CN111408546A - Ore detection method and system based on laser scanning imaging - Google Patents
Ore detection method and system based on laser scanning imaging Download PDFInfo
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- CN111408546A CN111408546A CN202010165759.0A CN202010165759A CN111408546A CN 111408546 A CN111408546 A CN 111408546A CN 202010165759 A CN202010165759 A CN 202010165759A CN 111408546 A CN111408546 A CN 111408546A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/85—Investigating moving fluids or granular solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/845—Objects on a conveyor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention provides an ore detection method and system based on laser scanning imaging, which comprises a laser source, an electric control bracket, a transmission device, a video input device, a video output device, a control module, an analysis module and a modeling module, wherein the laser source is arranged on the electric control bracket; the laser source emits laser to scan the surface of the ore, the video input device collects imaging results of the laser reflected by the surface of the ore, the analysis module analyzes signals and the modeling module carries out three-dimensional point cloud reconstruction on the height image of the ore, the three-dimensional point cloud image of the ore is dynamically displayed on the video output device, and the functions of collecting, displaying and analyzing the height distribution characteristics of the ore are achieved. According to the invention, the ore is screened by using a graphic technology, the screening precision and speed are improved, the cost is saved, the appearance of the ore is dynamically displayed through three-dimensional point cloud, and the process is clear and visual.
Description
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to an ore detection method and system based on laser scanning imaging.
Background
In recent years, the mining and transportation of ores in the mining industry have already been mature, but the screening of ores on a conveyor belt still has great problems, mainly including low screening efficiency, poor accuracy and certain threat to personal safety, thereby reducing the benefit of enterprises. In order to improve enterprise benefits, higher requirements are put forward on the efficiency and the precision of ore screening, and the rapid development of computer technology and image technology provides an important technical means for ore screening.
The conventional ore detection system in the market at present screens the unqualified ores by using a mechanical device according to manual identification, can not accurately detect the position of the ores, and has low efficiency and high cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the ore detection method and system based on laser scanning imaging are provided, and the functions of collecting, displaying and analyzing the height distribution characteristics of the ore are realized.
The technical scheme adopted by the invention for solving the technical problems is as follows: an ore detection method based on laser scanning imaging comprises the following steps:
s1, assembling an ore detection system based on laser scanning imaging, which comprises a laser source, an electric control bracket, a transmission device, a video input device, a video output device, a control module, an analysis module and a modeling module, wherein the transmission device is placed below the electric control bracket, the video input device and the laser source are respectively installed on the electric control bracket, a lens of the video input device is aligned with the transmission device, the axis of the lens of the video input device is vertically downward, the laser source is aligned with the transmission device, and the axis of the laser source and the axis of the lens of the video input device form an angle of β degrees;
s2: the system is powered on and the laser source, the electric control bracket, the video input device and the transmission device are respectively calibrated, so that the video output device can display clear and bright laser lines;
s3: placing the ore on a conveying device and starting the conveying device to enable incident laser to scan the outer surface of the ore, wherein a video input device receives reflected laser returned from the surface of the ore, converts the reflected laser into a video input signal and sends the video input signal to an analysis module;
s4: the analysis module sequentially performs gray positioning, extreme value searching, noise point removing and isolated point removing on the received video signal to obtain an analysis signal and sends the analysis signal to the modeling module;
s5: the modeling module acquires the analytic signal in real time, extracts the three-dimensional coordinate with the height value of the ore to obtain a three-dimensional model of the ore, and sends the three-dimensional model of the ore to the video output device as a video output signal;
s6: the video output device dynamically displays a three-dimensional point cloud thermodynamic diagram of the ore according to the received video output signal, and displays the change situation of the height value of the ore in different colors in the three-dimensional point cloud thermodynamic diagram.
According to the scheme, in the step S2, the specific steps are as follows:
s21: setting parameters including power, wavelength and duration of the laser source to enable the laser source to emit incident laser;
s22: setting the angle of the electric control bracket and the relative position of the laser source and the video input device, and adjusting the angle of incident laser to enable the laser line of the reflected laser to be displayed in the middle position of the visual field of the video input device;
s23: setting parameters including focal length and filtering of the video input device, enabling the video input signal sent by the video input device to sequentially pass through an analysis module and a modeling module to obtain a video output signal, and displaying the video output signal as a clear and bright laser line on the video output device;
s24: and setting the conveying speed of the conveying device, starting the conveying device, and recording the reference line of the laser reflected by the conveying device.
