CN101943593B - Laser and monocular vision-based bunker level measuring device and method - Google Patents
Laser and monocular vision-based bunker level measuring device and method Download PDFInfo
- Publication number
- CN101943593B CN101943593B CN2009102596738A CN200910259673A CN101943593B CN 101943593 B CN101943593 B CN 101943593B CN 2009102596738 A CN2009102596738 A CN 2009102596738A CN 200910259673 A CN200910259673 A CN 200910259673A CN 101943593 B CN101943593 B CN 101943593B
- Authority
- CN
- China
- Prior art keywords
- laser
- coal bunker
- coal
- unit
- laser instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention discloses a laser and monocular vision-based bunker level measuring device and a method. The device comprises one or a plurality of groups of laser pairs, an imaging unit, a processing unit and an anti-explosion unit, wherein the laser pairs generate two laser beams forming a certain included angle with each other; the imaging system is used for acquiring two light-spot images formed on a coal surface by the laser beams; the processing unit is used for calculating the center distance of two light spots and the depth of the bunker level and controlling the operation of a light source, the laser pairs, a camera and a motor; when the plurality of groups of laser pairs are used, one group of laser pairs are switched on every time, and the laser pairs are switched on sequentially until two similar light spots are formed; when one group of laser pairs are used, the device also comprises a rotating motor and a linear motor; two similar light spots are formed on the coal surface by utilizing the linear motion of the rotating motor and the linear motor; and the anti-explosion unit is used for meeting the requirement of underground explosion prevention. Therefore, the device and the method have the advantages of simple structure, low cost, high precision and good robustness.
Description
Technical field
The present invention is a kind of coal bunker apparatus for measuring charge level and method based on laser and monocular vision, belongs to machine vision, measurement in space and automatic field, is used for the correct fast depth information that obtains the coal bunker material level.
Background technology
The detection of coal bunker material level is the important measures of Safety of Coal Mine Production; Along with coal is sent into coal bunker continuously, the coal face is more and more littler from the distance at coal bunker top, like the untimely coal that stops; Just might overflow; Cause dump long-pending, thereby cause long-pending coal pile things on of rubber conveyer head and sealing-tape machine heavy load starting phenomenon, and then cause a series of major accidents; After if coal drops to the minimum material level of regulation, if untimely stopping to be unloaded coal, its following mouth structure is hit and destroys on the one hand, possibly cause bottom staff's casualty accident on the other hand.Simultaneously, also possibly possibly cause blast, lead to coal mining accident because flying upward of leaking out of causing of the distinguished and admirable negative pressure of bunker upper and lower opening and coal dust dust causes dust concentration sharply to increase.Therefore, the detection of coal bin coal position is extremely important, through the coal position of real-time detection coal bunker, grasps coal bunker coal storage situation, is convenient to control the amount of delivering coal of each sealing-tape machine, and the generation of having stopped coal bunker coal piling accident is removed a hidden danger, and realizes transporting safely production.
Coal bunker material level detection method commonly used at present has: Weight type, electric pole type, condenser type, machine rod-type, Weighing type, revolution wing wheel formula, radar type, ultrasonic type, laser type, nucleon formula etc.Wherein Weight type, electric pole type, condenser type, machine rod-type, Weighing type and revolution wing wheel formula belong to contact measurement method, and remaining is a contactless measurement.The most frequently used have based on the radio frequency capacitance technology, based on ultrasonic technology with based on three kinds of measuring methods of Radar Technology; Based on radio frequency capacitance technology measuring method a radio frequency is sent on the probe, the variation through continuous analysis electric capacity realizes measuring; Utilize the mistiming of ultrasound wave transmission and acceptance to realize measuring based on the measuring method of ultrasonic technology; Utilize electromagnetic transmitted wave and reflection wave mistiming to realize measuring based on the measuring method of Radar Technology.
One Chinese patent application numbers 200710038493.8; Open day 2008.9.24; Disclose a kind of high confidence level method and device thereof of the contactless continuous coverage fine granularity material material level based on machine vision, device is made up of particular point light source, IMAQ machine, machine vision module etc., the high-luminance light circular image that the light beam that the collection of IMAQ machine is launched by pointolite forms on the material surface; Adopt checking type light circle detection algorithm to analyze and handle through machine vision module; Calculate bright dipping diameter of a circle or area size, and then obtain the material value, thereby realize the material measurement.
