Principle and application on intelligent aiming and loading truck of wheel bucket excavator based on dual CCD positioning
ZHAO Ming
Abstract：In order to solve the problem of direct aiming and loading truck of open-pit mine wheel bucket truck semi continuous process,the coordinate conversion among four coordinate systems of CCD(charge coupled device)imaging and the corresponding relationship between real position points and image position points are analyzed.A guide is placed at the wheel bucket discharge arm,and according to the principle of the projector,the vehicle is driven to the set position based on the image projected onto the ground by the guide to locate the loading area.The upper end of the bucket discharge arm is equipped with dual CCD cameras.Based on the principle of dual CCD positioning,the truck bucket is determined to be located in the spatial position of the bucket excavator coordinate system.The dual positioning points of the truck are aligned with the image calibration points to achieve intelligent alignment and loading of the bucket excavator.Taking Hami No.1 Mine as an example,empirical research is conducted,and the results show that the dual positioning points of trucks can achieve aiming and loading when the world coordinates of the wheel excavator coordinate system are x1w=-3.19 m、y1w=0 m、z1w=3.82 m,x2w=2.59 m、y2w=0 m、z2w=3.82 m,and coordinates of coordinate system are u1=53、v1=246,u2=506、v2=246.
Keywords：open-pit minewheel bucket excavatoraiming and loading truckCCD positioningcoordinate transformation
Publication Date：2025-10-15
Online Publishing Date：2025-12-12(First online date of this platform, not the publication date of the document)
Pages：6( 28-33 )