CN100414249C - Computer automatic measuring visual system for stock ground measuring - Google Patents
Computer automatic measuring visual system for stock ground measuring Download PDFInfo
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- CN100414249C CN100414249C CNB2005100261977A CN200510026197A CN100414249C CN 100414249 C CN100414249 C CN 100414249C CN B2005100261977 A CNB2005100261977 A CN B2005100261977A CN 200510026197 A CN200510026197 A CN 200510026197A CN 100414249 C CN100414249 C CN 100414249C
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Abstract
The present invention relates to a visual system by using a computer for automatic measure for stock yard measure. A CCD camera arranged in the position having the height corresponding to both end faces of a stock pile is used as a high position visual collecting point, and is used for collecting a panoramic picture of the stock pile. A CCD camera which runs on a walking base disk of a reclaimer toward the stock pile following a longitudinal track of the reclaimer is also provided. A mobile visual collecting point is arranged on the reclaimer. Image signals of both the CCD cameras are transmitted to an image collecting card by video cables of the two CCD cameras. The image collecting card is connected with an image processing front end by a PCI bus, the image signals of each CCD camera are implemented with digital information expression of images in the image processing front end, the image digital expression output by the image processing front end is connected to a host computer by an IEEE1394 protocol interface so as to interact the image information, and thus, three-dimensional geometric dimensions of the stock pile to be measured are realized and output. The present invention can digitally fetch the image information of the stock pile in the stock yard, and achieves the automation level of management and operation in the whole process of piling raw material and feeding and storage thereof.
Description
Technical field
What the present invention relates to is a kind of system of technical field of image processing, specifically is the vision system of the computer automatic analysis of a kind of stock ground measurement.
Background technology
" stock ground robotization " is meant that overall processes such as the storage of raw material is gone into, taken out, stock's calculating in real time, site planning, charging plan realize automatic technology.No matter smelt iron enterprise, or Thermal Power Station, raw material or solid fuel are " army provisions " of enterprise all the time.Along with the paces of economic globalization are accelerated, energy-conservation and benefit has become the key property index of evaluation of enterprises optimum management, only is interpreted as that the equipment automatization of operating machine is not enough.Current many processes in the stock ground management, as: the stacker of solid accumulation, the reclaimer of getting material, stock ground management, the real-time stock in stock ground etc. still rely on manually-operated to a great extent.Stock yard is exactly a materials warehouse, if materials warehouse can not be accomplished robotizations such as the storage of material is gone into, taken out, stock's calculating in real time, site planning, charging plan, and only is the robotization of part handling machinery, and its work efficiency is far away not enough.On technology operation aspect, large enterprise's stock yard dynamic management is actually a charging, gets material and stock's optimum control process.Floor area is wide especially for the stock yard of large-scale iron and steel enterprise, and equipment is many and disperse, and this has all brought bigger difficulty for production operation and production management.Therefore, production and management costs have been increased to a great extent.So that management information lags behind, and it is passive also to cause to enterprise.For this reason, Europe, Japan, some steel mills of Korea S, and some bigger iron and steel enterprises such as China Steel of TaiWan, China are all in this problem of research stock ground robotization.
Find by prior art documents, the number of applying for a patent: " imaging measurement method of volume of large material stack " of the 00125483.9 Pan Jun people and Chen Ying proposes: a kind of image measuring method of volume of large material stack, this method adopts ccd video camera, image pick-up card and PC microcomputer constitute the computer vision disposal system, video camera is at all directions photographs bank, image pick-up card carries out data acquisition to the image of being taken the photograph, and in computing machine, the image information of many viewpoints collection is handled, the method for asking for the three-dimensional body volume with cross-sectional area stack is tried to achieve the volume of bank.To the cubing error of large material stack less than 5%.Because this invention employing CCD will take capture to bank from the different directions more than 4 such as 0 °, 45 °, 90 °, 135 °, require the fixed distance of bank and video camera simultaneously, and at the other scale that is provided with of bank, its application conditions is very loaded down with trivial details and harsh, and measuring error is also bigger than normal, has bigger limitation.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art and defective, the vision system of the computer automatic analysis of a kind of stock ground measurement is provided, make it pass through image acquisition, processing and recognizer and realize Digital Extraction, reach that stockpile is got and charging and stock's whole process control and operation automation level stock yard stockpile image information.
