CN102023045A - Non-contact photoelectric measurement method and device for bunker coal position - Google Patents
Non-contact photoelectric measurement method and device for bunker coal position Download PDFInfo
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Abstract
The invention provides a non-contact photoelectric measurement method and device, which obtains the depth value of materials in a bunker on the basis of the number of pixels between a laser facula imaging spot and an image center spot in an image, belonging to the technical field of material position measurement. The invention is especially suitable for measuring the depth of the bunker coal position. In the device of the invention, a digital camera and a laser emitter are fixed on the top of the principal axis of a barrel-shaped bunker, so that the light path of the camera is vertical to the surface of material. The laser emitter is arranged on the position at the angle theta with the horizontal direction so as to ensure that the imaging zone of the laser facula can be projected on the material surface within the field range of the camera. The camera focuses by N-gear segment so as to satisfy the situation that clear images can be shot on all different coal positions of the bunker. DSP (Digital Signal Processor) serves as the inner core of a processor. The number of pixels between the laser facula imaging spot and the image center spot is calculated, and a depth table which is calibrated in advance and corresponds to different pixel number mean values is inquired to finish depth detection. The measurement device is composed of the digital camera, the laser emitter, the image processor and a real-time display module.
Description
Technical field
The invention provides a kind of contactless, based on the pixel count between laser facula imaging point and image center in the image, by inquiring about the depthmeter of the corresponding different pixels number average value of demarcating in advance, obtain the high confidence level measuring method and the device of various materials (graininess, Powdered) material level depth value in the feed bin, belong to the technical field of level gauging.Be specially adapted to the depth survey of mine coal bin coal position.This measurement mechanism mainly is made up of CCD digital camera, generating laser, image processor and image real-time display system.
Background technology
Can normally carry out in order to make mine production, and give full play to the usefulness of equipment, (as shaft bottom, exploiting field or workplace) generally is provided with various types of coal bunkers between the main transit link in mine down-hole, in order to regulate and to cushion the productive capacity of each link, make it to connect into an organic whole, transport on the ground continuously to guarantee coal and spoil.Coal bunker under the general coal mine is cylindrical body, cone or half barrel of half cone shape mixture, need to consider because vertical depth is big, when coal flows to the impact of bulkhead.Suggestion with GB (GB50215-2005) is of a size of example, coal bunker height 40m, diameter 8m.Under this environment, along with coal stream continuously is transported in the coal bunker container, the coal identity distance is more and more nearer from the distance at coal bunker top, feeds in raw material as untimely stopping, and the possibility of overflowing (emitting the storehouse) is just arranged, and therefore must set the upper limit of coal bin coal position estimation of Depth.Otherwise if the phenomenon of coal emptying (hole capital after selling all securities), infringement is fatal for coal bunker.The whereabouts naturally of back coal stream because unload coal, warehouse bottom low material level storage coal can play the effect of buffering to Hatch Opening, thus the feeder below the protection coal bunker is avoided being smashed.If hole capital after selling all securities, one side mean the warehouse bottom and do not store coal that the back coal cinder of unloading coal directly falls to the effect of hitting of pounding of warehouse bottom from eminence, is easy to smash warehouse; On the one hand, coal bunker is being communicated with two tunnels in addition, and one is the air intake lane, one is return airway, and hole capital after selling all securities has directly caused the short circuit of ventilating system, therefore for avoiding the generation of the dangerous accident in above-mentioned colliery, must keep certain warehouse coal storage, set the lower position of coal bin coal position estimation of Depth.
