CN102244771A - Monitoring method of strip mine excavator loading process based on images and apparatus thereof - Google Patents
Monitoring method of strip mine excavator loading process based on images and apparatus thereof Download PDFInfo
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- CN102244771A CN102244771A CN2011100956346A CN201110095634A CN102244771A CN 102244771 A CN102244771 A CN 102244771A CN 2011100956346 A CN2011100956346 A CN 2011100956346A CN 201110095634 A CN201110095634 A CN 201110095634A CN 102244771 A CN102244771 A CN 102244771A
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Abstract
An embodiment of the invention provides a monitoring method of a strip mine excavator loading process based on images and an apparatus thereof. The method comprises the following steps: collecting video signals of the excavator loading process through using an image acquisition sensor; the collected video signals are converted into digital images that can be read by a digital signal processor (DSP); sending the digital images to the DSP; measuring a rotation angle of an excavator bucket during the loading process by using a angle sensor and sending to the DSP; receiving the digital image information and the angle measuring information by the DSP, comparing the received digital image information and the angle measuring information, matching processing and calculating so as to obtain a corresponding monitoring result. Therefore, automatic monitoring of the strip mine excavator loading process can be realized. Corresponding manpower and material resources are saved and strip mine loading technology efficiency can be raised.
Description
Technical field
The present invention relates to opencut excavator technical field, relate in particular to a kind of method for supervising and device of the opencut excavator entrucking process based on image.
Background technology
At present, in the process that the ore deposit produces, excavator is called shovel dress technology for the process of truck or electric locomotive entrucking in the open, and it is one of most important link of Production of Strip Mine.
In the prior art, excavator can not add up examination for the quantity of bucket number, per tour entrucking of truck or electric locomotive entrucking, degree (volume or weight) that per car is filled and the indexs such as time of entrucking automatically, can only adopt the way of artificial counting to add up.But there are a lot of shortcomings in complicate statistics: the one, and need certain human and material resources to operate, for example adopt special statistician to be engaged in this work; The 2nd, counting is difficult to accomplish that accurately the statistician causes sometimes and loses ore if there is carelessness just to cause the mistake meter unavoidably, loses output, and problems such as the entrucking and the quantity imbalance of unloading have influenced opencut shovel dress process efficiency, can't effectively supervise shovel dress technology.
Summary of the invention
The embodiment of the invention provides a kind of method for supervising and device of the opencut excavator entrucking process based on image, can realize the automatic supervision of opencut excavator entrucking process, has saved corresponding manpower and materials, has improved opencut shovel dress process efficiency.
The embodiment of the invention provides a kind of method for supervising of the opencut excavator entrucking process based on image, and described method comprises:
Vision signal by IMAQ sensor acquisition excavator entrucking process converts the vision signal of being gathered to digital picture that fast processor DSP can read, and this digital picture is sent to DSP;
Measure the angle that power shovel is turned over by angular transducer in loading process, and send it to described DSP;
Described DSP receives described digital image information and angular surveying information, to digital image information and the angular surveying information that receives compare, matching treatment and calculating, realize the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, and the judgement of loading time draws corresponding monitored results.
Described method also comprises:
Described DSP is handled the monitored results that obtains send in the total activation chamber by the Wireless Mesh system exercise supervision, record.
The vision signal of described excavator entrucking process comprises:
The empty wagons of the loading condition of excavator entrucking process, shipping situation, the state that in truck, unloads, truck and the license number of loading condition and truck.
The embodiment of the invention also provides a kind of supervising device of the opencut excavator entrucking process based on image, and described device comprises the IMAQ transducer, angular transducer and fast processor DSP, wherein:
Described IMAQ transducer is used to gather the vision signal of excavator entrucking process, converts the vision signal of being gathered to digital picture that described fast processor DSP can read, and this digital picture is sent to DSP;
Described angular transducer is used for measuring power shovel in the angle that loading process turned over, and sends it to described DSP;
Described DSP is used to receive described digital image information and angular surveying information, and to received digital image information and angular surveying information compare, matching treatment and calculating, realization is to the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, the judgement of loading time draws corresponding monitored results.
Described device also comprises:
The Wireless Mesh system is used for that described DSP is handled the monitored results that obtains and sends to that the total activation chamber exercises supervision, record.