The present invention is achieved by the following technical solutions, the present invention includes: stockpile, the CCD camera, vision cable, image pick-up card, the Flame Image Process front end, the IEEE1394 protocol interface, host computer, the CCD camera divides quiet, moving two kinds of layout states, static CCD is arranged on the longitudinal terminal surface corresponding height position with stockpile fixing, dynamically CCD be arranged on the walking chassis of stacker-reclaimer towards stockpile with the long rails walking of stacker-reclaimer continuous acquisition stockpile side unfolded image, quiet, moving two kinds of CCD transfer to image pick-up card with the image that the collected vision cable by separately in real time, image pick-up card is connected with the Flame Image Process front end by pci bus, the picture signal of each CCD camera being carried out the digital information of image in the Flame Image Process front end expresses, the image digitazation of Flame Image Process front end output is expressed by the IEEE1394 protocol interface and is connected to the mutual of host computer realization image information, realizes and export the three-dimensional geometry yardstick of tested stockpile.
The image digitazation information that is derived from each CCD camera that the identification operational software then receives host computer is asked for public angle point and is constructed 3-D view.The identification operational software adopts the double image synthetic method that current principle is clear, technology is the most ripe to work out.
Described quiet, moving two kinds of layout states, be the physical basis of stockpile based on the measuring technique of computer vision, static CCD be arranged on the stockpile both ends of the surface near on the illumination iron tower of corresponding height, as high-order vision collecting point, gather the stockpile panoramic picture, dynamically CCD be arranged on the walking chassis of stacker-reclaimer towards stockpile with the long rails walking of stacker-reclaimer continuous acquisition stockpile side unfolded image, the moving-vision collection point just is set on stacker-reclaimer, gather stockpile length and side image, all CCD camera collections to realtime graphic all the vision cable by separately transfer to the Flame Image Process front end of band image pick-up card on the walking chassis of iron tower and stacker-reclaimer, the Flame Image Process front end sets image processing software, finishes image background in real time and handles, digital informations such as target edges extraction are expressed.
Described Flame Image Process front end, after finishing front end image digitazation information representation, information is transported to host computer by the IEEE1394 protocol interface, host computer is constructed 3-D view according to asking for public angle point from the image digitazation information of each CCD camera by the identification operational software, finally realizes and export the three-dimensional geometry yardstick of tested stockpile.
It is the computing of carrying out that realizes that object identification, three-dimensionalreconstruction, three-dimensional geometry yardstick accurately measure that the present invention utilizes the identification operational software of computing machine.Dynamically CCD plays the effect that microscopic information replenished and improved measuring accuracy in accurately measuring in object identification, three-dimensionalreconstruction, based on the three dimension scale of computer vision.
Two frames that the present invention utilizes static CCD camera collection from the panoramic picture of different directions as the synthetic basis of double image, utilize dynamic CCD camera image detail to be replenished as moving-vision, and measuring accuracy carried out the lifting of the order of magnitude, therefore can make whole space scale measuring accuracy reach centimetre-sized.
That CCD camera of the present invention divides is quiet, moving two kinds of layout type, static CCD is as high-order vision collecting point, gather the stockpile panoramic picture, dynamically CCD is as continuous acquisition stockpile side, moving-vision collection point unfolded image, and the double image synthetic method that three-dimensionalreconstruction employing principle is clear, technology is the most ripe is worked out, these technical information are extracted simple and direct, have tangible superior performance.
The Flame Image Process cycle of the present invention is discerned total cycle below 2s, accuracy of measurement＜1% below 60ms.These technical indicators all are that technical background is beyond one's reach.
Description of drawings
Fig. 1 system construction drawing of the present invention
Embodiment
As shown in Figure 1, the present invention includes: stockpile 1, CCD camera 2, vision cable 3, image pick-up card 4, Flame Image Process front end 5, IEEE1394 protocol interface 6, host computer 7, stockpile 1 is stacked continuously, perhaps stack at interval, be arranged on static CCD camera 2 with stockpile both ends of the surface corresponding height place, as high-order vision collecting point, gather the stockpile panoramic picture, be arranged on the walking chassis with stacker-reclaimer towards stockpile with the long rails walking of stacker-reclaimer the dynamic CCD camera 2 of continuous acquisition stockpile side unfolded image, the moving-vision collection point is set on stacker-reclaimer, gather stockpile length and side image, the picture signal of all CCD cameras 2 transfers to image pick-up card 4 by vision cable 3 separately, image pick-up card 4 is connected with Flame Image Process front end 5 by pci bus, the picture signal of each CCD camera 2 being carried out the digital information of image in Flame Image Process front end 5 expresses, the image digitazation of Flame Image Process front end 5 outputs is expressed by IEEE1394 protocol interface 6 and is connected to the mutual of host computer 7 realization image informations, realizes and export the three-dimensional geometry yardstick of tested stockpile.