The depth detection of coal bin coal position is the important measures of Safety of Coal Mine Production.People adopt the whole bag of tricks that coal bin coal position is detected for many years.The detection method of coal bin coal position commonly used 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 method that can carry out the extreme position measurement has: Weight type, electric pole type, nucleon formula and laser type.These methods have unsurmountable defective in actual use.1. Weight type is when measuring, when toward storehouse internal memory coal since the change of granularity of raw coal very conference weight is buried extremely, servomotor can't be mentioned weight, cause coal level meter to work.And owing to be subjected to the impact of coal stream often, very easily damage, be difficult to serviceable life guarantee; 2. electric pole type is when measuring, and pair of electrodes can only be surveyed a certain coal position, and the electrode that the run coal bin differing heights is installed can be surveyed the coal position of corresponding height.The electric conductivity of coal depends on the kind and the water percentage of coal, in actual the use, and the raw coal in separate sources and season, the contained humidity difference is very big, and this just causes different raw coal electric conductivity to change very greatly, often makes coal level meter produce spurious signal, causes the accident.3. nucleon formula level-sensing device not only has the launch window pollution problem that is difficult to solve, and is difficult to guarantee the safe handling and the keeping of its radiation source, adds to cost an arm and a leg, and is difficult to apply; 4. the laser type level-sensing device is when detecting, though certain accuracy of detection is arranged, when different coals position, the variation at reflection of electromagnetic wave angle is bigger, coarse coal face not only has very strong suction ripple effect, also causes the irregular scattering of reflection wave, has greatly influenced accuracy of detection.And can't solve the pollution problem of Laser emission window, be difficult to play a role.Therefore, do not have for many years which can keep for a long time, stablizes in these technology, safety, reliably working.And all there is a common shortcoming in said method, can not show the on-the-spot outdoor scene in the coal bunker exactly when showing the coal position, therefore in case when being subjected to certain influence and causing material level information inaccurate, will mislead operating personnel, has an accident.According to the characteristics on coal bunker and coal surface, the depth detection method of studying a kind of new moulded coal bit image seems very important.
Chinese patent application number 01107328.4, an open day 2002.11.6 discloses a kind of digital video frequency level indicator, and this digital video frequency level indicator is interconnected by video input unit, image pick-up card, microprocessor and display screen and forms.Adopt machine vision technique to detect the solid material material level, it detects the material level step is that material level image acquisition, Digital Image Processing and analysis, storage show.Video input unit is aimed at tested material, video input unit is connected to the video inputs of image pick-up card again, microprocessor control image pick-up card is gathered the material level image by the sampling period that the user sets, and this image handled, the material level coordinate figure that analyzes 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.Its main means of measuring material level are to utilize the reading on the calibration gauge that material level coordinate points place demarcates to obtain the material level actual value.
Chinese patent application numbers 200710038493.8, an open day 2008.9.24 discloses a kind of material level measuring method and device based on machine vision, and this device is made up of particular point light source, image acquisition machine, machine vision module etc.Adopt machine vision technique to detect the solid material material level, it detects material level step and is: the light beam by the special pointolite that is installed in the feed bin top is launched, be incident upon the material surface, and be the taper of isosceles from the vertical section of feed bin.On the level cross-sectionn of differing heights, obtain the high-luminance light circular image of different-diameter, adopt checking type light circle detection algorithm to analyze and handle, calculate diameter or the area size and then the acquisition material level value of light source by machine vision module.Simultaneously, the device that shows the on-the-spot real scene image of material level really.
Chinese patent application numbers 99100675.5, open day 2000.8.16, a kind of defocus-focus distance measuring method is disclosed, especially refer to that the object distance that a kind of method of utilizing image processing is done extensive angle measures, promptly utilize the camera lens of a pair of a certain specific range for focal length, after obtaining the fuzzy image of actual scenery, utilize the convolution of different inverse function (defocusing the inverse function of function) to convert again, it is divided into some blocks, and its block is defocused the contrast of situation, relatively obtain distance value by comparing result and the value of trying to achieve in advance, obtain estimated value with the each point distance in the camera lens center of circle.
