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Identification of a Mathematical Model for the Transformation of Images for Stereo Correspondence Measurements of Mining Equipment

The stereometry of the working units of mining machines is optimized at the design stage, in terms of selected criteria based on computer simulations of the mining process. The recovered bodies of cutting heads or drums used in manufacturing are regenerated in the overhaul process. Ensuring that their dimensions comply with the nominal ones is labor-intensive and raises production costs. However, deviations of these components from the nominal shape can make it difficult to position the pick holders (which can cause collisions) or make welding them impossible (which results from too large a distance between the pick holders’ base and the side surface of the working unit). This applies especially to robotic technologies. By utilizing automatic (online) measurements of the distribution of the actual distances of the pick holders’ bases from the side surface of the working unit (taken during their positioning using a robot), it is possible to correct their positions without changing the setting of the pick itself. This measurement can be carried out using the non-contact stereovision method. This paper presents a method of matching raster images obtained from a stereovision system installed on an experimental robotic station. The results are presented of the numerical research carried out to select a mathematical model of the geometric transformation of images, for ensuring the effectiveness of the developed method.