CN117704967A - Machine vision-based blast hole position dynamic measurement method, target and measurement system - Google Patents

Abstract

The invention discloses a machine vision-based blast hole position dynamic measurement method, a target and a measurement system, and relates to the technical field of blast hole measurement. The wireless communication is established between the target and the acquisition equipment, the acquisition equipment controls the opening and closing of the controlled indicator lamp of the target to be detected in the acquisition process, two images of the target to be detected in the opening and closing states of the controlled indicator lamp are acquired, the difference of the images is compared to position the general position of the target to be detected in the machine vision system, and the accurate position of the target to be detected is determined according to the relative position relation between the target to be detected and the reference target in the machine vision system. The measurement of the blast hole is dynamically carried out in the tunnel blasting process, the measurement target is arranged to measure at the center position of the hole to be measured after each drilling is completed, the measurement process only needs to trigger a measurement instruction once, the image acquisition and the data processing are automatically and interactively realized by the acquisition device and the controlled target, the participation time of workers is reduced, and the measurement efficiency and the accuracy of the blast hole are improved.

Description

Machine vision-based blast hole position dynamic measurement method, target and measurement system

Technical Field

The invention relates to the technical field of blast hole measurement, in particular to a method, a target and a system for dynamically measuring the position of a blast hole based on machine vision.

Background

In the control of the over-excavation and the over-consumption of the tunnel blasting construction, the control of the tunnel blasting quality is an important circle, and the measurement of the position, the angle and the length parameters of the blast hole plays an important role in analyzing the over-excavation control effect and optimizing the blasting design.

Aiming at the measurement of the position of the blast hole, a total station is generally adopted, and firstly, the total station is required to be matched by 2 workers, and special operation time is required; secondly, only the hole edge points can be selected as measurement points, and certain errors exist; thirdly, the problem of shielding of the rack exists, and station shifting is needed in measurement.

Because the drilling and blasting method has compact construction flow, no special long period is reserved for measuring the position of the blast hole, and how to realize high-efficiency and accurate measurement of the position of the blast hole has important significance for improving the blasting construction efficiency of the tunnel.

Disclosure of Invention

The invention provides a machine vision-based blast hole position dynamic measurement method, a target and a measurement system, which are used for solving the problems of long time consumption and inaccurate measurement of the blast hole position in the prior art.

The invention is realized by the following technical scheme:

the invention provides a method for dynamically measuring the position of a blast hole based on machine vision, which comprises the following steps:

S1, arranging at least one reference target in the middle area of a face, measuring the coordinates of the reference target, arranging a measuring target in the center of a blast hole to be measured, and arranging a machine vision acquisition device for acquiring images of the reference target and the measuring target;

s2, responding to a blast hole position measurement instruction, the machine vision acquisition equipment sends a controlled indicator lamp starting command to the measurement target and acquires a first image of the measurement target when the controlled indicator lamp is started;

s3, the machine vision acquisition equipment sends a controlled indicator lamp closing command to the measurement target and acquires a second image when the measurement target controlled indicator lamp is closed;

s4, determining the preliminary position of the measurement target according to the first image and the second image;

s5, keeping a controlled indicator lamp of the measurement target closed, starting an infrared illuminating lamp of the machine vision acquisition equipment, acquiring a third image, determining a target to be measured in the third image according to the initial position, and calculating the relative position relation between the target to be measured and each reference target;

s6, determining the coordinates of the measuring targets according to the relative position relation of the reference targets and the coordinates of the reference targets to obtain the positions of the blast holes to be measured.

According to the measuring method, the opening and closing of the controlled indicator lamp of the measured target are controlled, the general position of the measured target in the machine vision system can be rapidly positioned by comparing the two images when the controlled indicator lamp is opened and closed, and then the accurate position of the measured target is determined through the steps S5-S6. The measuring method is dynamically carried out in the tunnel blasting process, only a reference target and a collecting device are required to be arranged in advance, in the construction engineering, a driller can measure the hole parameters by arranging corresponding measuring targets, the measuring process only needs to trigger a measuring instruction once, the image collection and the data processing are automatically and interactively realized by the collecting device and the controlled target, the operation complexity of personnel is reduced, and the shielding problem of a rack is avoided; the one-time measurement time is short, the construction progress is not delayed, and the tunnel blasting construction efficiency is improved.