Further, in step S3, the specific steps include:
s31: placing the ore on a conveying device, and starting the conveying device to enable the ore to pass through a scanning point of incident laser at a constant speed;
s32: the video input device receives the reflected laser returned from the surface of the ore, converts a laser signal into a video input signal and sends the video input signal to the analysis module; the analysis module is used for acquiring and converting the next frame of video input signal by the video input device while analyzing the current frame of video input signal.
Further, in step S4, the specific steps include:
s41: carrying out image processing on the video input signal to obtain a gray level image, and finding an area where a laser line is located in the gray level image according to a horizontal gray level addition method;
s42: traversing the area where the laser line is located according to lines and finding out the maximum value and the minimum value in the area;
s43: removing noise points in the area where the laser line is located according to the maximum value and the minimum value by adopting a denoising algorithm and a comparison method;
s44: and removing the isolated points in the region obtained in the step S43 to obtain a clear, noise-free and isolated point-free ore laser line image, and sending the image to a modeling module as an analysis signal.
Further, in step S5, the specific steps include:
s51: calculating a height difference as a height value of the ore according to the reference line of the laser reflected by the conveying device obtained in the step S24 and the ore laser line image obtained in the step S44;
s52: extracting three-dimensional coordinates of the ore from the ore laser line image obtained in step S44;
s53: and synthesizing the height value obtained in the step S51 and the three-dimensional coordinates obtained in the step S52 into a three-dimensional model of the ore with the height value identification, and sending the three-dimensional model of the ore as a video output signal to a video output device.
Further, in step S6,
s61: forming a three-dimensional point cloud thermodynamic diagram of the ore according to the transmission speed of the transmission device and the time difference of every two received video output signals and dynamically displaying the three-dimensional point cloud thermodynamic diagram on the video output device;
s62: and displaying different colors according to the height values of the ores in the three-dimensional point cloud thermodynamic diagram, and identifying the highest point of each ore.
According to the above scheme, in step S1, the control module includes a light source control module, a bracket control module and a transmission control module; connecting a signal sending end of a light source control module with a signal receiving end of a laser source, connecting a signal sending end of a bracket control module with a signal receiving end of an electric control bracket, and connecting a signal sending end of a transmission control module with a signal receiving end of a transmission device; respectively connecting a signal sending end of the analysis module with a signal receiving end of the light source control module, the support control module and the transmission control module; if the brightness and the position of the laser line displayed by the video output device in the step S23 do not meet the requirements, the analysis module feeds back the analysis signal to the light source control module and the support control module respectively, and the execution is started from the step S21 until the laser line displayed by the video output device meets the requirements; if the three-dimensional point cloud dynamic graph of step S61 shows disconnected or dropped frames, the parsing module feeds back the parsing signal to the transmitting device, and starts to execute step S24 until the three-dimensional point cloud dynamic graph shows connected and smooth.
An ore detection system based on laser scanning imaging comprises a laser source, an electronic control support, a transmission device, a video input device, a video output device, a control module, an analysis module and a modeling module, wherein the laser source is used for emitting laser to an ore to be detected and scanning the outer surface of the ore, the transmission device is used for transmitting the ore to be detected and is placed below the electronic control support, the electronic control support is used for supporting the laser source and the video input device, the laser source and the video input device are respectively installed on the electronic control support, a lens of the video input device is aligned to the transmission device, the axis of the lens of the video input device is vertically downward, the laser source is aligned to the transmission device, the axis of the laser source and the axis of the lens of the video input device form an angle of β, the control module is used for controlling the operation of the laser source, the electronic control support and the transmission device, a signal sending end of the control module is respectively connected with a signal receiving end of the laser source, a signal receiving end of the electronic control modeling support and a signal receiving end of the transmission device, the video input device is used for receiving reflected light irradiated on the surface of the ore and converting the video input signal and sending the video input signal to the analysis module and outputting the video signal to the analysis module, and outputting the video signal to the video input module, and outputting the video signal to the analysis module, and outputting the video signal to the video input module.
Further, the video input device includes a filter for adjusting the intensity of the reflected laser light received by the video input device.