One Chinese patent application number 01107328.4; Open day 2002.11.6; Disclose a kind of digital video frequency level indicator, interconnected by video input unit, image pick-up card, microprocessor and display screen etc. and form, aimed at tested material to video input unit; Video input unit is connected to the video inputs of image pick-up card again; The sampling period that microprocessor control image pick-up card is set by the user gathers the material level image and image is handled, and the material level coordinate figure of analyzing and the calibration gauge of demarcation are relatively calculated the material level actual value, and the variation tendency with material level image, material level actual value and this value is presented on the display screen simultaneously.
The coal bunker material level measuring method that exists at present has multiple, and these method and apparatus have following problem.
1) the contact measuring method is because probe contact material be prone to cling material and damage, and most of method measuring distance is also smaller; Mostly the Weight type charge level sensor is mechanical; Comprise that the display part total is very complicated, functional reliability is poor, easy break-down.
2) contactless measuring method, in case measuring head pollutes, measuring accuracy descends significantly; And these class methods generally require coal face regular shape, and inside surface is smooth, and it is bigger to measure the blind area; Measuring accuracy is unstable; When ripple was propagated in addition, humidity also influenced measuring accuracy in the storehouse in, and much method has certain requirement to the diameter and the depth ratio of coal bunker.
3) based on the distance-finding method of light circular image, because there are many analyticities of too many blind spot and image in imaging, the composition of special coal, difference such as granularity possibly lack hot spot or lack the most information of hot spot, thereby measuring error are big, and robustness is low;
4) initiative is poor; Because the high degree of depth of coal bunker, particle degree difference unglazed, coal is very big, does not have obviously consistent characteristic, and initiative is poor.
5) be difficult for disposing, the extreme position that has of coal bunker is disposed in the down-hole, and is relatively more difficult based on the vision system of PC, and is difficult to realize the characteristic of Safety of Coal Mine Production.
In order to improve the initiative of coal bunker level gauging, high precision obtains the depth information of coal in the coal bunker in real time, and with low cost, the invention provides a kind of coal bunker apparatus for measuring charge level and method based on laser and monocular vision.
Summary of the invention
The objective of the invention is to propose a kind of coal bunker apparatus for measuring charge level and method based on laser and monocular vision; It utilizes laser instrument to initiatively light source is provided; Solved advanced coal bunker ature of coal characteristic complicated problems, and the direction-agile of laser beam, the problem that hot spot lacks solved effectively.Detect the spacing of hot spot point with single camera, and then realize the measurement of coal bunker material level, realized higher measuring accuracy and high real-time with lower cost.
Purpose of the present invention is achieved by the coal bunker apparatus for measuring charge level based on laser and monocular vision of following proposition.Described device comprises that one or more groups laser instrument is to, image-generating unit, processor unit and antibomb unit.Described laser instrument produces the laser beam that two bundles form an angle to the degree of depth according to coal bunker; Described imaging system is used for obtaining 2 light spot images that laser beam forms on coal bunker coal face; Described processor unit utilizes the angle of centre distance and the two laser of two hot spots in the image to calculate the degree of depth of coal bunker material level, and the control light source, and one or more groups laser instrument is to the work of, camera and motor; But with many group laser instruments to the time, to connect one group of laser instrument right at every turn, connects successively until on the coal face, forming two hot spots that size is more or less the same.When with one group of laser instrument to the time, install further motor rotary unit, linear electric motors unit.The motor rotary unit through motor rotate change one group of laser instrument to two laser direction, guarantee on the coal face to form two hot spots that size is more or less the same; Corner dimension between the folding control two laser of linear electric motors unit drives strut; The flame proof unit is used for satisfying the downhole anti-explosion requirement.