In one embodiment, determining the preliminary position of the measurement target from the first image and the second image comprises:

And respectively carrying out binarization processing on the first image and the second image, obtaining a difference value of gray values of pixels corresponding to the two binarized images to obtain a controlled indicator light pattern only comprising the measuring target, and calculating the centroid of the controlled indicator light pattern to obtain the preliminary position of the measuring target.

In one embodiment, determining a target to be measured in the third image according to the preliminary position, and calculating the relative positional relationship between the target to be measured and each of the reference targets includes:

and respectively carrying out binarization processing on the first image and the second image, obtaining a difference value of gray values of pixels corresponding to the two binarized images to obtain a controlled indicator light pattern only comprising the measuring target, and calculating the centroid of the controlled indicator light pattern to obtain the preliminary position of the measuring target.

In one embodiment, determining a target to be measured in the third image according to the preliminary position, and calculating the relative positional relationship between the target to be measured and each of the reference targets includes:

determining a target closest to the primary position in a third image as a target to be detected, and calculating the centroid of the pattern of the target to be detected to obtain the center coordinate of the target to be detected ,/>) Wherein->Is the centroid horizontal coordinate value of the target to be measured, +.>Is the centroid vertical coordinate value of the target to be measured;

determining each reference target in the third image, and calculating the centroid of each reference target pattern to obtain the center coordinate of each reference target,/>) Wherein->Is->Centroid horizontal coordinate values of the individual reference targets, +.>Is->The centroid vertical coordinate values of the reference targets;

obtaining the relative position relationship between the measuring target and each reference target according to the difference value between the center coordinates of the target to be measured and the center coordinates of each reference target:，/>。

in one embodiment, the coordinates of the target are measured，/>) The calculation is as follows:

；

；

wherein, the method comprises the following steps of，/>) Is the +.sup.th measured in step S1>Coordinates of the individual reference targets, which are measured by total station, +.>Is the total number of reference targets.

In one embodiment, determining each of the reference targets in the third image comprises:

the machine vision acquisition equipment sends a report number command to each reference target so as to acquire the number and the coordinates of each reference target;

the machine vision acquisition equipment sends a controlled indicator lamp starting command to the reference target according to the number of the reference target, and acquires a fourth image when the controlled indicator lamp of the reference target is started;

The machine vision acquisition equipment sends a controlled indicator lamp closing command to the reference target and acquires a fifth image of the reference target when the controlled indicator lamp is closed;

determining a preliminary position of the reference target from the fourth image and the fifth image;

each of the reference targets is determined in the third image based on the preliminary position of each of the reference targets.

In one embodiment, at least two machine vision collecting devices are arranged in step S1, one of the machine vision collecting devices is set as a master station, and the rest is set as a slave station;

the functions of the master station include: receiving a blast hole position measurement instruction, controlling a controlled indicator lamp of a target to be turned on and turned off, synchronizing information to a slave station, controlling the slave station to cooperatively collect images of the controlled indicator lamp in an on or off state, and receiving data reported by the slave stations;

the functions of the secondary station include: and responding to the control instruction of the master station to cooperatively collect the image under the on or off state of the controlled indicator lamp, receiving the synchronous information of the master station and reporting the data to the master station.

In one embodiment, a blasthole position measurement instruction is initiated by the measurement target to the machine vision acquisition device.

The invention provides a controlled machine vision wireless target, which is characterized by comprising a reflecting target surface, a wireless communication module, a control main board, a controlled indicator lamp, a key module and a power module;

the light-reflecting target surface reflects infrared illumination light of the machine vision acquisition equipment and is used for acquiring an image by the acquisition equipment;

the wireless communication module is used for establishing wireless communication with the machine vision acquisition equipment and receiving an instruction of the machine vision acquisition equipment;

the control main board is used for analyzing the received instruction and sending the instruction to the corresponding module for execution;

the controlled indicator light is turned on or turned off in response to an instruction of the machine vision acquisition device;

the button module is used for sending a blast hole position measurement instruction to the machine vision acquisition equipment;

the power module supplies power to each module.

In one embodiment, the target further comprises a status light, the status light being displayed in a first display mode when the target is in a state to be measured and in a second display mode when the target is in a measurement state;

the target enters a measuring state when receiving a controlled indicator lamp on or off instruction of the machine vision acquisition equipment or sending a blast hole position measuring instruction to the machine vision acquisition equipment.