Given this, current coal mining enterprise presses for a kind of measurement mechanism of novel coal bin coal position.The present invention is attempting being radiated at by the real time shooting laser facula significant figure image on material surface, calculate the pixel count between laser facula imaging point and image center, inquiry is the depthmeter of the corresponding different pixels number average value of demarcation in advance, determines the depth value of coal bin coal position.Simultaneously, show the device of the on-the-spot real scene image of material level really, and this measuring method and device are applied in the estimation of Depth of down-hole coal bin coal position.
Summary of the invention
The invention discloses a kind of contactless coal bin coal position photoelectric measurement method of mine simple in structure, that degree of accuracy is high and device, this measurement mechanism is installed on tubular coal bunker main shaft top with CCD digital camera and generating laser, the camera light path is perpendicular to the material surface, the light path that presets generating laser depart from fixed angle θ of camera optical axis (with the folded angle of horizontal direction be θ), this angle the constraint condition that satisfies laser optical path and camera angle of optical axis is set, promptly minimum value is greater than 0 °; Maximal value must guarantee that the imaging region of laser facula can be incident upon on the material surface in the viewing field of camera scope when the lowest limit position of coal bin coal position, rather than projects on the bulkhead of coal bunker.CCD digital camera employing N shelves (N=1,2 ..., n) segmentation focuses, and the focal distance f and the aperture F of N adjusting digital camera all can absorb comparatively distinct image to satisfy at the place, different coals position of whole coal bunker.Measuring method of the present invention is to utilize CCD digital camera real time shooting to be radiated at the lip-deep representation of laser facula of coal bin coal position, the utilization digital image processing method, carry out the detection and the location of laser facula imaging point, by the pixel count between laser facula imaging point in the computed image and picture centre pixel, inquiry is the depthmeter of the corresponding different pixels number average value of demarcation in advance, determines the depth value H of coal bin coal position.
Thinking of the present invention is rising and the decline that is accompanied by coal bin coal position, and from the digital picture that the CCD digital camera obtains, the coal position is high more in the coal bunker, and the pixel count of laser facula slip chart inconocenter is just more little in the image; On the contrary, the coal position is low more in the coal bunker, and the pixel count of laser facula slip chart inconocenter is just big more in the image.Usually, laser facula shared area on the CCD target surface is big more, promptly occupies more pixel count, and the details of light spot image is just clear more, and the position of laser facula center of energy is just analyzed accurately more.Consider the abominable imaging circumstances of high dust under the coal mine, high humility, low-light (level), the light spot image that collects is subjected to the influence of secondary light source intensity of illumination very big, and original image is often second-rate, brightness irregularities.That decrease in image quality causes is image blurring, feature is flooded, and the target light spot region is difficult for separating from the background area, and it is limited to make that digital image processing techniques are applied to the coal bin coal position depth survey.In order to identify interested target area (laser facula), the present invention proposes a kind of laser facula detection method that merges multiple image processing algorithm, comprise that specifically source images collection, image denoising, OSTU method adapting to image are cut apart, the morphological image hot spot extracts, the calculating of the hot spot centre of form.Key step is: at first, laser facula is carried out pre-service in the digital picture of coal site surface, so that our interested laser facula target is highlighted; Secondly, image is carried out noise reduction, according to the High brightness characteristics of representation of laser facula, the level and smooth and filtering of utilization is carried out OSTU method adaptive threshold to image and is cut apart, and target area and background area are separated, and determines spot area; Carrying out hot spot by the method for morphological image then and extract, is the feature of the figure of approximate circle according to hot spot, and image is marked and rim detection; At last, laser facula parameters such as hot spot center of gravity, facula mass center, irradiation precision being carried out statistical measurement calculates.Determine the imaging point of laser facula in the image and the pixel count between the picture centre pixel, the depthmeter of the corresponding different pixels number average value that inquiry is demarcated in advance, and then the depth information of definite coal bin coal position.Wherein, the query depth table, promptly demarcate the depthmeter of corresponding different pixels number average value in advance, at first Jiao with digital camera gathers set positions at the 1st grade of place, use lower horizontal to suspend sheet material and the cord (M is the degree of depth of coal bunker) that has the M rice of length mark in midair, transfer sheet material in turn, transfer interval X rice (X is that material level detects absolute error, gets at every turn
Be integer), and on the sheet material of assurance different depth laser facula is arranged all, take the plate surface representation of laser facula of corresponding different depth, altogether picked-up
The width of cloth; Then, at
Width of cloth image uses image processing algorithm respectively, obtains the tabulation of the pixel count between different depth corresponding image laser imaging point and the image light path central point; According to different focal length gears (the 2nd grade, the 3rd grade ..., the N shelves), repeat the process of above-mentioned demarcation, obtain under corresponding different focal and the aperture N tabulation of the corresponding coal bin coal position value of pixel count between laser imaging point and the image light path central point.