Described CCD camera 2 minutes is quiet, moving two kinds of layout states, static CCD is positioned on the longitudinal terminal surface height relevant position of stockpile fixing, dynamically CCD be positioned on the walking chassis of stacker-reclaimer towards stockpile with the long rails walking of stacker-reclaimer continuous acquisition stockpile side unfolded image, specifically: 2 static CCD cameras 2 have on the illumination iron tower of corresponding height near being installed on the stockpile both ends of the surface, as high-order vision collecting point, gather the stockpile panoramic picture, can obtain from two frame two-dimensional panoramic images on the reverse direction each other, 4 dynamic CCD cameras 2 be installed on respectively on the walking chassis of two stacker-reclaimers towards stockpile with the long rails walking of stacker-reclaimer two side unfolded images of continuous acquisition stockpile, on each walking chassis 2 CCD cameras 2 are installed respectively, and horizontal quadrature is installed, on stacker-reclaimer, be provided with wide-angle moving-vision collection point, gather stockpile length and side image.
After quiet, moving two kinds of layout amount of state of CCD camera 2 of the present invention and particular location are determined, the static CCD camera 2 of process is provided with the demarcation of sighting distance in height and the visual field, can accurately calculate the space geometry yardstick in tested stock ground in three-dimensionalreconstruction by determined adjacent pixel dot spacing.
Experimental example: the coal stockpile in Thermal Power Station combustion matchmaker stockyard
Condition: static CCD camera 2 is the controlled zoom of electronic remote, high resolving power, low-light (level) CCD
Dynamically CCD camera 2 is electronics automatic focusing, middle low resolution, low-light (level) CCD
(1) the coal stockpile is gathered by CCD camera 2 in real time in the volume dynamic change that the stacker-reclaimer operating process occurs;
(2) image that collects transfers to image pick-up card 4 through vision cable 3, is connected with Flame Image Process front end 5 by pci bus again;
(3) Flame Image Process front end 5 will be handled the image information digitizing expression that obtains and send to the mutual of host computer 7 realization image informations through IEEE1394 protocol interface 6;
(4) 8 of the identification operational softwares on the host computer 7 are asked for public angle point to the image digitazation information that is derived from each CCD camera 2 and are constructed 3-D view, finally realize and export the three-dimensional geometry yardstick of tested stockpile.
Experiment output:
In the time of output various visual angles two dimensional image, output stock ground three-dimensional figure and three-dimensional geometry yardstick.
Measuring accuracy: how much identification error＜1%.
Claims (4)
1. the vision system of the computer automatic analysis measured of a stock ground, comprise: stockpile (1), CCD camera (2), vision cable (3), image pick-up card (4), host computer (7), it is characterized in that, also comprise: Flame Image Process front end (5), IEEE1394 protocol interface (6), stockpile (1) is stacked continuously, perhaps stack at interval, static CCD camera (2) is arranged on and stockpile both ends of the surface corresponding height place, dynamically CCD camera (2) be arranged on the walking chassis of stacker-reclaimer towards stockpile with the long rails walking of stacker-reclaimer continuous acquisition stockpile side unfolded image, the picture signal of CCD camera (2) transfers to image pick-up card (4) by vision cable (3) separately, image pick-up card (4) is connected with Flame Image Process front end (5) by pci bus, the picture signal of each CCD camera (2) is carried out the image digitazation information representation in Flame Image Process front end (5), Flame Image Process front end (5) output image digitizing is expressed by IEEE1394 protocol interface (6) and is connected to the mutual of host computer (7) realization image information, realizes and export the three-dimensional geometry yardstick of tested stockpile.
2. the vision system of the computer automatic analysis that stock ground according to claim 1 is measured, it is characterized in that, described CCD camera (2) divides quiet, moving two kinds of layout states, static CCD camera (2) are arranged on vertical both ends of the surface corresponding height position with stockpile fixing.
3. the vision system of the computer automatic analysis that stock ground according to claim 2 is measured, it is characterized in that, described CCD camera (2), specifically: static CCD camera (2) is as high-order vision collecting point, gather the stockpile panoramic picture, acquisition is from two frame two-dimensional panoramic images on the reverse direction each other, (2) 2 one group of 4 dynamic CCD camera be arranged on respectively on the walking chassis of two stacker-reclaimers towards stockpile with the long rails walking of stacker-reclaimer two side unfolded images of continuous acquisition stockpile, 2 CCD cameras (2) horizontal quadrature setting on each walking chassis.
