.5089193040485; 0, 0, 0, 1]
RT3	[−0.514141631719535, 0.857133272554982, 0.0313198916339447, 14.4040035283724; −0.857115239068129, −0.514799526319354, 0.0183006737186152, −126.590439618449; 0.0318095817319255, −0.0174356181581603, 0.999341858289486, −13.5939620742438; 0, 0, 0, 1]
M	[−0.687440474398016, 0.725546765708434, −0.0374128045419695, 99.5824377170413; −0.726505435812832, −0.686720289505128, 0.0315812806063315, 597.013205725566; −0.00277799062244338, 0.0488814199127985, 0.998999137047828, −30.4820647473178; 0, 0, 0, 1]

Table 3. Calibration results

Xin Jian, Quan Zhou, Tianlong Yang. Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard[J]. Infrared and Laser Engineering, 2021, 50(S2): 20200099

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