The invention has the beneficial effects as follows, can be when accurately detecting the depth information of coal bin coal position, show the inner outdoor scene of current coal bunker easily in real time, avoid occurring hole capital after selling all securities and the accident of buying securities with all one's capital, and generating laser, digital camera and image processor are placed an explosion-resistant enclosure with transparent window, transparent window have water under high pressure towards dirt, pressure-air towards dirt, the measure of dustproof brush brush dirt, measurement data is accurate, and free from dust is piled up.
1. simple in structure, degree of accuracy is high.Measurement mechanism of the present invention is by the CCD digital camera, and generating laser and image processor constitute, and be simple in structure; Based on the pixel count between laser facula imaging point in the image and picture centre pixel, directly be reflected in the image along with coal bin coal position just changes, the image processing algorithm of utilization identification laser facula imaging point, the depthmeter of the corresponding different pixels number average value that inquiry is demarcated in advance, determine the depth value of coal bin coal position, the degree of accuracy height.
2. robustness is good.Measurement mechanism of the present invention adopts N shelves (N=1,2, ..., n) segmentation focuses, regulate the focal distance f and the aperture F of digital camera N time, to satisfy the place, different coals position at whole coal bunker, digital camera all can absorb the picture rich in detail that includes the laser facula imaging region, got rid of because of the fuzzy external interference that brings of image defocus, the robustness of measurement is good.
3. real-time.The depth information of coal is to utilize the inquiry depthmeter of the corresponding different pixels number average value of demarcation in advance in the measuring method of the present invention, determine the depth value of coal bin coal position, it is poor that algorithm only calculates with a fraction of pixel between picture centre pixel and the laser facula imaging point, the fine high real-time that guarantees system.
4. effect of visualization is good.Measurement mechanism of the present invention with the valid data of representation of laser facula through concentric cable and Optical Fiber Transmission to coal mine underground monitoring system substation and Ground Control terminal, finish the real-time demonstration of coal bin coal position surface image, effect of visualization is good.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structure principle chart of apparatus of the present invention.
Fig. 2 is contactless coal bin coal position photoelectric measuring device hardware elementary diagram.
Fig. 3 is the image capturing system block diagram.
Fig. 4 is the process flow diagram of laser facula identification.
Fig. 5 is contactless coal bin coal position photoelectric measurement method process flow diagram.
Fig. 6 is a process flow diagram of demarcating corresponding different pixels number average value depthmeter
1. mine intrinsic safety type optical fiber video camera XSN8KBA149 among the figure, 2. long apart from semiconductor laser transmitter Trimble LL400,3. imaging center pixel, 4. the explosion-resistant enclosure that has transparent window, 5. laser optical path, 6. camera optical axis, 7. tubular coal bunker, 8. coal position upper limit position, 9. lower position, coal position, 10. laser imaging hot spot, 11. coal bin coal position surfaces, 12. the coal bunker bulkhead, 13.DSP picture processing chip TMS320C6416.
