CN113705508A - Flotation froth image acquisition and analysis method, system, medium and electronic terminal - Google Patents
Flotation froth image acquisition and analysis method, system, medium and electronic terminal Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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Abstract
The invention provides a flotation froth image acquisition and analysis method, a system, a medium and an electronic terminal, wherein the method comprises the following steps: presetting at least two image acquisition modules and lighting devices corresponding to the image acquisition modules; detecting the distance between the image acquisition module and the liquid level of the flotation tank in real time, and further adjusting the height of the image acquisition module to determine the height of the image acquisition module; adjusting the brightness of the illumination device according to a preset illumination adjustment rule to obtain a plurality of flotation froth images under different illumination conditions; performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images; acquiring information entropy of the flotation froth three-dimensional image, and determining illumination parameters of an illumination device according to the information entropy; collecting and analyzing flotation froth images according to the height and the lighting parameters of the image collecting module; the method improves the accuracy of flotation froth image acquisition and is convenient for providing data guidance for adjusting flotation process parameters.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a flotation froth image acquisition and analysis method, a flotation froth image acquisition and analysis system, a flotation froth image acquisition and analysis medium and an electronic terminal.
Background
In recent years, with the rapid development of technologies such as image processing and the like, in the flotation process of many minerals, an image acquisition device is used for acquiring flotation froth images, then the froth conditions in the flotation froth images are analyzed and processed, and monitoring and automatic control technologies are used for automatically adjusting each process parameter in the flotation process.
At present, a single camera with a fixed position is usually adopted to collect flotation froth images, however, when a bubbling or sinking phenomenon occurs in a flotation cell, the quality of the flotation froth images is easily seriously reduced, the quality of the collected flotation froth images is poor, and data guidance cannot be provided for adjusting flotation process parameters well. Moreover, the existing flotation froth image acquisition method is often interfered by an external light source, so that the quality of the flotation froth image is poor, and effective image characteristics are not easy to extract.
Disclosure of Invention
The invention provides a flotation froth image acquisition and analysis method, a flotation froth image acquisition and analysis system, a medium and an electronic terminal, and aims to solve the problems that in the prior art, a single camera at a fixed position is used for acquiring a flotation froth image, so that the quality of the flotation froth image is poor, the acquired flotation froth image is not favorable for feature extraction, and data guidance cannot be provided for subsequent adjustment of flotation process parameters in a flotation process.
The invention provides a flotation froth image acquisition and analysis method, which comprises the following steps:
presetting at least two image acquisition modules and a lighting device corresponding to the image acquisition modules, wherein the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same;
detecting the distance between the image acquisition module and the liquid level of the flotation tank in real time;
according to the distance, height adjustment is carried out on the image acquisition module, and the height of the image acquisition module is determined;
adjusting the brightness of the lighting device according to a preset lighting adjustment rule to obtain a plurality of flotation froth images under different lighting conditions;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
acquiring information entropy of the flotation froth three-dimensional image, and determining illumination parameters of the illumination device according to the information entropy;
and acquiring and analyzing a flotation froth image according to the height of the image acquisition module and the illumination parameter.
Optionally, the at least two image acquisition modules include: the device comprises a first image acquisition module and a second image acquisition module, wherein the first image acquisition module and the second image acquisition module are arranged in the same protective cover, and the opening direction of the protective cover faces to the flotation tank.
Optionally, the first image acquisition module corresponds to a first lighting device, and the second image acquisition module corresponds to a second lighting device;
detecting the distance between the first image acquisition module and/or the second image acquisition module and the liquid level of the flotation tank in real time;
according to the distance and a preset fixed distance, height adjustment is carried out on the first image acquisition module and the second image acquisition module, and the height of the first image acquisition module and the height of the second image acquisition module are determined;
adjusting the brightness of the first lighting device and the second lighting device according to a preset lighting adjustment rule, and acquiring a plurality of flotation froth images under different lighting conditions through all brightness levels of the first lighting device and the second lighting device;
performing image synthesis on the flotation froth image of the first image acquisition module and the flotation froth image of the second image acquisition module to obtain flotation froth three-dimensional images under different illumination conditions;
acquiring information entropy of the flotation froth three-dimensional image, and determining an illumination parameter of a first illumination device and an illumination parameter of a second illumination device according to the information entropy;
and collecting and analyzing the flotation froth image according to the height of the first image collecting module, the height of the second image collecting module, the lighting parameter of the first lighting device and the lighting parameter of the second lighting device.
Optionally, the step of determining the lighting parameter of the first lighting device and the lighting parameter of the second lighting device comprises:
performing image synthesis on the flotation froth image acquired by the first image acquisition module and the flotation froth image acquired by the second image acquisition module by using a preset image synthesis model to obtain a plurality of flotation froth three-dimensional images under different illumination conditions;
acquiring information entropies of a plurality of flotation froth three-dimensional images according to a preset information entropy acquisition rule and the flotation froth three-dimensional images, and acquiring the maximum value in the information entropies;
and determining the flotation froth three-dimensional image corresponding to the maximum value, and further acquiring the lighting parameters of the first lighting device and the lighting parameters of the second lighting device corresponding to the flotation froth three-dimensional image.