4. the vision system of the computer automatic analysis of measuring according to claim 1 or 2 or 3 described stock grounds, it is characterized in that, quiet, moving two kinds of layout states of described CCD camera (2), after its quantity and particular location are determined, the static CCD camera of process (2) is provided with the demarcation of sighting distance in height and the visual field, accurately calculates the space geometry yardstick in tested stock ground when finishing three-dimensionalreconstruction by determined adjacent pixel dot spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100261977A CN100414249C (en) | 2005-05-26 | 2005-05-26 | Computer automatic measuring visual system for stock ground measuring |
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| CNB2005100261977A CN100414249C (en) | 2005-05-26 | 2005-05-26 | Computer automatic measuring visual system for stock ground measuring |
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| CN100414249C true CN100414249C (en) | 2008-08-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655349B (en) * | 2009-08-31 | 2011-06-22 | 东莞市三姆森光电科技有限公司 | Full-automatic optical size detecting method and detecting system |
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|---|---|---|---|---|
| CN101334897B (en) * | 2007-06-27 | 2011-06-15 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| CN101567078B (en) * | 2009-03-27 | 2011-06-22 | 西安交通大学 | Dual-bus visual processing chip architecture |
| CN101866453B (en) * | 2010-06-13 | 2015-03-11 | 中冶长天国际工程有限责任公司 | Statistical method and statistical system for materials in stock yard |
| CN103453865A (en) * | 2013-08-23 | 2013-12-18 | 苏州长盛机电有限公司 | Online chain link plate size detection device |
| CN104534985A (en) * | 2014-12-19 | 2015-04-22 | 郑州市公路工程公司 | Material yard material measuring system based on image processing |
| CN106610263A (en) * | 2015-10-22 | 2017-05-03 | 宝山钢铁股份有限公司 | A large-scale stockyard all-weather measurement system and method |
| CN113291843B (en) * | 2020-06-24 | 2023-03-10 | 中冶长天国际工程有限责任公司 | Material taking control method and device of material taking machine |
| CN113610465B (en) * | 2021-08-03 | 2023-12-19 | 宁波极望信息科技有限公司 | Production manufacturing operation management system based on internet of things technology |
| CN117496208B (en) * | 2023-12-29 | 2024-03-29 | 山东朝辉自动化科技有限责任公司 | Method for acquiring stockpiling information in stock yard in real time |
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| US5475422A (en) * | 1993-06-21 | 1995-12-12 | Nippon Telegraph And Telephone Corporation | Method and apparatus for reconstructing three-dimensional objects |
| CN1286395A (en) * | 2000-09-29 | 2001-03-07 | 上海交通大学 | Imaging measurement method for volume of large material stack |
| CN1403932A (en) * | 2002-10-16 | 2003-03-19 | 西安交通大学 | Machine vision system based on PCI and vision bus and capable of being reconfigurated |
| US6810354B1 (en) * | 2002-05-06 | 2004-10-26 | Veeco Instruments Inc. | Image reconstruction method |
| WO2005010825A2 (en) * | 2003-07-24 | 2005-02-03 | Cognitens Ltd. | Method and sytem for the three-dimensional surface reconstruction of an object |
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2005
- 2005-05-26 CN CNB2005100261977A patent/CN100414249C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5475422A (en) * | 1993-06-21 | 1995-12-12 | Nippon Telegraph And Telephone Corporation | Method and apparatus for reconstructing three-dimensional objects |
| CN1286395A (en) * | 2000-09-29 | 2001-03-07 | 上海交通大学 | Imaging measurement method for volume of large material stack |
| US6810354B1 (en) * | 2002-05-06 | 2004-10-26 | Veeco Instruments Inc. | Image reconstruction method |
| CN1403932A (en) * | 2002-10-16 | 2003-03-19 | 西安交通大学 | Machine vision system based on PCI and vision bus and capable of being reconfigurated |
| WO2005010825A2 (en) * | 2003-07-24 | 2005-02-03 | Cognitens Ltd. | Method and sytem for the three-dimensional surface reconstruction of an object |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101655349B (en) * | 2009-08-31 | 2011-06-22 | 东莞市三姆森光电科技有限公司 | Full-automatic optical size detecting method and detecting system |
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