Embodiment
In Fig. 1, apparatus of the present invention are at the inner top of tubular coal bunker (7) main shaft, according to prior imformation (baseline b, angle theta) fixedly mine intrinsic safety type optical fiber video camera XSN8KBA149 (1) and long position apart from semiconductor laser transmitter Trimble LL400 (2).Camera optical axis (6) guarantees that perpendicular to coal bin coal position surface (11) field range of camera (1) can contain the interior coal site surface (11) of whole tubular coal bunker (7).Digital camera (1) employing N shelves (N=1,2 ..., n) segmentation focuses, and the focal distance f and the aperture F of N adjusting digital camera (1) locate to satisfy in the different coals position (11) of whole tubular coal bunker (7), and digital camera (1) all can absorb comparatively distinct image.Generating laser (2) is installed on the coal bunker inner top, and laser optical path (5) is arranged in from the horizontal by the position at θ angle, guarantees that laser imaging hot spot (10) can be incident upon on the interior coal bin coal position surface (11) of viewing field of camera scope.Generating laser (2) adopts red pointolite, round facular model.The photoelectric measuring device angle the constraint condition that satisfies angle between laser optical path (5) and camera optical axis (6) is set, promptly minimum value is greater than 0 °; Maximal value must guarantee that laser beam light path (5) still can be projected on the coal bin coal position surface (11) when the lower position (9) of the upper limit position (8) of coal bin coal position or coal bin coal position, rather than projects on the bulkhead (12) of coal bunker.The significant figure image information of picked-up is sent in the DSP image processor (13), image processor adopts dsp chip TMS320C6416 (13) as kernel, use Universal USB 2.0 interface controller CY7C68001 (210) to carry out Interface design, coal bit image signal after handling is passed in the PC (301) in real time, finish the depth detection of coal bin coal position.
In embodiment illustrated in fig. 2, adopt DSP TMS320C6416 (13) as the image processor kernel, the interface device CY7C68001 (210) of high speed universal serial bus USB 2.0, IS61LV256 is a 256K*16bit SRAM1 chip (203), and STT39VF1601 is 1M*16bitFLASH chip (204).Select FIFO CY7C68001 (210) caching data block for use, realize the interface of DSP TMS320C6416 (13) and high-speed AD converter AD9220 (209), finish the Based Intelligent Control of data acquisition.Determine the sampling clock frequency of real-time sampling or equivalent sampling to write clock by DSP by SRAM1 (203).Adopt FPGA EP1C6Q240 chip (208), AD9220 chip (209) under optimum sampling clock control, is delivered to the signal after the conversion among the SDRAM.Wherein, be the storage space of growth data, improve read or write speed, adopt K4S641632 SDRAM chip (213), propose a kind of data acquisition implementation method of the sdram controller based on FPGA EPIC6Q240 (208).For alleviating FPGA I/O quantity pressure, adopt AD9220 serial conversion chip (209), user's input circuit bias level, triggering level calibration control signal that FPGA is accepted are converted to simulating signal and remove to control input circuit and trigger circuit.Utilization scalable level triggering mode adopts high-speed comparator AD96685, LM1881 device to convert trigger pip to the square wave trigger pip.Adopt CPLD EPM1270T144 (205), SRAM IDT71V416L-10PH (206) and TFT PT35TN01 (207) to form real-time display module.
In the embodiment shown in fig. 3, apparatus of the present invention select for use mine intrinsic safety type optical fiber video camera XSN8KBA149 (1) to come images acquired, use the intrinsic safety shell that solid ICX205AL type ccd sensor and generating laser (2) are merged, be enclosed within the explosion-resistant enclosure (4) with transparent window.The tested coal site surface of coal bunker (11) by glass vision panel on the ccd sensor of optical system imaging at camera, the output signal intrinsic safety transfers to AD9220 type A//D (209) converter then, institute's data converted is again through DSP TMS320C6416 (13) pre-service, by USB2.0 interface device CY7C68001 (210) TMS32OC6416 (13) is carried out Interface design, realize that DSP communicates by letter with PC, DSP processed images signal is real-time transmitted to PC (301) to be stored, show or carry out data analysis etc., finished the process of image acquisition and real-time Transmission.