By the above-mentioned technical scheme that provides as can be seen, the method of the invention is by the vision signal of IMAQ sensor acquisition excavator entrucking process, convert the vision signal of being gathered to digital picture that fast processor DSP can read, and this digital picture is sent to DSP; Measure the angle that power shovel is turned over by angular transducer in loading process, and send it to described DSP; Described DSP receives described digital image information and angular surveying information, to digital image information and the angular surveying information that receives compare, matching treatment and calculating, realize the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, and the judgement of loading time draws corresponding monitored results.Thereby realized the automatic supervision of opencut excavator entrucking process, saved corresponding manpower and materials, improved opencut shovel dress process efficiency.
Description of drawings
Fig. 1 is the schematic flow sheet of method for supervising that the embodiment of the invention provides;
Fig. 2 is the structural representation of supervising device that the embodiment of the invention provides.
Embodiment
The embodiment of the invention provides a kind of method for supervising and device of the opencut excavator entrucking process based on image, utilize Machine Vision Recognition Technology, power shovel rotational angle detecting technology realizes the excavation position to scraper bowl in its entrucking process, the fully loaded degree of scraper bowl, the move angle of scraper bowl, the identification of truck license number, entrucking bucket number, and the information such as loading time of filling level of truck (load volume) and excavator are carried out effective image process analysis, finish Machine Vision Recognition by the mining technology process, thereby realized the automatic supervision of opencut excavator entrucking process, save corresponding manpower and materials, improved opencut shovel dress process efficiency.
For better describing embodiment of the present invention, now in conjunction with the accompanying drawings the specific embodiment of the present invention is described, be illustrated in figure 1 as the schematic flow sheet of method for supervising that the embodiment of the invention provides, described method comprises:
Step 11: by the vision signal of IMAQ sensor acquisition excavator entrucking process.
In this step, at first pass through the vision signal of IMAQ sensor acquisition excavator entrucking process, convert the vision signal of being gathered to fast processor again, it is the digital picture that digital signal processor DSP (Digital Signal Processor) can read, and this digital picture sent to DSP, the IMAQ transducer here can be cmos sensor.
In the specific implementation process, the vision signal of excavator entrucking process can be the empty wagons of the loading condition of excavator entrucking process, shipping situation, the state that unloads, truck and the license number of loading condition and truck etc. in truck.
Step 12: measure the angle that power shovel is turned in loading process by angular transducer.
In this step, measure the angle that power shovel is turned over by angular transducer in loading process, and send it to described DSP.
Step 13:DSP receives described digital image information and angular surveying information, analyzes to draw monitored results.
In this step, DSP receives described digital image information and angular surveying information, to digital image information and the angular surveying information that receives compare, matching treatment and calculating.
Specifically, DSP handles vision signal and the angular surveying information received, excavation position, the fully loaded degree of scraper bowl, the move angle of scraper bowl, the identification of truck license number, entrucking bucket number to scraper bowl in the excavator entrucking process, and the loading time of filling level of truck (load volume) and excavator carries out effective image process analysis, draws corresponding monitored results.
The concrete processing procedure of this DSP is: DSP high-speed computation control module is read the image information and the angular surveying information that receive, compare with the standard picture of DSP storage itself, judge that successively power shovel loads, move and run to the truck position, in truck, unload, move back to the state of former loading position.If above-mentioned four conditions satisfy simultaneously, then be designated as entrucking once, and calculate the required time of entrucking one time.Simultaneously, DSP also will discern the truck license number of entrucking by image information, judges the fully loaded degree of truck.Realization is to the entrucking number of times, the entrucking license number, and degree is fully loaded with in entrucking, and the judgement of loading time draws corresponding monitored results.
In addition, after DSP draws corresponding monitored results, again DSP is handled resulting monitored results send in the total activation chamber by the Wireless Mesh system exercise supervision, record.
For instance, for further setting forth the present invention, do more detailed explanation below in conjunction with embodiment, be illustrated in figure 2 as the structural representation of supervising device that the embodiment of the invention provides, its course of work is specific as follows:
The IMAQ transducer is installed in the excavator driver's cabin, gather the excavator loading state, shipping situation, unloaded state in truck, the empty wagons of truck and loading condition, vision signals such as truck license number, and convert the video information of being gathered to digital picture that DSP can read, and send to the DSP fast processor.
On the other hand, angular transducer is installed on the excavator, be used for measuring excavator delivery process process angle and send to DSP so that DSP compares calculating to excavator delivery process status.