Further, the control module comprises a light source control module, a bracket control module and a transmission control module, which are respectively used for sending a light source control signal, a bracket control signal and a transmission control signal to the laser source, the electric control bracket and the transmission device; and a signal sending end of the analysis module is respectively connected with signal receiving ends of the light source control module, the support control module and the transmission control module and is used for respectively feeding back analysis signals to the light source control module, the support control module and the transmission control module so as to adjust the working states of the laser transmitter, the acquisition system support and the conveyor belt.
The invention has the beneficial effects that:
1. according to the ore detection method and system based on laser scanning imaging, the height image of the ore is reconstructed by scanning the surface of the ore and the three-dimensional point cloud, and the functions of collecting, displaying and analyzing the height distribution characteristics of the ore are realized.
2. The invention utilizes the graphic technology to screen the ores, improves the screening precision and speed, is stable and efficient, has strong robustness, reduces the consumption of manpower and material resources and saves the cost.
3. The invention collects the ore image, acquires the height of the ore in real time, dynamically displays the appearance of the ore through the three-dimensional point cloud, has clear and visual process and is convenient for operators to watch.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Fig. 2 is a functional block diagram of an embodiment of the present invention.
Figure 3 is a laser line view of a mineral in accordance with an embodiment of the present invention.
FIG. 4 is a graph of the height values of ores according to an embodiment of the present invention.
FIG. 5 is a three-dimensional point cloud thermodynamic diagram of an ore according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the ore detection method based on laser scanning imaging of the invention comprises the following steps:
s1: assembling an ore detection system based on laser scanning imaging, which comprises a laser transmitter, an acquisition system bracket, a conveyor belt, a high-speed industrial infrared camera, a display, a control module, an analysis module and a modeling module; arranging a laser transmitter on an acquisition system bracket; the control module comprises a light source control module, a support control module and a transmission control module, a signal sending end of the light source control module and a signal receiving end of the laser transmitter are connected, a signal sending end of the support control module and a signal receiving end of the acquisition system support are connected, and a signal sending end of the transmission control module and a signal receiving end of the conveyor belt are connected; the method comprises the following steps of connecting a signal sending end of a high-speed industrial infrared camera with a signal receiving end of an analysis module, connecting a signal sending end of the analysis module with a signal receiving end of a modeling module, and connecting a signal sending end of the modeling module with a signal receiving end of a display; and the signal sending end of the analysis module is respectively connected with the signal receiving ends of the light source control module, the support control module and the transmission control module.
S2: the system is electrified and marks laser emitter, collection system support, high-speed industry infrared camera and conveyer belt respectively, makes the display show clear, bright laser line:
s21: setting the power, wavelength and duration of a laser transmitter to enable the laser transmitter to emit incident laser;
s22: setting the angle of a collecting system bracket and the relative position of a laser emitter and the high-speed industrial infrared camera, and adjusting the angle of incident laser to enable the laser line of reflected laser to be displayed in the middle of the visual field of the high-speed industrial infrared camera;
s23: setting the focal length of the high-speed industrial infrared camera, selecting an optical filter according to the intensity of an ambient light source, filtering interference light, enabling a video input signal sent by the high-speed industrial infrared camera to sequentially pass through an analysis module and a modeling module to obtain a video output signal, and displaying the video output signal as a clear and bright laser line on a display; if the brightness and the position of the laser line displayed by the display do not meet the requirements, the analysis module respectively feeds back the analysis signal to the light source control module and the support control module, and the execution is started from the step S21 until the laser line displayed by the display meets the requirements;
s24: and setting the conveying speed of the conveying belt, starting the conveying belt, and recording the reference line of the laser reflected by the conveying belt.
S3: place the ore on the conveyer belt and start the conveyer belt, make incident laser scanning ore surface, high-speed industry infrared camera receives the reflection laser who returns from the ore surface to convert video input signal and send for analytic module:
s31: placing the ore on a conveyor belt, and starting the conveyor belt to enable the ore to pass through a scanning point of incident laser at a constant speed;
s32: the high-speed industrial infrared camera receives reflected laser returned from the surface of the ore, converts a laser signal into a video input signal and sends the video input signal to the analysis module;
the computer works in a multithreading processing mode, the high-speed industrial infrared camera occupies one thread to send the video input signal to the analysis module, the analysis module occupies one thread to analyze the video input signal, the analysis module analyzes the video input signal of the current frame, and meanwhile, the high-speed industrial infrared camera collects and converts the video input signal of the next frame, so that the collection and the processing are synchronously carried out, and the effect of real-time display is achieved.