In a third aspect of the invention, a system for dynamically measuring the position of a blasthole based on machine vision is provided, and comprises a machine vision acquisition device and a controlled machine vision wireless target in any one embodiment of the invention;

the machine vision acquisition equipment comprises an industrial camera, a lens module, an infrared lighting lamp module, an industrial control main board, a LORA wireless communication module and a power module;

the industrial camera, the lens module, the infrared illuminating lamp module and the LORA wireless communication module are all connected with the industrial control main board, and the power module supplies power for the whole equipment;

the machine vision acquisition equipment establishes wireless communication with the wireless target or other machine vision acquisition equipment through a LORA wireless communication module;

the system is configured to implement the blasthole position dynamic measurement method in any of the embodiments of the present invention.

Compared with the prior art, the invention has the following advantages and beneficial effects:

the preliminary position of the target to be measured in the machine vision system is rapidly positioned by controlling the opening and closing of the controlled indicator lamp of the target to be measured and comparing two images when the controlled indicator lamp is opened and closed, the accurate position of the target to be measured is determined in the third image according to the preliminary position, the target to be measured is arranged at the center position of the blast hole, and the position of the blast hole can be obtained through the position of the target to be measured, so that the dynamic measurement of the position of the blast hole in the drilling construction process is realized.

And the machine vision acquisition equipment is established to wirelessly communicate with the target, and only one measurement instruction is needed, so that automatic image acquisition and analysis are realized, manual participation is reduced, and the measurement efficiency is improved.

Compared with measuring through hole edge points, the accuracy of the result is higher.

The cooperative measurement mode of the multi-machine vision acquisition equipment is not limited by construction scenes, and only the secondary station equipment is required to be added to cover the face area through combined imaging, and the gun hole position area rack to be monitored does not shade imaging.

The reflection target surface of the wireless target and the controlled indicator lamp form a combination of an active target and a passive target, the wireless communication module is closed, the wireless target can be used as a common target, and the application scene of the target is expanded.

Through the cooperation of machine vision collection equipment and target wireless communication, control a plurality of measurement target controlled pilot lamps switching and image acquisition in proper order, can realize the continuous measurement of a plurality of target positions.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:

FIG. 1 is a flow chart of a method for dynamically measuring the position of a blasthole based on machine vision according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an acquisition workstation installation in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a blasthole position target in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating calculation of the phase position relationship between a target to be measured and a reference target according to an embodiment of the present invention;

FIG. 5 is a schematic workflow diagram of a multi-machine vision acquisition device in accordance with an embodiment of the present invention;

FIG. 6 is a schematic diagram of the operation of a controlled machine vision wireless target according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a controlled machine vision wireless target structure according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a machine vision collecting device according to an embodiment of the present invention.

Description of the embodiments

For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.

It is noted that the terms "comprising" and "having," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such as a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to or includes other steps or elements inherent to the apparatus.

The terminology used in the various embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the application. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of this application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is identical to the meaning of the context in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments.

In structural safety monitoring, monitoring of structural deformations is particularly important for structural safety judgment. With the development of computer technology, graphic processing technology and machine learning technology, machine vision technology has more and more application value in structural deformation monitoring.

At present, a target is required to be arranged at a monitoring point in machine vision deformation monitoring, a target image is shot by utilizing machine vision acquisition equipment, and structural deformation data at the monitoring point is obtained by calculating the position change of the target image. The targets used at present are divided into active targets and passive targets, wherein the active targets adopt luminous devices (such as LED lamps), and a machine vision acquisition device acquires an active target image for calculation; the passive target is manufactured by adopting a reflection diaphragm, a lighting device is arranged at a sunlight or machine vision acquisition device to irradiate the passive target, and a target reflection image is acquired for calculation.

Active target and passive target that present used all can not communicate with the machine vision collection appearance, need the manual work to mark the target after the target installation during the application, utilize machine vision collection equipment to keep track of target position change. The mode has some problems, namely, target identification errors exist under the condition of more targets and large deformation; secondly, the target can be identified by mistake or can not be identified under the condition of local overlapping after deformation; and thirdly, the method is not suitable for dynamic test application situations, namely, a scene that a plurality of measuring points are respectively tested to deform by utilizing one target, such as blast hole position monitoring in blasting construction. Therefore, we have made improvements to this series of problems and devised a method for dynamically measuring blasthole position using a controlled machine vision wireless target.

The embodiment of the invention provides a machine vision-based blast hole position dynamic measurement method, which is suitable for dynamic monitoring of the positions of all blast holes in a blast hole drilling process, and is beneficial to improving the accuracy of blast hole position measurement and shortening the measurement time.