The DSP fast processor compares vision signal and the angular surveying information that receives, and matching treatment is calculated, realize the entrucking number of times, and the entrucking license number, degree is fully loaded with in entrucking, the correct judgement of loading time.And result sent in the total activation chamber by the Wireless Mesh system, so that the control room exercises supervision and record, thereby realize the supervisory role of system really.
The embodiment of the invention also provides a kind of supervising device of the opencut excavator entrucking process based on image, and described device comprises the IMAQ transducer, angular transducer and fast processor DSP, wherein:
Described IMAQ transducer is used to gather the vision signal of excavator entrucking process, converts the vision signal of being gathered to digital picture that described fast processor DSP can read, and this digital picture is sent to DSP;
Described angular transducer is used for measuring power shovel in the angle that loading process turned over, and sends it to described DSP;
Described DSP is used to receive described digital image information and angular surveying information, and to received digital image information and angular surveying information compare, matching treatment and calculating, realization is to the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, the judgement of loading time draws corresponding monitored results.
Described device also comprises:
The Wireless Mesh system is used for that described DSP is handled the monitored results that obtains and sends to that the total activation chamber exercises supervision, record.
It should be noted that among the said apparatus embodiment that included various piece is just divided according to function logic, but is not limited to above-mentioned division, as long as can realize function corresponding; In addition, the concrete title of each functional unit also just for the ease of mutual differentiation, is not limited to protection scope of the present invention.
In sum, the embodiment of the invention has realized the automatic supervision of opencut excavator entrucking process, has saved corresponding manpower and materials, has improved opencut shovel dress process efficiency.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the embodiment of the invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (5)
1. method for supervising based on the opencut excavator entrucking process of image is characterized in that described method comprises:
Vision signal by IMAQ sensor acquisition excavator entrucking process converts the vision signal of being gathered to digital picture that fast processor DSP can read, and this digital picture is sent to DSP;
Measure the angle that power shovel is turned over by angular transducer in loading process, and send it to described DSP;
Described DSP receives described digital image information and angular surveying information, to digital image information and the angular surveying information that receives compare, matching treatment and calculating, realize the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, and the judgement of loading time draws corresponding monitored results.
2. according to claim 1 based on the method for supervising of the opencut excavator entrucking process of image, it is characterized in that described method also comprises:
Described DSP is handled the monitored results that obtains send in the total activation chamber by the Wireless Mesh system exercise supervision, record.
3. according to claim 1 based on the method for supervising of the opencut excavator entrucking process of image, it is characterized in that the vision signal of described excavator entrucking process comprises:
The empty wagons of the loading condition of excavator entrucking process, shipping situation, the state that in truck, unloads, truck and the license number of loading condition and truck.
4. the supervising device based on the opencut excavator entrucking process of image is characterized in that described device comprises the IMAQ transducer, angular transducer and fast processor DSP, wherein:
Described IMAQ transducer is used to gather the vision signal of excavator entrucking process, converts the vision signal of being gathered to digital picture that described fast processor DSP can read, and this digital picture is sent to DSP;
Described angular transducer is used for measuring power shovel in the angle that loading process turned over, and sends it to described DSP;
Described DSP is used to receive described digital image information and angular surveying information, and to received digital image information and angular surveying information compare, matching treatment and calculating, realization is to the entrucking number of times, the entrucking license number, degree is fully loaded with in entrucking, the judgement of loading time draws corresponding monitored results.
As described in the claim 4 based on the supervising device of the opencut excavator entrucking process of image, it is characterized in that described device also comprises:
The Wireless Mesh system is used for that described DSP is handled the monitored results that obtains and sends to that the total activation chamber exercises supervision, record.