Purpose of the present invention is achieved by the coal bunker material level measuring method based on laser and monocular vision of following proposition, and said method comprises the steps:
1) produce two restraint into fixed angle laser beam;
2) obtain the light spot image that said laser beam forms on the coal face;
3) quantity of hot spot and size in the detected image;
4) if image spot is two and two sizes to be more or less the same, get into next step, otherwise repeating step 2)
With step 3) up to obtaining the hot spot that two sizes are more or less the same;
5) calculate distance between two hot spots;
6) distance and the angle between the two laser according to the step 5) gained calculates the coal bunker material level;
Description of drawings
Below in conjunction with accompanying drawing preferred embodiment is described in detail, above-mentioned purpose of the present invention and advantage will become clearer from these are described.Wherein:
Fig. 1 is that the present invention organizes the planimetric map of laser instrument to a kind of embodiment apparatus for measuring charge level more;
Fig. 2 be the present invention with one group of laser instrument to the time a kind of embodiment apparatus for measuring charge level planimetric map;
Fig. 3 is the honeycomb arrangement structural representation of each laser instrument of laser instrument centering of the present invention;
Fig. 4 is the block scheme of laser of the present invention and monocular vision coal bunker apparatus for measuring charge level;
Fig. 5 is laser of the present invention and monocular vision coal bunker level gauging principle schematic
The synoptic diagram of gained image when Fig. 6, Fig. 7 and Fig. 8 represent coal bunker level gauging of the present invention;
Fig. 9 is the process flow diagram of coal bunker level gauging of the present invention;
Figure 10 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly front view;
Figure 11 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly right view;
Figure 12 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly front view half-sectional view;
Figure 13 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly front view part sectioned view;
Figure 14 be the present invention with many group laser instruments to the time apparatus for measuring charge level front view sectional view;
Figure 15 be the present invention with many group laser instruments to the time apparatus for measuring charge level upward view sectional view;
The practical implementation method
To combine instance listed in the accompanying drawing that the preferred embodiments of the present invention are carried out explaining in detail below, and wherein use similar Reference numeral to represent like.
Fig. 1 is that the present invention organizes the planimetric map of laser instrument to a kind of embodiment apparatus for measuring charge level more; As shown in Figure 1, coal bunker apparatus for measuring charge level of the present invention comprises: organize laser instrument to 100, one charge-coupled device (CCD) cameras 6, light source 5, explosion-resistant enclosure 8 and shell form 10 more; Each right laser instrument of described many group laser instruments becomes the even or non-homogeneous layout of circumference, organizes laser instrument to two laser instruments of each group laser instrument centering of 100 (such as laser instrument 3 and laser instrument 4) symmetric arrangement more, and produces the laser beam of fixed angle.Described CCD camera 6 obtains a sub-picture through the picture of taking two two hot spots on the coal face, forming of bundle laser.Described many group laser instruments are right to one group of laser instrument of each connection, connect successively, obtain the picture of two hot spots up to described CCD camera.Described light source 5 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described explosion-resistant enclosure 7 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 10 wherein is high printing opacities.
Fig. 2 be the present invention with one group of laser instrument to the time a kind of embodiment apparatus for measuring charge level planimetric map.As shown in Figure 2, coal bunker apparatus for measuring charge level of the present invention comprises: one group of laser instrument is right: laser instrument 3 and laser instrument 4, charge-coupled device (CCD) camera 6, light source 5, motor 7, linear electric motors 11, explosion-resistant enclosure 8 and a shell form 10.Above-mentioned laser instrument 3 and laser instrument 4 symmetric arrangement, and the laser beam of generation fixed angle.Described CCD camera 6 obtains a sub-picture through the picture of taking two two hot spots on the coal face, forming of bundle laser.Described light source 5 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described motor 7 through rotating the direction that changes laser beam, guarantees on the coal face, to form two shapes and the similar hot spot of size.Drive laser holder 61, laser holder 62, CCD camera during rotation, the linear electric motors unit rotates simultaneously, and one group of laser instrument is right, the CCD camera, and linear electric motors unit relative position is constant.Described linear electric motors 11 are done rectilinear motion, drive support bar 63 and support bar 64 foldings, and support bar 63 drives laser instrument fixed bar 61, and support bar 64 drives laser instrument fixed bar 62, realizes the variation of angular separation between two laser bean.Described explosion-resistant enclosure 7 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 10 wherein is high printing opacities.
Fig. 3 is the honeycomb arrangement structural representation of each laser instrument of laser alignment of the present invention; As shown in Figure 3, laser instrument 3 of the present invention is identical with laser instrument 4, and each laser instrument comprises laser instrument shell 32, honeycomb fixed mount 31 and laser head 30.Above-mentioned laser instrument shell 32 is used for fixing on runing rest.Described honeycomb fixed mount 31 is used for fixing laser head 30.Laser instrument 3 all is made up of a plurality of laser heads 30 with laser instrument 4, according to the definite quantity of connecting laser head 30 of the degree of depth of coal bunker, to guarantee spot size appropriate information is provided.