S4: the analysis module sequentially performs gray positioning, extreme value searching, noise point removing and isolated point removing on the received video signals to obtain analysis signals and sends the analysis signals to the modeling module:
s41: carrying out image processing on the video input signal to obtain a gray level image, and finding an area where a laser line is located in the gray level image according to a horizontal gray level addition method;
s42: traversing the area where the laser line is located according to lines and finding out the maximum value and the minimum value in the area;
s43: removing noise points in the area where the laser line is located according to the maximum value and the minimum value by adopting a denoising algorithm and a comparison method;
s44: and removing the isolated points in the region obtained in the step S43 to obtain a clear, noise-point-free and isolated-point-free ore laser line image, referring to FIG. 3, and sending the image to a modeling module as an analysis signal.
S5: the modeling module acquires analytic signals in real time, extracts three-dimensional coordinates with a height value of the ore, obtains a three-dimensional model of the ore, and sends the three-dimensional model to a display as video output signals:
s51: calculating a height difference as a height value of the ore according to the ore laser line image obtained in the step S44 and the reference line of the laser reflected by the conveyor belt obtained in the step S24, see fig. 4;
s52: extracting three-dimensional coordinates of the ore from the ore laser line image obtained in step S44;
s53: and synthesizing the height value obtained in the step S51 and the three-dimensional coordinates obtained in the step S52 into a three-dimensional model of the ore with the height value identification, and sending the three-dimensional model of the ore as a video output signal to a display.
S6: the display dynamically displays a three-dimensional point cloud thermodynamic diagram of the ore according to the received video output signal, and displays the change situation of the height value of the ore in different colors in the three-dimensional point cloud thermodynamic diagram:
s61: according to the transmission speed of the conveyor belt and the time difference of every two received video output signals, forming a three-dimensional point cloud thermodynamic diagram of the ore and dynamically displaying the diagram on a display, and referring to fig. 5; if the three-dimensional point cloud thermodynamic diagram displays incoherence or frame dropping, the analysis module feeds back an analysis signal to the conveyor belt, and the step S24 is started to be executed until the three-dimensional point cloud thermodynamic diagram displays consistency and smoothness;
s62: and displaying different colors according to the height values of the ores in the three-dimensional point cloud thermodynamic diagram, and identifying the highest point of each ore.
Referring to fig. 2, an ore detection system based on laser scanning imaging comprises a laser emitter, a collection system support, a conveyor belt, a high-speed industrial infrared camera, a display, a control module, an analysis module and a modeling module, wherein the control module, the analysis module and the modeling module are loaded in a computer.
The ore detection device comprises a laser emitter, a conveyor belt, an acquisition system support and a high-speed industrial infrared camera, wherein the laser emitter is used for emitting laser to an ore to be detected and scanning the outer surface of the ore, the conveyor belt is used for conveying the ore to be detected, the conveyor belt is placed below the acquisition system support, the acquisition system support is used for supporting the laser emitter and the high-speed industrial infrared camera, the laser emitter and the high-speed industrial infrared camera are respectively installed on the acquisition system support, a lens of the high-speed industrial infrared camera is aligned to the conveyor belt, the axis of the lens of the high-speed industrial infrared camera is vertically downward, and the axis of the laser emitter is.
The control module comprises a light source control module, a support control module and a transmission control module, wherein a signal sending end of the light source control module is connected with a signal receiving end of the laser emitter, a signal sending end of the support control module is connected with a signal receiving end of the acquisition system support, and a signal sending end of the transmission control module is connected with a signal receiving end of the conveyor belt and is respectively used for sending a light source control signal, a support control signal and a transmission control signal to the laser emitter, the acquisition system support and the conveyor belt.
There are many external factors that influence the collected image in the field environment of ore detection, such as sunlight, dust, etc.; arranging an optical filter in the high-speed industrial infrared camera for adjusting the intensity of reflected laser received by the high-speed industrial infrared camera so that the high-speed industrial infrared camera can acquire a clear laser line image under the condition of strong light; the high-speed industrial infrared camera is connected with the computer through a serial port, receives reflected light irradiated on the surface of the ore by laser, converts the reflected light into a video input signal and sends the video input signal to the analysis module of the computer.