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| CN 201110095634 CN102244771B (en) | 2011-04-18 | 2011-04-18 | Monitoring method of strip mine excavator loading process based on images and apparatus thereof |
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| CN 201110095634 CN102244771B (en) | 2011-04-18 | 2011-04-18 | Monitoring method of strip mine excavator loading process based on images and apparatus thereof |
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| CN103150681A (en) * | 2013-03-19 | 2013-06-12 | 北京中安科创科技发展有限公司 | Moveable mine vehicle managing system |
| CN104969544A (en) * | 2013-02-08 | 2015-10-07 | 日立建机株式会社 | Surroundings monitoring device for slewing-type work machine |
| CN106650622A (en) * | 2016-11-18 | 2017-05-10 | 华南农业大学 | Excavator working state identification method based on hybrid LBF shape regression model |
| CN106779544A (en) * | 2016-12-05 | 2017-05-31 | 太原重型机械集团工程技术研发有限公司 | The recording method of mineral aggregate freight volume and system |
| CN107026898A (en) * | 2017-02-20 | 2017-08-08 | 四川大唐国际甘孜水电开发有限公司 | Core-wall is mixed gravel earth material backhoe and mixed with long-range action acquisition system and method |
| CN107680075A (en) * | 2017-08-11 | 2018-02-09 | 辽宁科技大学 | A kind of sublevel caving method without sill pillar ore removal effect remote real-time monitoring system and method |
| CN109359535A (en) * | 2018-09-12 | 2019-02-19 | 北京木业邦科技有限公司 | Recognition methods, device, electronic equipment and the storage medium of loading timber information |
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| CN110298525A (en) * | 2018-03-22 | 2019-10-01 | 重庆嘉尔诺智能科技有限公司 | A kind of engineering machinery intelligent monitoring statistical system and method |
| CN110298524A (en) * | 2018-03-22 | 2019-10-01 | 重庆嘉尔诺智能科技有限公司 | A kind of intelligence digging fortune monitoring statisticss system and method |
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| CN113668640A (en) * | 2021-08-20 | 2021-11-19 | 中煤科工集团沈阳设计研究院有限公司 | Alignment device and method for coordinated loading of wheel excavator and truck |
| CN113805581A (en) * | 2021-07-28 | 2021-12-17 | 中科云谷科技有限公司 | Method and main control device for butting excavator and mine card |
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| CN112536242A (en) * | 2014-07-21 | 2021-03-23 | 感矿科技有限公司 | High capacity separation of coarse ore minerals from waste minerals |
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| CN107026898A (en) * | 2017-02-20 | 2017-08-08 | 四川大唐国际甘孜水电开发有限公司 | Core-wall is mixed gravel earth material backhoe and mixed with long-range action acquisition system and method |
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| CN110298525A (en) * | 2018-03-22 | 2019-10-01 | 重庆嘉尔诺智能科技有限公司 | A kind of engineering machinery intelligent monitoring statistical system and method |
| CN110298524A (en) * | 2018-03-22 | 2019-10-01 | 重庆嘉尔诺智能科技有限公司 | A kind of intelligence digging fortune monitoring statisticss system and method |
| CN110296710A (en) * | 2018-03-22 | 2019-10-01 | 重庆嘉尔诺智能科技有限公司 | It is a kind of intelligently to dig transport line road navigation system and method |
| CN110296710B (en) * | 2018-03-22 | 2023-09-19 | 重庆嘉尔诺智能科技有限公司 | Intelligent digging and transporting line navigation system and method |
| CN109359535B (en) * | 2018-09-12 | 2021-07-20 | 北京木业邦科技有限公司 | Wood loading information identification method and device, electronic equipment and storage medium |
| CN109359535A (en) * | 2018-09-12 | 2019-02-19 | 北京木业邦科技有限公司 | Recognition methods, device, electronic equipment and the storage medium of loading timber information |
| CN109801017A (en) * | 2019-01-22 | 2019-05-24 | 广州道安信息科技有限公司 | Loading attachment matches confirmation method, computer installation and computer readable storage medium with transport device |
| US20220015290A1 (en) * | 2019-04-09 | 2022-01-20 | Fj Dynamics Technology Co., Ltd | Intelligent system and method for coordinating harvester and logistics vehicle |
| CN113805581A (en) * | 2021-07-28 | 2021-12-17 | 中科云谷科技有限公司 | Method and main control device for butting excavator and mine card |
| CN113805581B (en) * | 2021-07-28 | 2024-02-27 | 中科云谷科技有限公司 | Method for docking excavator and mine card and main control device |
| CN113668640A (en) * | 2021-08-20 | 2021-11-19 | 中煤科工集团沈阳设计研究院有限公司 | Alignment device and method for coordinated loading of wheel excavator and truck |
| CN115075328A (en) * | 2022-06-23 | 2022-09-20 | 石家庄扬天科技有限公司 | Device and method for confirming loading of excavator to truck |
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