Optionally, the step of collecting and analyzing the flotation froth image according to the height of the image collecting module and the lighting parameter includes:
controlling the image acquisition module to acquire a plurality of flotation froth images according to the height of the image acquisition module and the illumination parameters;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
performing foam area division on the flotation foam three-dimensional image according to a preset watershed method to obtain a plurality of foam areas;
extracting features according to the foam area to obtain associated feature parameters, wherein the associated feature parameters at least comprise one of the following parameters: the flotation froth image analysis method comprises the following steps of obtaining R components, G components and B components of a single froth area, obtaining R components, G components and B components of an integral froth area, obtaining a central froth movement speed and obtaining a froth image color space distribution stability, wherein the R components, the G components and the B components respectively correspond to the three low-order moments, and the collection and analysis of the flotation froth image are completed.
The invention also provides a flotation froth image acquisition and analysis system, which comprises:
the system comprises at least two image acquisition modules, a data acquisition module and a data processing module, wherein the image acquisition modules are used for acquiring flotation froth images of a flotation tank, the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same;
the distance measurement module is used for detecting the distance between the image acquisition module and the liquid level of the flotation tank;
the lifting module is used for adjusting the height of the image acquisition module according to the distance between the image acquisition module and the flotation tank;
the illuminating device is corresponding to the image acquisition module and is used for illuminating the image acquisition module;
the control module is used for adjusting the brightness of the lighting device;
the image analysis module is used for carrying out image synthesis on the flotation froth images of different image acquisition modules, acquiring a plurality of flotation froth three-dimensional images, acquiring the information entropy of the flotation froth three-dimensional images, determining the illumination parameters of the illumination device according to the information entropy, and carrying out flotation froth image acquisition and analysis according to the height of the image acquisition module and the illumination parameters; the image acquisition module is connected with the image analysis module, the distance measurement module, the lifting module and the image analysis module are connected, and the image acquisition module, the illuminating device and the control module are connected with the image analysis module.
Optionally, the at least two image acquisition modules include: the device comprises a first image acquisition module and a second image acquisition module, wherein the first image acquisition module and the second image acquisition module are arranged in the same protective cover, and the opening direction of the protective cover faces to the flotation tank;
a first body device is arranged outside the first image acquisition module, a second body device is arranged outside the second image acquisition module, a first top cover is arranged on one side, away from the ground, of the first body device, and a second top cover is arranged on one side, away from the ground, of the second body device;
a cross rod is arranged in the protective cover, the first machine body device is arranged on the cross rod in a sliding mode through a first bolt, and the second machine body device is arranged on the cross rod in a sliding mode through a second bolt;
the distance measuring module is arranged at one end of the cross rod, and the image analyzing module is arranged at the other end of the cross rod.
Optionally, the first image capturing module corresponds to the first lighting device, the second image capturing module corresponds to the second lighting device, the first lighting device and the second lighting device respectively include one or more lamp sets, and the plurality of lamp sets are sequentially disposed on the periphery of the corresponding image capturing module.
Optionally, the first body device is provided with a first rotating shaft, the first rotating shaft is connected with one end of a first vertical rod, and the other end of the first vertical rod is connected with the first bolt; the second machine body device is provided with a second rotating shaft, the second rotating shaft is connected with one end of a second vertical rod, and the other end of the second vertical rod is connected with a second bolt.
Optionally, the cross rod is connected with the protective cover through a third vertical rod, and the cross rod is vertically connected with the third vertical rod.
Optionally, fourth montant and stock, the one end of fourth montant is fixed in ground, fourth montant perpendicular to ground sets up, lifting module sets up in the fourth montant, the one end of stock with lifting module connects, the other end and the protection casing of stock are connected.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method as defined in any one of the above.
The present invention also provides an electronic terminal, comprising: a processor and a memory;
the memory is adapted to store a computer program and the processor is adapted to execute the computer program stored by the memory to cause the terminal to perform the method as defined in any one of the above.
The invention has the beneficial effects that: the flotation froth image acquisition and analysis method comprises the steps of presetting at least two image acquisition modules and an illumination device corresponding to the image acquisition modules, wherein the image acquisition modules are positioned on one side of a flotation tank, which is far away from the ground, the distances between the at least two image acquisition modules and the ground are the same, detecting the distance between the image acquisition modules and the liquid level of the flotation tank in real time, adjusting the heights of the image acquisition modules according to the distances, determining the heights of the image acquisition modules, adjusting the brightness of the illumination device according to preset illumination adjustment rules to obtain a plurality of flotation froth images under different illumination conditions, synthesizing the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images, obtaining the information entropy of the flotation froth three-dimensional images, and determining the illumination parameters of the illumination device according to the information entropy, collecting and analyzing flotation froth images according to the height of the image collecting module and the illumination parameters; the method improves the definition and the accuracy of the collected flotation froth images, facilitates the subsequent image characteristic extraction, and provides better data guidance for the subsequent adjustment of flotation process parameters.
Drawings
Fig. 1 is a schematic flow chart of a flotation froth image collecting and analyzing method in an embodiment of the invention.
Fig. 2 is another schematic flow chart of the flotation froth image collecting and analyzing method in the embodiment of the invention.
Fig. 3 is a schematic structural diagram of a flotation froth image collecting and analyzing system in an embodiment of the invention.