In the embodiment shown in fig. 4, because the target background contrast of image is low, noise is big and the energy of image mainly concentrates on its low frequency part, the laser facula marginal information that needs to extract mainly concentrates on its HFS, therefore, the content that the extraction laser facula at first will solve among the present invention is to remove low-frequency disturbance to keep marginal information simultaneously.At first, select for use the LaPlace differentiating operator to carry out sharpening (401), emphasize the sudden change of gray scale in the image and reduce the zone that gray scale slowly changes, strengthen edge and other sudden change (as noise), and weaken grey scale change zone (visible large tracts of land continuing noise in the image background) slowly.Can make each gray-scale value in the image obtain keeping, the contrast of gray scale sudden change place is enhanced, net result is under the prerequisite that keeps image background, appears the medium and small detailed information of picture of publishing picture suddenly, and image contrast is increased, and the edge is obvious; Secondly, the actual representation of laser facula of obtaining is subjected to high dust in the coal bunker in formation, transmission, reception and processing procedure, high humility, the influence of low-light-level imaging environment, many-sided noise such as the quantizing noise of digitized process and human factor have worsened picture quality, make image blurring, feature is flooded, to Flame Image Process band difficulty.Utilization piecewise nonlinear histogram stretching (402), by the contrast stretching histogram is adjusted, enlarge the difference of display foreground and background gray scale, the different mining that distributes according to image region brightness is with different transformation curves, the match stress strain curve is realized representation of laser facula is carried out enhancement process; Then, image smoothing (403) adopts the mean filter of neighborhood averaging, removes the grain noise in the image that obtains by scanning.Though suppressed noise, simultaneously also owing on average having caused blooming, thereby cause visual distortion, also need to carry out medium filtering (404), it is fuzzy to overcome the image detail that average value filtering brings, the most effective to filtering impulse disturbances and image scanning noise.Through non-linear stretching, the gray-scale value of background interference and its adjacent pixels has very big-difference, and the result who therefore gets intermediate value after sorted becomes this interference the same with its gray-scale value that closes on pixel, reaches the purpose of removing interference.Can increase noise through the image after the LaPlace conversion in addition, The noise can be given prominence to after histogram stretches,, denoising be done though adopted medium filtering, select Wiener wave filter (405) for use, preserve edge of image and detail of the high frequency better; Once more, High brightness characteristics according to representation of laser facula, adopt the way of adaptive threshold (406) to do image segmentation again, target is extracted from background, when illumination unevenness, burst noise is arranged, when perhaps the background grey scale change was bigger, entire image is cut apart will not have suitable single thresholding, because single threshold value can not be taken into account the actual conditions of each pixel of image.For reducing brightness irregularities, adopt adaptive threshold to cut apart image is subdivided into a plurality of image regions, each subimage is chosen a threshold value respectively cut apart, be used for the object and the border of positioning image.Usually the mean value of choosing the mean value of each pixel threshold in every block of image or maximal value and minimum value is as threshold value T=(max Value+min Value)/2.Because target is to extract laser facula, does not need the gray-scale value of all pixels,,, be image transitions to have only the image of 0 and 1 two value exactly earlier with gray level image binaryzation (407) for accelerating arithmetic speed.By selecting threshold value δ for use, less than the δ value, then putting its new gray-scale value is 0, otherwise is changed to 1 as if the pixel gray-scale value.Entire image is only become with two values (the 0 and 1) image object of representing respectively and the bianry image of background image, target is separated from background; The morphological image hot spot extracts (408), utilizes the method for mathematical morphology to carry out higher level characteristic quantity on the basis of cutting apart and extracts, and the target area is divided into prospect and two parts of background, and prospect comprises possible target and noise.In order to remove noise, and the prospect of cutting apart being carried out hot spot extract, is the feature of the figure of approximate circle according to hot spot, and image is marked and rim detection, finishes the statistical computation to target in the image at last.Available characteristic quantity comprises: the oval pixel of length, hot spot imaging and, center of gravity and barycenter; At last, carry out hot spot centroid calculation (409), the length of supposing image imaging on CCD is RgnWidth, highly is (RgnBottom-RgnTop+1), and known target surface length is L