Fig. 4 is the block scheme of a kind of laser of the present invention and monocular vision coal bunker apparatus for measuring charge level.As shown in Figure 4; Laser instrument 3 and laser instrument 4 emission of lasering beam that control module 41 controls are above-mentioned; The quantity of connecting LED in the led array in the light source 5 through control realizes the control of light-source brightness, and controls motor 7 rotations, thereby realizes the change of the direction of laser beam.The described CCD camera 6 of collecting unit 44 controls obtains the image of two hot spot points that on the coal face, formed by laser beam.Described CCD camera 6 is stored in the storage unit 45 with the view data that collecting unit 44 obtains, and is used to the population size and the coal bunker material level degree of depth of Flame Image Process and depth calculation unit 42 calculating hot spots.External communication unit 43 is responsible for carrying out communication with the coaling facilities of coal bunker with the equipment of unloading coal.
Fig. 5 is laser of the present invention and monocular vision coal bunker level gauging principle schematic.As shown in Figure 5; Described measurement mechanism 301 produces two bundle laser beam angles; Form two hot spots on the two bundle laser beam coal faces 302: hot spot 303 and hot spot 304, obtain 2 light spot images in the image by the CCD camera, through the center O that calculates two hot spots of processor unit
1And O
2, O
1The center of expression hot spot 304, O
2The center of expression hot spot 303, O representes the angle of two light beams, O, O
1, O
2Form an isosceles triangle at 3, according to O
1, O
2Between the angle theta apart from B and two light beams can be in the hope of the depth d of coal bunker material level, its computing formula is following:
The signal of gained image when Fig. 6, Fig. 7 and Fig. 8 represent coal bunker level gauging of the present invention.
Among Fig. 6; Utilize CCD camera 6 to obtain projecting the image under the situation in the slit between the coal cinder fully at the beam of laser bundle; Can't measure the coal bunker material level degree of depth according to the present invention; Need utilize above-mentioned motor rotating mechanism 7 to rotate a certain angle, thereby change the direction of two laser, carry out CCD camera 6 again and obtain image.
Among Fig. 7; Utilize CCD camera 6 to obtain partly projecting the image under the situation in the slit between the coal cinder at the beam of laser bundle; Measure the coal bunker material level degree of depth according to the present invention and possibly cause error,, need utilize above-mentioned motor rotating mechanism 7 to rotate a certain angle in order to obtain than high measurement accuracy; Thereby change the direction of two laser, carry out CCD camera 6 again and obtain image.
Among Fig. 8, image when utilizing CCD camera 6 to obtain on two bundle laser beam projection coal faces, according to the present invention just not needs motor rotating mechanism 7 be rotated, the image that utilizes CCD to gather carries out asking for of two spot centers, and then calculates the degree of depth of coal bunker material level.
The process flow diagram of Fig. 9 coal bunker level gauging of the present invention, as shown in Figure 9, measure for utilizing laser of the present invention and vision coal bunker apparatus for measuring charge level, in operation steps 101, connect one group of laser instrument (laser instrument 3 and laser instrument 4) to produce two bundle laser.In operation steps 102, obtain two hot spot dot image that on the coal face, form by CCD camera 6.In operation steps 103, the image of gained is carried out filtering, make noises such as filtering coal dust.In step 104, filtered image calculation is detected the wherein quantity and the size of hot spot.In operation steps 105; Whether the number of spots that decision operation step 104 detects has two hot spots; If; Then carry out operation steps 107, otherwise motionless operation steps 106, operation steps 102, operation steps 103, operation steps 104 and the operation steps 105 of repeating there are two hot spots in image.In operation steps 107; Whether the size of judging two hot spots differs smaller or equal to threshold value T; If; Carry out operation steps 109, otherwise constantly repeat operation steps 108, operation steps 102, operation steps 103, operation steps 104 and operation steps 105 and operation steps 107, up to the hot spot that has two sizes to satisfy condition.In operation steps 109, close and connect two Laser emission groups, realize energy-conservation and safety.In operation steps 200, carry out obtaining of two spot center information through the information of obtaining two hot spots, and then calculate two hot spots apart from B.In operation steps 201, according to the degree of depth of the distance calculation coal bunker material level of the angle of two laser and two hot spots.