The attached drawings are as follows:
1 a first image acquisition module; 2 a second image acquisition module; 3 a first lighting device;
4 a second lighting device; 5 a first wiper; 6 a second wiper;
7 a first top cover; 8 a second top cover; 9 a first fuselage apparatus;
10 a second fuselage apparatus; 11 a first rotating shaft; 12 a second rotating shaft;
13 a first vertical bar; 14 a second vertical bar; 15 a first bolt;
16 a second bolt; 17 a cross bar; 18 a ranging module;
19 a third vertical bar; 20 a shield; 21 long rods;
22 a lifting module; 23, a fourth vertical rod; 24 a first power supply module;
25 a second power supply module; 26 image analysis module
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The inventor finds that in recent years, with the rapid development of technologies such as image processing and the like, in the flotation process of many minerals, an image acquisition device is used for acquiring flotation froth images, then the froth conditions in the flotation froth images are analyzed and processed, and monitoring and automatic control technologies are used for automatically adjusting various process parameters in the flotation process. At present, a single camera at a fixed position is usually adopted to collect a flotation froth image, however, the single camera at the fixed position is used to collect the flotation froth image, when a bubbling or sinking phenomenon occurs in a flotation tank, the quality of the flotation froth image is easily seriously reduced, the quality of the collected flotation froth image is poor, data guidance cannot be provided for adjusting flotation process parameters well, and the existing flotation froth image collection method is often interfered by an external light source, so that the quality of the flotation froth image is poor, and effective image characteristics are not easy to extract. Therefore, the inventor provides a flotation froth image acquisition and analysis method, a system, a medium and an electronic terminal, by presetting at least two image acquisition modules and an illumination device corresponding to the image acquisition modules, wherein the image acquisition modules are positioned at one side of a flotation tank far away from the ground, the distances between the at least two image acquisition modules and the ground are the same, detecting the distance between the image acquisition modules and the liquid level of the flotation tank in real time, adjusting the heights of the image acquisition modules according to the distances, determining the heights of the image acquisition modules, adjusting the brightness of the illumination device according to a preset illumination adjustment rule, acquiring a plurality of flotation froth images under different illumination conditions, performing image synthesis on the flotation froth images of different image acquisition modules, acquiring a plurality of flotation froth three-dimensional images, and acquiring the information entropy of the flotation froth three-dimensional images, determining the illumination parameters of the illumination device according to the information entropy, and acquiring and analyzing the flotation froth image according to the height of the image acquisition module and the illumination parameters; the method improves the definition and the accuracy of the collected flotation froth images, facilitates the subsequent image characteristic extraction, provides better data guidance for the subsequent adjustment of flotation process parameters, and has better image collection effect and lower cost.
As shown in fig. 1, the method for collecting and analyzing flotation froth images in the present embodiment includes:
s101: presetting at least two image acquisition modules and a lighting device corresponding to the image acquisition modules, wherein the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same; set up two at least image acquisition modules through keeping away from one side on ground at the flotation cell to set up corresponding lighting device around image acquisition module, can gather a plurality of flotation froth images of flotation cell simultaneously, be convenient for follow-up to a plurality of flotation froth images synthesize, acquire the three-dimensional image of flotation froth, improve the accuracy of gathering the image, and, through with at least two image acquisition module sets up to the same height, can be convenient for follow-up flotation froth three-dimensional image's synthesis, and be convenient for to at least two image acquisition module carries out altitude mixture control simultaneously.
S102: detecting the distance between the image acquisition module and the liquid level of the flotation tank in real time; because the liquid level often can change in the flotation cell, in order to avoid the liquid level change to bring unnecessary influence to image acquisition, through the distance between the liquid level of real-time detection image acquisition module and flotation cell, can be convenient for follow-up keep the liquid level of image acquisition module and flotation cell at fixed distance, help subsequent image acquisition.
S103: according to the distance, height adjustment is carried out on the image acquisition module, and the height of the image acquisition module is determined; namely, according to the distance and a preset fixed distance, the height of the image acquisition module is adjusted, and the adjusted height is determined as the height of the image acquisition module. Such as: if the distance between the liquid level of the image acquisition module and the liquid level of the flotation tank is greater than a preset fixed distance, the height of the image acquisition module is reduced, and if the distance between the liquid level of the image acquisition module and the liquid level of the flotation tank is less than the preset fixed distance, the height of the image acquisition module is increased, the image acquisition height of the image acquisition module is maintained, and subsequent flotation froth image acquisition is facilitated.
S104: adjusting the brightness of the lighting device according to a preset lighting adjustment rule to obtain a plurality of flotation froth images under different lighting conditions; acquiring a plurality of flotation froth images under different lighting conditions, namely a plurality of flotation froth images under different luminances, throughout all the luminance levels of the lighting device according to a preset lighting regulation rule;
s105: performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images; the flotation froth three-dimensional images are synthesized from the flotation froth images of different image acquisition modules, so that the accuracy of the acquired images can be effectively improved, and the subsequent analysis on the flotation froth three-dimensional images is facilitated.
S106: acquiring information entropy of the flotation froth three-dimensional image, and determining illumination parameters of the illumination device according to the information entropy; it can be understood that the information entropy of the image refers to quantitative information of the image, and the size of the information entropy represents the degree of disorder of information in the image, and generally, how large the amount of information contained in the image is, the larger the corresponding information entropy is, so that by obtaining the information entropy of the flotation froth three-dimensional image under different lighting conditions, and by judging the size of the information entropy, the maximum value of the plurality of information entropy is determined, and the lighting parameter corresponding to the maximum value is determined as a preferred lighting parameter of the lighting device in the subsequent image acquisition.