A signal sending end of the analysis module is respectively connected with signal receiving ends of the modeling module, the light source control module, the bracket control module and the transmission control module; the analysis module is used for carrying out data processing and transformation on the received video input signal and sending the analysis signal to the modeling module; the analysis module is also used for feeding back the analysis signals to the light source control module, the support control module and the transmission control module respectively so as to adjust the working states of the laser transmitter, the acquisition system support and the conveyor belt.
And the modeling module is used for establishing a three-dimensional model of the ore according to the received analytic signal and sending a video output signal of the model to the display.
The display is used for displaying the received video output signal to an operator.
In summary, the laser source emits laser to scan the surface of the ore, the video input device collects the imaging result of the laser reflected by the surface of the ore, the analysis module analyzes the signal and the modeling module carries out three-dimensional point cloud reconstruction on the height image of the ore, and the three-dimensional point cloud image of the ore is dynamically displayed on the video output device, so that the functions of collecting, displaying and analyzing the height distribution characteristics of the ore are realized. According to the invention, the ore is screened by using a graphic technology, the screening precision and speed are improved, the cost is saved, the appearance of the ore is dynamically displayed through three-dimensional point cloud, and the process is clear and visual.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (10)
1. An ore detection method based on laser scanning imaging is characterized in that: the method comprises the following steps:
s1, assembling an ore detection system based on laser scanning imaging, which comprises a laser source, an electric control bracket, a transmission device, a video input device, a video output device, a control module, an analysis module and a modeling module, wherein the transmission device is placed below the electric control bracket, the video input device and the laser source are respectively installed on the electric control bracket, a lens of the video input device is aligned with the transmission device, the axis of the lens of the video input device is vertically downward, the laser source is aligned with the transmission device, and the axis of the laser source and the axis of the lens of the video input device form an angle of β degrees;
s2: the system is powered on and the laser source, the electric control bracket, the video input device and the transmission device are respectively calibrated, so that the video output device can display clear and bright laser lines;
s3: placing the ore on a conveying device and starting the conveying device to enable incident laser to scan the outer surface of the ore, wherein a video input device receives reflected laser returned from the surface of the ore, converts the reflected laser into a video input signal and sends the video input signal to an analysis module;
s4: the analysis module sequentially performs gray positioning, extreme value searching, noise point removing and isolated point removing on the received video signal to obtain an analysis signal and sends the analysis signal to the modeling module;
s5: the modeling module acquires the analytic signal in real time, extracts the three-dimensional coordinate with the height value of the ore to obtain a three-dimensional model of the ore, and sends the three-dimensional model of the ore to the video output device as a video output signal;
s6: the video output device dynamically displays a three-dimensional point cloud thermodynamic diagram of the ore according to the received video output signal, and displays the change situation of the height value of the ore in different colors in the three-dimensional point cloud thermodynamic diagram.
2. The ore detection method based on laser scanning imaging is characterized in that: in the step S2, the specific steps are as follows:
s21: setting parameters including power, wavelength and duration of the laser source to enable the laser source to emit incident laser;
s22: setting the angle of the electric control bracket and the relative position of the laser source and the video input device, and adjusting the angle of incident laser to enable the laser line of the reflected laser to be displayed in the middle position of the visual field of the video input device;
s23: setting parameters including focal length and filtering of the video input device, enabling the video input signal sent by the video input device to sequentially pass through an analysis module and a modeling module to obtain a video output signal, and displaying the video output signal as a clear and bright laser line on the video output device;
s24: and setting the conveying speed of the conveying device, starting the conveying device, and recording the reference line of the laser reflected by the conveying device.
3. The ore detection method based on laser scanning imaging is characterized in that: in the step S3, the specific steps are as follows:
s31: placing the ore on a conveying device, and starting the conveying device to enable the ore to pass through a scanning point of incident laser at a constant speed;
s32: the video input device receives the reflected laser returned from the surface of the ore, converts a laser signal into a video input signal and sends the video input signal to the analysis module; the analysis module is used for acquiring and converting the next frame of video input signal by the video input device while analyzing the current frame of video input signal.