As shown in fig. 1, fig. 1 is a flow chart of a method for dynamically measuring a blast hole position based on machine vision, and the measuring method comprises the following steps:

s1, arranging at least one reference target in the middle area of a face, measuring coordinates of the reference target, arranging a measuring target in the center of a blast hole to be measured, and arranging a machine vision acquisition device for acquiring images of the reference target and the measuring target;

Step S1 is a measurement preparation stage, firstly, setting a reference target in the middle area of a tunnel face, setting one or more reference targets according to the cross-sectional area of a tunnel, and optionally, measuring and recording the coordinates of each reference target by using a total station，/>，）：

: first->A plurality of reference target tunnel mileage;

: first->A centerline offset value at the tunnel cross section of each reference target;

: first->And the reference target elevation values.

In order to realize dynamic measurement, the invention designs a matched controlled wireless target, which can establish wireless communication with an acquisition workstation through a wireless communication module, is controlled by an instruction of the acquisition workstation and feeds back information to the acquisition workstation.

The wireless target is added with a controlled indicator lamp and a wireless communication module on the basis of a conventional target, the wireless communication module receives an on or off instruction of the controlled indicator lamp sent by the acquisition workstation, and in the measuring process, the controlled indicator lamp is turned on or off in response to the instruction.

The acquisition workstation is composed of machine vision acquisition equipment, and is schematically installed in the acquisition workstation as shown in fig. 2, and an image acquisition function, an image processing function and a control center are integrated. In the measurement preparation stage, the machine vision acquisition equipment is arranged at a distance from the face, so that imaging can be ensured to cover the face area, the rack of the shot hole position area to be monitored does not shade imaging, and in actual installation, the machine vision acquisition equipment can be installed on the outer wall surface which is 30 meters away from the face or by using a stable tripod.

The control center manages the machine vision acquisition equipment to complete the automatic processes of image acquisition, image processing and the like, the control center can also communicate with a remote client or a mobile terminal, an informationized PC platform and the like through a 4G/5G network, the control of the machine vision acquisition equipment is realized through the remote equipment, and the image processing can also be executed in the remote equipment.

If one machine vision acquisition device cannot cover the face area and can clearly image, a plurality of machine vision acquisition devices can be arranged at the same time, so that a plurality of machine vision acquisition devices can be combined to image the face area and the gun hole position area rack to be monitored does not cover the face area. The machine vision acquisition devices are connected through a wireless communication module, one machine vision acquisition device is selected as a master device, the master device coordinates image acquisition work of slave devices, and the slave devices send the acquired images to the master device for summarizing.

The measuring of the position of the blast hole is dynamically carried out in the drilling process, a driller can measure the parameters of the hole after drilling the hole, the quality of the blast hole is estimated, and the next construction planning is carried out. And the measuring target is arranged at the center of the blast hole for measurement, compared with the total station measuring, only the hole edge point can be used as a measuring point, and then the measuring point is converted to the center, so that the obtained result is more direct, and the measuring error is reduced.

The big gun hole position target is as shown in fig. 3, adopts cylindrical body of rod 1 and cylindrical head 2 design, and power module, control mainboard, wireless communication module are laid in the head region, and the terminal surface sets up reflection target surface 3, controlled pilot lamp 4, status light 5 and test button 6. The battery is arranged at the near head end of the rod body, and the modules such as the blast hole angle measuring unit and the like can be arranged at the far end of the rod body. The head may also be provided as a square cylinder, with the target sized for blasthole measurement, illustratively a stem diameter of 3cm, a length of 50cm, a head side length of 6cm, and a thickness of 5cm. The far end can be provided with modules such as a blast hole angle measuring unit and the like.

And step S2, responding to a blast hole position measurement instruction, the machine vision acquisition equipment sends a controlled indicator lamp starting command to the measurement target and acquires a first image when the controlled indicator lamp of the measurement target is started.

After the preparation work of the step S1 is finished, a dynamic measurement stage is entered, a machine vision acquisition device receives a blast hole position measurement instruction, a controlled indicator lamp starting command is sent to a measurement target of the blast hole position, the controlled indicator lamp of the target is made of an infrared LED lamp, the measurement target responds to the instruction to start the controlled indicator lamp for acquisition by an acquisition device, and the acquisition device starts a camera to acquire a first image after sending the controlled indicator lamp starting command for a period of time.