S107: and acquiring and analyzing a flotation froth image according to the height of the image acquisition module and the illumination parameter. The image acquisition module is adjusted to the height determined in the step, the illumination device is adjusted to the corresponding brightness according to the illumination parameters, and then flotation froth image acquisition and analysis are carried out, so that image acquisition can be carried out under the condition of better acquisition height and brightness, the definition and the mood of the acquired flotation froth image are improved, and better data guidance can be provided for the adjustment of the subsequent flotation process parameters by acquiring and analyzing the flotation froth.
In some embodiments, the at least two image acquisition modules comprise: the device comprises a first image acquisition module 1 and a second image acquisition module 2, wherein the first image acquisition module 1 and the second image acquisition module 2 are arranged in the same protective cover 20, and the opening direction of the protective cover 20 faces to the flotation tank. The first image acquisition module 1 corresponds to the first lighting device 3, and the second image acquisition module 2 corresponds to the second lighting device 4. Through setting up first image acquisition module 1 and second image acquisition module 2, realize the binocular vision image acquisition to the flotation froth image, can help corresponding flotation froth three-dimensional image of follow-up synthesis.
As shown in fig. 2, in some embodiments, the step of performing flotation froth image acquisition analysis comprises:
s201: detecting the distance between the first image acquisition module 1 and/or the second image acquisition module 2 and the liquid level of the flotation tank in real time; because first image acquisition module 1 and second image acquisition module 2 are located same height, consequently, detect the distance between the liquid level of first image acquisition module 1 and flotation tank in real time, and/or the distance between the liquid level of second image acquisition module 2 and flotation tank, can be convenient for follow-up carry out the altitude mixture control to first image acquisition module 1 and second image acquisition module 2.
S202: according to the distance and a preset fixed distance, the heights of the first image acquisition module 1 and the second image acquisition module 2 are adjusted, and the height of the first image acquisition module 1 and the height of the second image acquisition module 2 are determined;
s203: adjusting the brightness of the first lighting device 3 and the second lighting device 4 according to a preset lighting adjustment rule, and acquiring a plurality of flotation froth images under different lighting conditions through all brightness levels of the first lighting device 3 and the second lighting device 4; different lighting devices have different brightness levels.
S204: performing image synthesis on the flotation froth image of the first image acquisition module 1 and the flotation froth image of the second image acquisition module 2 to obtain flotation froth three-dimensional images under different illumination conditions;
s205: acquiring information entropy of the flotation froth three-dimensional image, and determining an illumination parameter of the first illumination device 3 and an illumination parameter of the second illumination device 4 according to the information entropy;
s206: and collecting and analyzing flotation froth images according to the height of the first image acquisition module 1, the height of the second image acquisition module 2, the illumination parameters of the first illumination device 3 and the illumination parameters of the second illumination device 4.
In some embodiments, the step of determining the lighting parameters of the first lighting device 3 and the lighting parameters of the second lighting device 4 comprises:
s2051: performing image synthesis on the flotation froth image acquired by the first image acquisition module 1 and the flotation froth image acquired by the second image acquisition module 2 by using a preset image synthesis model to acquire a plurality of flotation froth three-dimensional images under different illumination conditions; the image synthesis model may be an existing algorithm model for image synthesis, and is not described herein again.
S2052: acquiring information entropies of a plurality of flotation froth three-dimensional images according to a preset information entropy acquisition rule and the flotation froth three-dimensional images, and acquiring the maximum value in the information entropies; the information entropy obtaining rule is that the information entropy corresponding to the flotation froth three-dimensional image is obtained according to the gray value of the pixel point in the flotation froth three-dimensional image. In some embodiments, the mathematical expression of the entropy of information for obtaining a plurality of flotation froth three-dimensional images is:
i＝0.3r+0.59g+0.11b
wherein, PiThe frequency of gray value i appearing in all pixel points, H is the information entropy, and the value ranges of r, g and b are all [0,255 ] because the color of each pixel in the image is formed by mixing red, green and blue primary colors]Thus, the value range of i is also [0,255 ]]。
S2053: and determining a flotation froth three-dimensional image corresponding to the maximum value, and further acquiring the lighting parameters of the first lighting device 3 and the second lighting device 4 corresponding to the flotation froth three-dimensional image. For example: assuming that the first lighting device 3 and the second lighting device 4 both include two circles of annular LED lamp sets, the two circles of annular LED lamp sets are sequentially disposed on the periphery of the corresponding lighting device according to the inner diameter, assuming that the brightness level of the LED lamp is 3, the inner circles of annular LED lamps can only be simultaneously turned on and off, and the outer circles of annular LED lamps can only be simultaneously turned on and off, then the image captured by the single image capture module has 12 different entropy values, the composite image of different exposure parameters captured by the first image capture module 1 and the second image capture module 2 can correspond to 144 image information entropy values, a maximum value among the 144 image information entropy values is obtained, and the lighting parameter of the first lighting device 3 and the lighting parameter corresponding to the second lighting device 4 corresponding to the maximum value are determined as the better lighting parameter, the information of the image corresponding to the better lighting parameter is richer, and the foam reduction degree is higher.