Width, the target surface height is L
Heigth, then the length pixel ratio of image is: kx=L
Width/ RgnWidth, ky=L
Heigth/ (RgnBottom-RgnTop+1).By design beam divergence angle α (mrad), the irradiation distance L (Km) of laser irradiation device and the length pixel coefficient kx of image, ky calculates the imaging long axis of ellipse pixel value of laser facula on the coal face
With the minor axis pixel value
And 30% can the extracting of laser facula imaging, so the oval pixel of hot spot imaging and
By processing to light spot image, calculate centre of form coordinate, the center-of-mass coordinate of hot spot, the hot spot valid pixel, data such as laser pulse parameters statistics can draw the deviation of laser facula and picture centre pixel according to these data.
In the embodiment shown in fig. 5, select mine intrinsic safety type optical fiber video camera XSN8KBA149 (1), solid ICX205AL type ccd sensor and semiconductor laser transmitter Trimble LL400 (2) for use, be enclosed within the explosion-resistant enclosure with transparent window.The imaging of the tested coal site surface of coal bunker outputs signal to AD9220 type A/D converter (209), through DSP TMS320C6416 (13) image processor, is transferred to PC (301) again, common composing images acquisition system (501).In the viewing field of camera scope, the real time shooting laser facula is radiated at the data image signal (502) on material surface.Judge whether the digital picture of obtaining is effective, promptly have or not the imaging region (503) of complete laser facula in the image,, then return and carry out image acquisition (501) again if do not have; If have, then carry out laser facula image acquisition (504) and the storage (505) of representation of laser facula.After the image process image pre-service (506) with picked-up, be divided into two-way: one tunnel valid data with light spot image (507) process concentric cable and Optical Fiber Transmission are finished the real-time demonstration (508) of coal bin coal position surface image to coal mine underground monitoring system substation and Ground Control terminal; Another road strengthens image (509), under the prerequisite that keeps image background, appears the marginal information in the picture of publishing picture suddenly.Utilization image processing system (510) comprises piecewise nonlinear histogram stretching (402), image smoothing (403), medium filtering (404), Wiener wave filter (405), adaptive threshold is cut apart (406), gray level image binaryzation (407), the morphological image hot spot extracts (408), carry out hot spot centroid calculation (409), determine the pixel count (511) of laser facula imaging point, the pixel count between image center (512), calculate the pixel count (513) between laser facula imaging point and image center, inquiry is the depthmeter (514) of the corresponding different pixels number average value of demarcation in advance, determines the depth information H (515) of coal bin coal position, output actual grade value.
In the embodiment shown in fig. 6, at first the poly-set positions of Jiao of digital camera is located (601) at the 1st grade, control generating laser emission of lasering beam (602), use and have the cord (M be the degree of depth of coal bunker) of length mark as M rice, horizontal suspension one sheet material, the picked-up laser facula is radiated at the digital imagery (603) of plate surface, transfers sheet material in turn, transfer interval X rice (X is that material level detects absolute error, gets at every turn
Be integer), and on the sheet material of assurance different depth laser facula is arranged all, take the plate surface representation of laser facula of corresponding different depth, altogether picked-up
The width of cloth (604); Then, at
Width of cloth image uses image processing algorithm respectively, obtains the tabulation (605) of the pixel count between different depth corresponding image laser imaging point and the image light path central point; Focus and aperture, judge that whether the setting of focal length gear is greater than N shelves (606), promptly whether exceed maximum gear, if not, the gear of then focusing increases by 1 grade to the 2nd grade (607), repeats the process of above-mentioned demarcation, returns and carries out image acquisition process (602) again, until obtain under corresponding different focal and the aperture (the 3rd grade, the 4th grade ..., the N shelves), N tabulation of the corresponding coal bin coal position value of pixel count between laser imaging point and the image light path central point; If, then stop calibration process, directly export N degree of depth tabulation (608).
