Design And Realization Of The Self-guided TBMS Attitude Detection System

With the continuous development of the socio-economic,advancement of technology and the improvement of people’s living standards, require construction of the tunnel to the development of safe、high quality、efficient、unmanned direction. strengthening the boring machine to the intelligent direction is a big trend. It is the inevitable direction to develop automatic boring machine, It is one of the core problem to determine position and attitude for the boring machine automatically. To achieve Boring machine auto-oriented, we need to measure the attitude angle of boring machine(deviation, roll, pitch), and horizontal deflection displacementThis paper researched laser spot detection and location system, we use the spot location and tracking algorithm to obtain the coordinates of the spot center, and then converted to a bias level of the boring machine displacement, provided to the control system.combined with the attitude angle data collected by AHRS instrument,to control boring machine auto-oriented.Aim to extract boring machine attitude parameters from spot location. This paper selected the laser spot identification and tracking、positioning algorithm. we selected some classical algorithm and optimize it. It is divided into, pre-processing. target recognition, morphological filtering and target tracking algorithm in four parts. In this paper detailed analysis of every part of the algorithm, the pre-processing part gived the fast median filtering algorithm based on gray level difference. Target recognition using improved Otsu Thresholding Method, and the introduction of adaptive gate. Target locating and tracking of gravity and circle fitting methods were compared of error and accuracy. It also discussed two special cases of the dark background and bright background of the spot identification and tracking algorithm. In addition, taking into account the distribution of the magnetic field, deviation angle collection of AHRS instrument is inaccurate, and thus the two laser beams to extract deviation angle is proposed, and its modeling, to make deviation angle be more stable.Finally, to verify the feasibility of the algorithm, high-precision by further experiments. Under various environmental tests to verify the accuracy of the spot location of the system, interference immunity, to meet this system requirements. I designed a calibration system to calibrate the boring machine attitude and bias displacement extract from the boring machine attitude detection system, to further verify the accuracy of the system.