In order to better acquire and analyze the flotation froth image, the step of acquiring and analyzing the flotation froth image according to the height of the image acquisition module and the illumination parameter comprises the following steps:
controlling the image acquisition module to acquire a plurality of flotation froth images according to the height of the image acquisition module and the illumination parameters;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
performing foam area division on the flotation foam three-dimensional image according to a preset watershed method to obtain a plurality of foam areas; the watershed method can be implemented by using the existing image segmentation algorithm model, and is not described herein again.
Extracting features according to the foam area to obtain associated feature parameters, wherein the associated feature parameters at least comprise one of the following parameters: the flotation froth image analysis method comprises the following steps of obtaining R components, G components and B components of a single froth area, obtaining R components, G components and B components of an integral froth area, obtaining a central froth movement speed and obtaining a froth image color space distribution stability, wherein the R components, the G components and the B components respectively correspond to the three low-order moments, and the collection and analysis of the flotation froth image are completed. By extracting the relevant characteristic parameters, the flotation froth image can be better analyzed, and better data guidance is provided for the subsequent adjustment of flotation process parameters in the flotation process.
In some embodiments, the mathematical expression for obtaining the lower order moments of the R, G, and B components is:
wherein the content of the first and second substances,
and
three low-order moments corresponding to the R component,
and
for the three lower order moments corresponding to the G component,
and
three low order moments corresponding to component B, n being the number of pixels in the foam region, K (i)RIs the R component of the ith pixel, K (i)GIs the G component of the ith pixel, K (i)BIs the B component of the ith pixel. Through the mathematical expression, the low-order moments of the R component, the G component and the B component in a plurality of foam areas can be well determined.
In some embodiments, the step of obtaining the moving speed of the central foam comprises:
according to a preset watershed method, carrying out regional division on the flotation froth three-dimensional image at the time t to obtain NtEach froth area, and the flotation froth three-dimensional image at the time of t + k is subjected to area division to obtain Nt+kA foam region;
from NtDetermining a central foam area in each foam area, and calibrating pixel points i in the central foam area1Obtaining a pixel point i1Position coordinates (x)i1,yi1)；
According to the pixel point i1Obtaining N according to the preset color space distribution similarity highest principlet+kCenter foam pixel point i in each foam area2And obtaining pixel point i2Position coordinates (x)i2,yi2)；
According to pixel point i1Position coordinates and pixel points i2The position coordinates of the central foam, and the moving speed of the central foam.
In some embodiments, the step of obtaining the stability of the color spatial distribution of the bubble image comprises:
generating a predicted image at the t + k moment according to the flotation froth three-dimensional image at the t moment and the central froth movement speed;
obtaining color space distribution similarity by comparing the predicted image with the flotation froth three-dimensional image at the time t + k;
and determining the stability of the color space distribution of the foam image according to the similarity of the color space distribution. The greater the similarity of color space distribution, the smaller the stability of foam color space distribution, and therefore, the stability of foam image color space distribution can be better determined by the similarity of color space distribution.
The mathematical expression for obtaining the similarity of color space distribution is as follows:
where T (x, y) is the similarity of color space distribution between image x and image y, and D (x, y)i，yi) As a function of the similarity distance of pixel points i in image x and image y,
being the lower order moments of the R components in image x,
being the lower order moments of the R component in image y,
being the lower order moments of the G components in image x,
being the low order moments of the G components in image y,
for B component in image xThe low-order moment is obtained by the method,
is the low order moment of the B component in image y. Image x and image y are three-dimensional images of the flotation froth synthesized at different times.
As shown in fig. 3, the present embodiment further provides a flotation froth image collecting and analyzing system, including:
the system comprises at least two image acquisition modules, a data acquisition module and a data processing module, wherein the image acquisition modules are used for acquiring flotation froth images of a flotation tank, the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same;
the distance measurement module 18 is used for detecting the distance between the image acquisition module and the liquid level of the flotation tank;
the lifting module 22 is used for adjusting the height of the image acquisition module according to the distance between the image acquisition module and the flotation tank;
the illuminating device is corresponding to the image acquisition module and is used for illuminating the image acquisition module;
the control module is used for adjusting the brightness of the lighting device;
the image analysis module 26 is configured to perform image synthesis on the flotation froth images of different image acquisition modules, acquire a plurality of flotation froth three-dimensional images, acquire information entropy of the flotation froth three-dimensional images, determine an illumination parameter of the illumination device according to the information entropy, and perform flotation froth image acquisition and analysis according to the height of the image acquisition module and the illumination parameter; the image acquisition module is connected with the image analysis module 26, the distance measurement module 18, the lifting module 22 and the image analysis module 26 are connected, and the image acquisition module, the lighting device and the control module are connected with the image analysis module 26. The control module and the image analysis module 26 are disposed in the same computing device. In some embodiments, the image acquisition module is an industrial camera, the lens of the industrial camera is a fixed focus lens, and the industrial camera is used for better flotation froth image acquisition because the pixels of the industrial camera are usually greater than or equal to 200 ten thousand and the frame rate of the industrial camera is 60 frames/second. In the flotation froth image collecting and analyzing system in the embodiment, at least two image collecting modules and an illuminating device corresponding to the image collecting modules are preset, the image collecting modules are located on one side, away from the ground, of the flotation tank, the distances between the at least two image collecting modules and the ground are the same, the distance measuring module 18 detects the distance between the image collecting modules and the liquid level of the flotation tank in real time, the lifting module 22 adjusts the heights of the image collecting modules according to the distances to determine the heights of the image collecting modules, the control module adjusts the brightness of the illuminating device according to a preset illumination adjusting rule to obtain a plurality of flotation froth images under different illumination conditions, the image analyzing module 26 synthesizes the flotation froth images of different image collecting modules to obtain a plurality of flotation froth three-dimensional images and obtain the information entropy of the flotation froth three-dimensional images, determining the illumination parameters of the illumination device according to the information entropy, and acquiring and analyzing the flotation froth image according to the height of the image acquisition module and the illumination parameters; the method improves the definition and the accuracy of the collected flotation froth images, facilitates the subsequent image characteristic extraction, provides better data guidance for the subsequent adjustment of flotation process parameters, and has lower cost and higher implementability.