Figure 10 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly front view; Shown in figure 10, camera substrate 14 is connected with flameproof enclosure 8 screws with light source substrate 16; Light source 5 is connected with light source substrate 16 screws; Electric rotating machine 7 passes through screw retention on camera substrate 14 with motor fixing plate 15; Laser fixed mount 11 is connected through pin 19 with camera fixing frame 13 with laser fixed mount 12.
Figure 11 be the present invention with one group of laser instrument to the time apparatus for measuring charge level assembly right view; Shown in figure 11, CCD camera 6 is connected with camera fixing frame 13 screws; Linear electric motors 17 are connected with camera fixing frame 13 screws;
Figure 12 be the present invention with one group of laser to the time apparatus for measuring charge level assembly front view half-sectional view; Shown in figure 12, laser support bar 23 is connected with linear electric motors 17 screws with laser support bar 24; Laser support bar 23 is connected with laser fixed mount 12 screws 33; Laser support bar 24 is connected with laser fixed mount 11 screws 25.
Figure 13 be the present invention with one group of laser to the time apparatus for measuring charge level assembly front view part sectioned view; Shown in figure 13, laser instrument 3 and laser fixed mount 11 interference fit; Laser instrument 4 and laser fixed mount 12 interference fit; Camera fixing frame 13 and rotating shaft 36 are connected through bolt; Spin motor shaft 37 and rotating shaft 36 are connected through key; Bearing holder (housing, cover) 34 passes through screw retention on camera substrate 14; Bearing 35 and bearing holder (housing, cover) 34 interference fit.
Figure 14 be the present invention with many group laser instruments to the time apparatus for measuring charge level front view sectional view; Shown in figure 14, laser fixed station 65 and light source fixed station 66 and flameproof enclosure 8 welding; Many group laser are connected with laser fixed station 65 screws 100 shells; Camera 6 is connected with camera fixing frame 69 screws; Camera fixing frame 69 is connected with flameproof enclosure 8 screws; Many group laser are fixed on many group laser in 100 shells to closely cooperating; The two-laser of every group of laser instrument centering (like laser instrument 3 and laser instrument 4) is by certain angle symmetric arrangement; Light source fixing frame 68 is connected with light source fixed station 66 screws; Light source 5 is connected with light source fixing frame 68 screws.
Figure 15 be the present invention with many group laser instruments to the time apparatus for measuring charge level upward view sectional view; Shown in figure 15, organize laser instrument to 100 by a plurality of laser constitutions more, and along the even or non-homogeneous layout of circumference; Every group of two-laser (like laser instrument 3 and laser instrument 4) symmetric arrangement that laser instrument is right; Light source 5 is made up of a plurality of LED78.
As stated, the present invention provides a kind of coal bunker material level measuring method and device based on laser and monocular vision.Its principle is to utilize laser as the active light source, produces into the laser beam of fixed angle, on the coal face, forms two hot spots, obtains two light spot images through the CCD camera, realizes the measurement of coal bunker material level through the centre distance of asking for two hot spots.So the present invention utilizes generating laser and CCD camera simple in structure and that structure is cheap, make this coal bunker apparatus for measuring charge level use not only convenient but also economical.In addition; The invention has the advantages that, because the coal bunker apparatus for measuring charge level that the present invention is based on laser and monocular vision step when measurement coal bunker material level is simple, so reduced the load of whole coal bunker level gauging system; And make Measuring Time shorten, and then satisfy the real-time of coal bunker level gauging.Have again, the invention has the advantages that,, on the coal face, form laser facula, efficiently solve the complicacy of coal bunker material level characteristic, make that the robustness of total system is good owing to utilize laser as the active light source; And, solved the certain problem of hot spot effectively because beam direction of the present invention is variable; Because laser forms the hot spot point as the active light source on the coal face, the lighting requirement of vision system is reduced significantly, thereby solved the dark coal bunker the biggest problem of throwing light on.
Although described some embodiments of the present invention, for the people who is familiar with this area, be clearly, these embodiment are done multiple remodeling and do not cause disengaging principle of the present invention and marrow; Appended claim and equivalent term thereof limit the present invention and ask for protection scope.