Claims (7)
1. contactless coal bin coal position photoelectric measuring device, it is characterized in that generating laser and digital camera are installed on the coal bunker top, the camera light path is perpendicular to the material surface, generating laser is arranged in from the horizontal by the position at θ angle, guarantees that the imaging region of laser facula can be incident upon on the interior material surface of viewing field of camera scope; Regulate the digital camera focal length, the real time shooting laser facula is radiated at the significant figure image on material surface; Calculate the pixel count between laser facula imaging point and image center, inquiry is the depthmeter of the corresponding different pixels number average value of demarcation in advance, determines the depth value H of coal bin coal position.
2. photoelectric measurement method according to claim 1 and device, the setting of photoelectric measuring device angle is characterized in that satisfying the constraint condition of the 90 °-θ of angle of laser optical path and camera light between centers, and promptly minimum value is greater than 0 °; Maximal value must guarantee that laser beam still can be projected on the material surface, rather than project on the bulkhead of coal bunker when the lowest limit position of coal bin coal position.
3. detection method according to claim 1 and device, it is characterized in that adopting N shelves (N=1,2, ..., n) segmentation focuses, regulate the focal distance f and the aperture F of digital camera N time, to satisfy the place, different coals position at whole coal bunker, digital camera all can absorb the picture rich in detail that includes the laser facula imaging region.
4. photoelectric measurement method according to claim 1 and device, generate the method for the depthmeter of demarcating corresponding different pixels number average value in advance, it is characterized in that at first the poly-set positions of Jiao of digital camera at the 1st grade of place, use lower horizontal to suspend sheet material and the cord (M is the degree of depth of coal bunker) that has the M rice of length mark in midair, transfer sheet material in turn, transfer interval X rice (X is that material level detects absolute error, gets at every turn
Be integer), and on the sheet material of assurance different depth laser facula is arranged all, take the plate surface representation of laser facula of corresponding different depth, altogether picked-up
The width of cloth; Then, at
Width of cloth image uses image processing algorithm respectively, obtains the tabulation of the pixel count between different depth corresponding image laser imaging point and the image light path central point; According to different focal length gears (the 2nd grade, the 3rd grade ..., the N shelves), repeat the process of above-mentioned demarcation, obtain under corresponding different focal and the aperture N tabulation of the corresponding coal bin coal position value of pixel count between laser imaging point and the image light path central point.
5. photoelectric measurement method according to claim 1 and device, calculate the method for coal bit depth value, it is characterized in that by the pixel count between laser facula imaging point and image light path central point in the calculating real-time digital image, N stepping focal length value in conjunction with digital camera, the pairing material level degree of depth of pixel count between laser imaging point and image light path central point is demarcated in the depthmeter of corresponding different pixels number in inquiry in advance, determines the actual grade value of coal bin coal position.
6. photoelectric measurement method according to claim 1 and device, measurement mechanism is characterized in that generating laser, digital camera and image processor are placed an explosion-resistant enclosure with transparent window, transparent window have water under high pressure towards dirt, pressure-air towards dirt, the measure of dustproof brush brush dirt.
7. detection method according to claim 1 and device, the image processing algorithm of identification laser facula imaging point is characterized in that comprising that source images collection, image denoising, OSTU method adapting to image are cut apart, the morphological image hot spot extracts, the calculating of the hot spot centre of form.
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