In some embodiments, the at least two image acquisition modules comprise: the flotation device comprises a first image acquisition module 1 and a second image acquisition module 2, wherein the first image acquisition module 1 and the second image acquisition module 2 are arranged in the same protective cover 20, and the opening direction of the protective cover 20 faces to the flotation tank; the protective cover 20 is a light-shading protective cover and is used for shielding interference of external light on flotation froth image acquisition; the protective cover 20 is a cube, a circular truncated cone, a cone or a combination thereof.
A first body device 9 is arranged outside the first image acquisition module 1, a second body device 10 is arranged outside the second image acquisition module 2, a first top cover 7 is arranged on one side, away from the ground, of the first body device 9, and a second top cover 8 is arranged on one side, away from the ground, of the second body device 10; through setting up first overhead guard 7 and second overhead guard 8, can prevent effectively that the foam from splashing, cause the unnecessary influence to image acquisition.
A cross bar 17 is arranged in the protective cover 20, the first machine body device 9 is slidably arranged on the cross bar 17 through a first bolt 15, and the second machine body device 10 is slidably arranged on the cross bar 17 through a second bolt 16; by arranging the first body unit 9 slidably via the first bolt 15 in the cross bar 17 and arranging the second body unit 10 slidably via the second bolt 16 in the cross bar 17, an adjustment of the distance between the first body unit 9 and the second body unit 10 can be achieved.
The distance measuring module 18 is disposed at one end of the cross bar 17, and the image analyzing module 26 is disposed at the other end of the cross bar 17. Through setting up ranging module 18 in the one end of horizontal pole 17, can be better to the distance between the liquid level of image acquisition device and flotation cell range finding.
In some embodiments, the first image capturing module 1 corresponds to a first lighting device 3, the second image capturing module 2 corresponds to a second lighting device 4, and each of the first lighting device 3 and the second lighting device 4 includes one or more lamp sets, and the lamp sets are sequentially disposed on the periphery of the corresponding image capturing module. In some embodiments, the lamp sets are annular LED lamp sets, the annular LED lamp sets are sequentially disposed on the periphery of the corresponding image acquisition module according to the inner diameter, and the annular LED lamp sets have different brightness levels.
In some embodiments, the first body device 9 is provided with a first rotating shaft 11, the first rotating shaft 11 is connected with one end of a first vertical rod 13, and the other end of the first vertical rod 13 is connected with the first bolt 15; the second body device 10 is provided with a second rotating shaft 12, the second rotating shaft 12 is connected with one end of a second vertical rod 14, and the other end of the second vertical rod 14 is connected with a second bolt 16. The first body device 9 and the second body device 10 can change the shooting angles of the first image capturing module 1 and the second image capturing module 2 by rotating the first rotating shaft 11 and the second rotating shaft 12.
In some embodiments, the cross bar 17 is connected to the shield 20 via a third vertical bar 19, and the cross bar 17 is connected perpendicular to the third vertical bar 19.
In some embodiments, further comprising: fourth montant 23 and stock 21, the one end of fourth montant 23 is fixed in ground, fourth montant 23 perpendicular to ground sets up, lifting module 22 sets up in fourth montant 23, the one end of stock 21 with lifting module 22 connects, the other end and the protection casing 20 of stock 21 are connected.
In some embodiments, further comprising: the first windshield wiper 5 is arranged on one side of the first body device 9 close to the first image acquisition module 1, and the second windshield wiper 6 is arranged on one side of the second body device 10 close to the second image acquisition module 2. The first windshield wiper 5 and the second windshield wiper 6 are respectively connected with the control module. Through setting up first windshield wiper 5 and second windshield wiper 6, can clean first image acquisition module 1 and second image acquisition module 2 better, prevent that the foam from splashing the image quality that leads to and declining.
In some embodiments, further comprising: first power module 24 and second power module 25, first power module 24 is located first fuselage device 9, second power module 25 is located second fuselage device 10, first power module 24 is connected with first image acquisition module 1, second power module 25 is connected with second image acquisition module 2. The first power supply module 24 and the second power supply module 25 are lithium batteries or power supply cables.
In some embodiments, the image analysis module 26 includes: the communication unit is connected to the background server, and it should be noted that the communication unit (wired transmission, such as a coaxial cable, an optical cable, or a wireless communication module, such as a 5G module) uploads the image information (associated feature parameters) to the background server, for example: and when the liquid level of the flotation tank changes, outputting the corresponding associated characteristic parameters to a background server.