4. The ore detection method based on laser scanning imaging is characterized in that: in the step S4, the specific steps are as follows:
s41: carrying out image processing on the video input signal to obtain a gray level image, and finding an area where a laser line is located in the gray level image according to a horizontal gray level addition method;
s42: traversing the area where the laser line is located according to lines and finding out the maximum value and the minimum value in the area;
s43: removing noise points in the area where the laser line is located according to the maximum value and the minimum value by adopting a denoising algorithm and a comparison method;
s44: and removing the isolated points in the region obtained in the step S43 to obtain a clear, noise-free and isolated point-free ore laser line image, and sending the image to a modeling module as an analysis signal.
5. The ore detection method based on laser scanning imaging is characterized in that: in the step S5, the specific steps are as follows:
s51: calculating a height difference as a height value of the ore according to the reference line of the laser reflected by the conveying device obtained in the step S24 and the ore laser line image obtained in the step S44;
s52: extracting three-dimensional coordinates of the ore from the ore laser line image obtained in step S44;
s53: and synthesizing the height value obtained in the step S51 and the three-dimensional coordinates obtained in the step S52 into a three-dimensional model of the ore with the height value identification, and sending the three-dimensional model of the ore as a video output signal to a video output device.
6. The ore detection method based on laser scanning imaging is characterized in that: in the step S6, the step of,
s61: forming a three-dimensional point cloud thermodynamic diagram of the ore according to the transmission speed of the transmission device and the time difference of every two received video output signals and dynamically displaying the three-dimensional point cloud thermodynamic diagram on the video output device;
s62: and displaying different colors according to the height values of the ores in the three-dimensional point cloud thermodynamic diagram, and identifying the highest point of each ore.
7. The ore detection method based on laser scanning imaging is characterized in that: in step S1, the control module includes a light source control module, a bracket control module and a transmission control module; connecting a signal sending end of a light source control module with a signal receiving end of a laser source, connecting a signal sending end of a bracket control module with a signal receiving end of an electric control bracket, and connecting a signal sending end of a transmission control module with a signal receiving end of a transmission device; respectively connecting a signal sending end of the analysis module with a signal receiving end of the light source control module, the support control module and the transmission control module; if the brightness and the position of the laser line displayed by the video output device in the step S23 do not meet the requirements, the analysis module feeds back the analysis signal to the light source control module and the support control module respectively, and the execution is started from the step S21 until the laser line displayed by the video output device meets the requirements; if the three-dimensional point cloud dynamic graph of step S61 shows disconnected or dropped frames, the parsing module feeds back the parsing signal to the transmitting device, and starts to execute step S24 until the three-dimensional point cloud dynamic graph shows connected and smooth.
8. An ore detection system based on laser scanning imaging is characterized by comprising a laser source, an electronic control support, a transmission device, a video input device, a video output device, a control module, an analysis module and a modeling module, wherein the laser source is used for emitting laser to an ore to be detected and scanning the outer surface of the ore, the transmission device is used for transmitting the ore to be detected and is placed below the electronic control support, the electronic control support is used for supporting the laser source and the video input device, the laser source and the video input device are respectively installed on the electronic control support, a lens of the video input device is aligned to the transmission device, the axis of the lens of the video input device is vertically downward, the laser source is aligned to the transmission device, the axis of the laser source and the axis of the lens of the video input device form an angle of β, the control module is used for controlling the operation of the laser source, the electronic control module and the transmission device, a signal sending end of the control module is respectively connected with a modeling signal receiving end of the laser source, an electronic control signal receiving end of the support and a signal receiving end of the transmission device, the video input device is used for receiving reflected light irradiated on the surface of the ore and converting the video input signal into a video input signal which is transmitted to the video input module, the video input module is connected with the video signal processing module, the video processing module is used for outputting the video processing module, and outputting the.
9. The ore detection system based on laser scanning imaging of claim 8, characterized in that: the video input device includes a filter for adjusting the intensity of the reflected laser light received by the video input device.
10. The ore detection system based on laser scanning imaging of claim 8, characterized in that: the control module comprises a light source control module, a bracket control module and a transmission control module, and is respectively used for sending a light source control signal, a bracket control signal and a transmission control signal to the laser source, the electric control bracket and the transmission device; and a signal sending end of the analysis module is respectively connected with signal receiving ends of the light source control module, the support control module and the transmission control module and is used for respectively feeding back analysis signals to the light source control module, the support control module and the transmission control module so as to adjust the working states of the laser transmitter, the acquisition system support and the conveyor belt.
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