Claims (17)
1. coal bunker apparatus for measuring charge level based on laser and monocular vision, comprising: one or more groups laser instrument is right, and every group of laser instrument is used to produce into two bundle laser beam of fixed angle to comprising two laser instruments; Image-generating unit is used to obtain 2 light spot images that said laser beam forms on the coal face; Main processor unit; It utilizes the centre distance of said image calculation two hot spots; And then the angle that combines two laser calculates the actual range between coal face auto levelizer, i.e. laser instrument centering two-laser employing symmetric arrangement, formation fixed angle; Its angular bisector utilizes the triangle principle to try to achieve the degree of depth of coal bunker material level perpendicular to the straight line on feed bin plane; Antibomb unit is used for realizing the requirement of explosion proof under the coal mine; When device only comprise one group of laser instrument to the time, device also comprises: two laser fixed bars, it is right to be used for fixing laser instrument; Two support bars are used for controlling the folding degree of two laser fixed bars through linear electric motors; The motor rotary unit is used for rotating two laser fixed bars, thereby changes the direction of laser beam, to guarantee on the coal face two sizes and the similar light spot image of shape being arranged; The linear electric motors unit is used for driving the corner dimension between the folding control two laser of support bar.
2. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: have only one group of laser instrument to the time, described two bundle initial angles that laser beam became confirm that with diameter initially the computing formula of angle is following by the degree of depth of coal bunker:
Wherein, θ representes the initial angle between the two laser;
expression coal bunker diameter; D representes the depth capacity of coal bunker; S representes the distance of the tie point of two laser fixed bars and motor rotary unit to coal bunker.
3. coal bunker apparatus for measuring charge level according to claim 1; It is characterized in that: described each laser instrument of laser instrument centering is made up of a plurality of generating lasers; A plurality of generating lasers become cellular layout, and confirm to connect the quantity of generating laser according to the depth capacity of coal bunker.
4. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described every group of laser instrument is to the initial angle symmetric arrangement according to two laser, and every group of laser instrument alignment laser is positioned on the straight line.
5. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described many group laser instrument alignment lasers are evenly arranged or non-homogeneous layout along circumference.
6. coal bunker apparatus for measuring charge level according to claim 1; It is characterized in that: described motor rotary unit; When only with one group of laser instrument to the time; Rotate the direction of controlling two laser through the motor rotary unit, thereby guarantee on the coal face, to form two two hot spots that size is all similar with shape.
7. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described motor rotary unit, and it is right to drive one group of laser instrument during rotation; The CCD camera, the linear electric motors unit rotates simultaneously, and one group of laser instrument is right; The CCD camera, linear electric motors unit relative position is constant.
8. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described many group laser instruments are right, and to connect one group of laser instrument right at every turn, and connecting successively has two sizes and the similar light spot image of shape on the coal face.
9. coal bunker apparatus for measuring charge level according to claim 1; It is characterized in that: described linear electric motors unit; When only with one group of laser instrument to the time; The folding of controlling two right laser fixed bars of fixed laser through the rectilinear motion of linear electric motors unit realizes the variation of angular separation between two laser bean, and sizeable two light spot images are arranged on the coal face.
10. coal bunker apparatus for measuring charge level according to claim 1; It is characterized in that: said main processor unit detects the quantity and the shape of hot spot in the described image; And; If two hot spots are arranged, and shape is similar with size, utilizes the actual range of the described coal bunker material level of distance calculation that detects two hot spots.
11. coal bunker apparatus for measuring charge level according to claim 10 is characterized in that: have only one group of laser instrument to the time, the actual range of wherein said coal bunker material level is calculated by following equation:
Wherein d representes the degree of depth of coal bunker material level; θ
1Angle between the expression two laser; B representes the centre distance of two hot spots, and S representes the distance of the tie point of two laser fixed bars and motor rotary unit to coal bunker.
12. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described antibomb unit is the explosion-resistant enclosure that comprises form, and form is high printing opacity.
13. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: said main processor unit further comprises collecting unit, storage unit, control module, Flame Image Process and depth calculation unit and external communication unit.
14. coal bunker apparatus for measuring charge level according to claim 13; It is characterized in that: described control module is controlled the brightness of light source and the quantity of one group of laser instrument centering connection generating laser according to the degree of depth of coal bunker diameter and material level, and controls the rotation of motor rotary unit according to the imaging situation.
15. coal bunker apparatus for measuring charge level according to claim 13 is characterized in that: Flame Image Process and depth calculation unit, it is through handling the positional information that detects two hot spots to said image, and then calculates the degree of depth of coal bunker material level.