In some embodiments, the ranging module 18 detects in real time the distance between the first image acquisition module 1 and/or the second image acquisition module 2 and the liquid level of the flotation cell;
the lifting module 22 adjusts the heights of the first image acquisition module 1 and the second image acquisition module 2 according to the distance and a preset fixed distance, and determines the height of the first image acquisition module 1 and the height of the second image acquisition module 2;
the control module adjusts the brightness of the first lighting device 3 and the second lighting device 4 according to a preset lighting adjustment rule, and obtains a plurality of flotation froth images under different lighting conditions through all brightness levels of the first lighting device 3 and the second lighting device 4;
the image analysis module 26 performs image synthesis on the flotation froth image of the first image acquisition module 1 and the flotation froth image of the second image acquisition module 2 to obtain flotation froth three-dimensional images under different illumination conditions;
acquiring information entropy of the flotation froth three-dimensional image, and determining an illumination parameter of the first illumination device 3 and an illumination parameter of the second illumination device 4 according to the information entropy;
and collecting and analyzing flotation froth images according to the height of the first image acquisition module 1, the height of the second image acquisition module 2, the illumination parameters of the first illumination device 3 and the illumination parameters of the second illumination device 4.
In some embodiments, the step of determining the lighting parameters of the first lighting device 3 and the lighting parameters of the second lighting device 4 comprises:
performing image synthesis on the flotation froth image acquired by the first image acquisition module 1 and the flotation froth image acquired by the second image acquisition module 2 by using a preset image synthesis model to acquire a plurality of flotation froth three-dimensional images under different illumination conditions;
acquiring information entropies of a plurality of flotation froth three-dimensional images according to a preset information entropy acquisition rule and the flotation froth three-dimensional images, and acquiring the maximum value in the information entropies;
and determining a flotation froth three-dimensional image corresponding to the maximum value, and further acquiring the lighting parameters of the first lighting device 3 and the second lighting device 4 corresponding to the flotation froth three-dimensional image.
In some embodiments, the step of performing flotation froth image acquisition and analysis based on the height of the image acquisition module and the illumination parameter comprises:
controlling the image acquisition module to acquire a plurality of flotation froth images according to the height of the image acquisition module and the illumination parameters;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
performing foam area division on the flotation foam three-dimensional image according to a preset watershed method to obtain a plurality of foam areas;
extracting features according to the foam area to obtain associated feature parameters, wherein the associated feature parameters at least comprise one of the following parameters: the flotation froth image analysis method comprises the following steps of obtaining R components, G components and B components of a single froth area, obtaining R components, G components and B components of an integral froth area, obtaining a central froth movement speed and obtaining a froth image color space distribution stability, wherein the R components, the G components and the B components respectively correspond to the three low-order moments, and the collection and analysis of the flotation froth image are completed.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements any of the methods in the present embodiments.
The present embodiment further provides an electronic terminal, including: a processor and a memory;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the terminal to execute the method in the embodiment.
The computer-readable storage medium in the present embodiment can be understood by those skilled in the art as follows: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The electronic terminal provided by the embodiment comprises a processor, a memory, a transceiver and a communication interface, wherein the memory and the communication interface are connected with the processor and the transceiver and are used for completing mutual communication, the memory is used for storing a computer program, the communication interface is used for carrying out communication, and the processor and the transceiver are used for operating the computer program so that the electronic terminal can execute the steps of the method.
In this embodiment, the Memory may include a Random Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (13)
1. A flotation froth image acquisition and analysis method is characterized by comprising the following steps:
presetting at least two image acquisition modules and a lighting device corresponding to the image acquisition modules, wherein the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same;
detecting the distance between the image acquisition module and the liquid level of the flotation tank in real time;
according to the distance, height adjustment is carried out on the image acquisition module, and the height of the image acquisition module is determined;
adjusting the brightness of the lighting device according to a preset lighting adjustment rule to obtain a plurality of flotation froth images under different lighting conditions;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
acquiring information entropy of the flotation froth three-dimensional image, and determining illumination parameters of the illumination device according to the information entropy;
and acquiring and analyzing a flotation froth image according to the height of the image acquisition module and the illumination parameter.
2. The flotation froth image acquisition method of claim 1, wherein the at least two image acquisition modules comprise: the device comprises a first image acquisition module and a second image acquisition module, wherein the first image acquisition module and the second image acquisition module are arranged in the same protective cover, and the opening direction of the protective cover faces to the flotation tank.
3. The flotation froth image acquisition method of claim 2, wherein the first image acquisition module corresponds to a first lighting device and the second image acquisition module corresponds to a second lighting device;
detecting the distance between the first image acquisition module and/or the second image acquisition module and the liquid level of the flotation tank in real time;
according to the distance and a preset fixed distance, height adjustment is carried out on the first image acquisition module and the second image acquisition module, and the height of the first image acquisition module and the height of the second image acquisition module are determined;
adjusting the brightness of the first lighting device and the second lighting device according to a preset lighting adjustment rule, and acquiring a plurality of flotation froth images under different lighting conditions through all brightness levels of the first lighting device and the second lighting device;
performing image synthesis on the flotation froth image of the first image acquisition module and the flotation froth image of the second image acquisition module to obtain flotation froth three-dimensional images under different illumination conditions;
acquiring information entropy of the flotation froth three-dimensional image, and determining an illumination parameter of a first illumination device and an illumination parameter of a second illumination device according to the information entropy;
and collecting and analyzing the flotation froth image according to the height of the first image collecting module, the height of the second image collecting module, the lighting parameter of the first lighting device and the lighting parameter of the second lighting device.
4. The flotation froth image acquisition method of claim 3, wherein the step of determining the illumination parameters of the first illumination device and the illumination parameters of the second illumination device comprises:
performing image synthesis on the flotation froth image acquired by the first image acquisition module and the flotation froth image acquired by the second image acquisition module by using a preset image synthesis model to obtain a plurality of flotation froth three-dimensional images under different illumination conditions;
acquiring information entropies of a plurality of flotation froth three-dimensional images according to a preset information entropy acquisition rule and the flotation froth three-dimensional images, and acquiring the maximum value in the information entropies;
and determining the flotation froth three-dimensional image corresponding to the maximum value, and further acquiring the lighting parameters of the first lighting device and the lighting parameters of the second lighting device corresponding to the flotation froth three-dimensional image.
5. The flotation froth image acquisition method of claim 1, wherein the step of performing flotation froth image acquisition and analysis based on the height of the image acquisition module and the illumination parameter comprises:
controlling the image acquisition module to acquire a plurality of flotation froth images according to the height of the image acquisition module and the illumination parameters;
performing image synthesis on the flotation froth images of different image acquisition modules to obtain a plurality of flotation froth three-dimensional images;
performing foam area division on the flotation foam three-dimensional image according to a preset watershed method to obtain a plurality of foam areas;
extracting features according to the foam area to obtain associated feature parameters, wherein the associated feature parameters at least comprise one of the following parameters: the flotation froth image analysis method comprises the following steps of obtaining R components, G components and B components of a single froth area, obtaining R components, G components and B components of an integral froth area, obtaining a central froth movement speed and obtaining a froth image color space distribution stability, wherein the R components, the G components and the B components respectively correspond to the three low-order moments, and the collection and analysis of the flotation froth image are completed.
6. A flotation froth image acquisition and analysis system, comprising:
the system comprises at least two image acquisition modules, a data acquisition module and a data processing module, wherein the image acquisition modules are used for acquiring flotation froth images of a flotation tank, the image acquisition modules are positioned on one side of the flotation tank, which is far away from the ground, and the distances between the at least two image acquisition modules and the ground are the same;
the distance measurement module is used for detecting the distance between the image acquisition module and the liquid level of the flotation tank;
the lifting module is used for adjusting the height of the image acquisition module according to the distance between the image acquisition module and the flotation tank;
the illuminating device is corresponding to the image acquisition module and is used for illuminating the image acquisition module;
the control module is used for adjusting the brightness of the lighting device;
the image analysis module is used for carrying out image synthesis on the flotation froth images of different image acquisition modules, acquiring a plurality of flotation froth three-dimensional images, acquiring the information entropy of the flotation froth three-dimensional images, determining the illumination parameters of the illumination device according to the information entropy, and carrying out flotation froth image acquisition and analysis according to the height of the image acquisition module and the illumination parameters; the image acquisition module is connected with the image analysis module, the distance measurement module, the lifting module and the image analysis module are connected, and the image acquisition module, the illuminating device and the control module are connected with the image analysis module.
7. The flotation froth image acquisition system of claim 6, wherein the at least two image acquisition modules comprise: the device comprises a first image acquisition module and a second image acquisition module, wherein the first image acquisition module and the second image acquisition module are arranged in the same protective cover, and the opening direction of the protective cover faces to the flotation tank;
a first body device is arranged outside the first image acquisition module, a second body device is arranged outside the second image acquisition module, a first top cover is arranged on one side, away from the ground, of the first body device, and a second top cover is arranged on one side, away from the ground, of the second body device;
a cross rod is arranged in the protective cover, the first machine body device is arranged on the cross rod in a sliding mode through a first bolt, and the second machine body device is arranged on the cross rod in a sliding mode through a second bolt;
the distance measuring module is arranged at one end of the cross rod, and the image analyzing module is arranged at the other end of the cross rod.
8. The flotation froth image acquisition system of claim 7, wherein the first image acquisition module corresponds to a first lighting device, the second image acquisition module corresponds to a second lighting device, the first lighting device and the second lighting device each comprise one or more lamp groups, and the plurality of lamp groups are sequentially arranged on the periphery of the corresponding image acquisition module.
9. The flotation froth image acquisition system of claim 7, wherein the first body device is provided with a first rotating shaft, the first rotating shaft is connected with one end of a first vertical rod, and the other end of the first vertical rod is connected with the first bolt; the second machine body device is provided with a second rotating shaft, the second rotating shaft is connected with one end of a second vertical rod, and the other end of the second vertical rod is connected with a second bolt.
10. The flotation froth image acquisition system of claim 7, wherein the cross bar is connected to the protective cover by a third vertical bar, the cross bar being connected perpendicular to the third vertical bar.
11. The flotation froth image acquisition system of claim 6, further comprising: the lifting device comprises a fourth vertical rod and a long rod, wherein one end of the fourth vertical rod is fixed on the ground, the fourth vertical rod is perpendicular to the ground, the lifting module is arranged on the fourth vertical rod, one end of the long rod is connected with the lifting module, and the other end of the long rod is connected with the protective cover.
12. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the method of any one of claims 1 to 5.
13. An electronic terminal, comprising: a processor and a memory;
the memory is for storing a computer program and the processor is for executing the computer program stored by the memory to cause the terminal to perform the method of any of claims 1 to 5.
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