16. the coal bunker material level measuring method of the coal bunker apparatus for measuring charge level of laser according to claim 1 and monocular vision, wherein, said method comprises the steps:
1) produce two restraint into fixed angle laser beam;
2) obtain the light spot image that said laser beam forms on the coal face;
3) quantity of hot spot and size in the detected image;
4) if image spot is two and two sizes to be more or less the same, get into next step, otherwise repeating step 2) and step 3) up to obtaining the hot spot that two sizes are more or less the same;
5) calculate distance between two hot spots;
6) according to the distance of step 5) gained and the degree of depth of the calculating of the angle between two laser coal bunker material level.
17. coal bunker material level measuring method according to claim 16 is characterized in that: have only one group of laser instrument to the time, the degree of depth of the said coal bunker material level of step 6) is calculated by following equation:
Wherein d representes the degree of depth of coal bunker material level; θ
1Angle between the expression two laser; B representes the centre distance of two hot spots, and S representes the distance of the tie point of two laser fixed bars and motor rotary unit to coal bunker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102596738A CN101943593B (en) | 2009-12-22 | 2009-12-22 | Laser and monocular vision-based bunker level measuring device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102596738A CN101943593B (en) | 2009-12-22 | 2009-12-22 | Laser and monocular vision-based bunker level measuring device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101943593A CN101943593A (en) | 2011-01-12 |
| CN101943593B true CN101943593B (en) | 2012-05-23 |
Family
ID=43435708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102596738A Expired - Fee Related CN101943593B (en) | 2009-12-22 | 2009-12-22 | Laser and monocular vision-based bunker level measuring device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101943593B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443476B (en) * | 2018-10-17 | 2021-07-09 | 水利部交通运输部国家能源局南京水利科学研究院 | Non-contact measuring device and method for water level fluctuation process |
| CN109821908A (en) * | 2019-03-05 | 2019-05-31 | 上海宝钢工业技术服务有限公司 | For the operation roll of mill depth of parallelism and the detection device of intersection degree |
| CN109821907A (en) * | 2019-03-05 | 2019-05-31 | 上海宝钢工业技术服务有限公司 | For the operation roll of mill depth of parallelism and the detection device and method of intersection degree |
| CN109751962A (en) * | 2019-03-11 | 2019-05-14 | 冀中能源峰峰集团有限公司 | A kind of coal body product dynamic metering device and method based on machine vision |
-
2009
- 2009-12-22 CN CN2009102596738A patent/CN101943593B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101943593A (en) | 2011-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201653497U (en) | Coal bunker material position measuring device based on laser and monocular vision | |
| CN101949721A (en) | Method for measuring coal bunker material level based on laser and binocular vision and device thereof | |
| CN104111260B (en) | Ceramic Tiles non-destructive detecting device and detection method | |
| CN101313197B (en) | Method and apparatus for inspecting a container sidewall contour | |
| CN101943593B (en) | Laser and monocular vision-based bunker level measuring device and method | |
| CN205091463U (en) | Laser radar scans detecting device | |
| CN101750022B (en) | Sintering layer thickness on-line detecting method | |
| CN105068082A (en) | Laser radar scanning detection method and device | |
| CN203337558U (en) | Image sensing device for appearance of object to be detected and detection system thereof | |
| CN110346379B (en) | Bearing defect flaw detection device and bearing defect flaw detection method | |
| CN206540843U (en) | A kind of mobile phone shell automatic checkout equipment | |
| CN101685003B (en) | Measurement system and method for measuring deformation values in noncontact way | |
| CN1869604A (en) | Filling test method and device | |
| CN102279409A (en) | Neutron Beam Position Detector | |
| CN103827626A (en) | Three-dimensional measurement device | |
| CN108627111A (en) | Drilling hole on-line measuring device and its online test method | |
| CN116539626A (en) | Lithium battery defect detection system and method | |
| CN101943595A (en) | Coal bunker material level measuring method and system based on stereo vision | |
| CN109724531A (en) | 360 ° of contour measuring methods | |
| CN107727377B (en) | A kind of lasting accuracy test macro | |
| CN201653485U (en) | Coal bunker level measurement device based on laser and binocular vision | |
| CN107270817A (en) | The screw mounting device and screw installation method of view-based access control model processing | |
| CN205426287U (en) | Machine vision charge level indicator | |
| CN114018960B (en) | Defect analysis device based on X-ray flaw detection image | |
| CN205262998U (en) | Electronic components detects machine and detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120523 Termination date: 20141222 |
|
| EXPY | Termination of patent right or utility model |