The blasthole position measurement instruction can be initiated by a worker on the machine vision acquisition device or remotely through a terminal wirelessly connected with the machine vision acquisition device. Each wireless target has number information for distinguishing the wireless targets, which can be initialized when the targets are arranged. The arranged target number information is input into the machine vision acquisition equipment, can be manually input, and can be automatically acquired by sending a number reporting instruction to a wireless target through the machine vision acquisition equipment. The machine vision acquisition equipment independently sends a control instruction or a global sending instruction to the corresponding target through the number information.

In one embodiment, the blasthole position measurement instruction is initiated by a measurement target, the measurement target is provided with a key module, a worker instructs the measurement target to send the blasthole position measurement instruction to a machine vision acquisition device through keys, the machine vision acquisition device responds to the blasthole position measurement instruction and sends a controlled indicator lamp starting command to the measurement target, in order to ensure that a correct image is acquired, the wireless targets are provided with information feedback functions, and execution information is fed back in response to execution conditions of receiving the instruction. Therefore, after the measuring target is started to control the indicator lamp, an execution result is fed back to the machine vision acquisition equipment, the machine vision acquisition equipment receives feedback information to start the camera to acquire, and the acquired image is ensured to be the image when the measuring target is started to control the indicator lamp.

And S3, the machine vision acquisition equipment sends a controlled indicator lamp closing command to the measurement target and acquires a second image when the controlled indicator lamp of the measurement target is closed.

After the first image is acquired, the machine vision acquisition equipment sends a controlled indicator lamp closing command to the measurement target, the measurement target responds to the controlled indicator lamp closing command to close the controlled indicator lamp, and the machine vision acquisition equipment starts the camera to acquire a second image after sending the controlled indicator lamp closing command for a period of time.

Similarly, in one embodiment, to ensure that the correct image is acquired, the wireless target responds to the controlled indicator lamp closing command, after the controlled indicator lamp is closed, the execution result is fed back to the machine vision acquisition device, the machine vision acquisition device receives feedback information to start the camera to acquire, and the acquired image is ensured to be the image when the controlled indicator lamp of the measurement target is closed.

And S4, determining the preliminary position of the measurement target according to the first image and the second image.

The first image is an image only when the measurement target controlled indicator is on, the second image is an image only when the measurement target controlled indicator is on, and the two images only change of the measurement target controlled indicator, so that the position of the measurement target controlled indicator in the machine vision system can be obtained according to the difference between the two images, and the position represents the general position of the measurement target in the machine vision system.

In one embodiment, binarization processing is performed on the first image and the second image, gray values of pixels corresponding to the two binarized images are obtained to obtain a controlled indicator light pattern only comprising a measurement target, and the centroid of the controlled indicator light pattern is calculated to obtain a preliminary position of the measurement target.

And S5, keeping a controlled indicator lamp of the measurement target closed, starting an infrared illuminating lamp of the machine vision acquisition equipment, acquiring a third image, determining the target to be measured in the third image according to the initial position, and calculating the relative position relation between the target to be measured and each reference target.

And determining the accurate position of the measuring target in the machine vision system according to the preliminary position of the measuring target obtained in the steps S2-S4. Specifically, after second image acquisition finishes, turn on the infrared light of machine vision acquisition equipment, turn on the camera and gather the third image, the controlled pilot lamp of measuring the target is in the off state this moment, and the controlled pilot lamp of other reference targets is also in the off state, the target pattern that gathers this moment does not have light interference, and the image is clearer, is convenient for fix a position accurate position.

The actual coordinates of the reference targets have been obtained in step S1 ，/>) The actual position of the measuring target, namely the position of the blast hole, can be obtained according to the relative positions of the measuring target and the reference target in the machine vision system.

Further, determining the target closest to the preliminary position in the third image as a target to be detected, and calculating the centroid of the pattern of the target to be detected to obtain the center coordinate of the target to be detected,/>) Wherein->Is the centroid horizontal coordinate value of the target to be measured, +.>Is the centroid vertical coordinate value of the target to be measured;

determining each reference target in the third image, and calculating the centroid of each reference target pattern to obtain the center coordinate of each reference target,/>) Wherein->Is->Centroid horizontal coordinate values of the individual reference targets, +.>Is->The centroid vertical coordinate values of the reference targets;

as shown in fig. 4, fig. 4 is a schematic diagram of calculating the phase position relationship between the target to be measured and the reference targets, and the relative position relationship between the measurement target and each reference target is obtained according to the difference between the center coordinates of the target to be measured and the center coordinates of each reference target:，/>。

in the machine vision system, the method for determining the pattern position of the reference targets is the same as the method for determining the pattern position of the measurement targets, namely, the preliminary positions of the reference targets in the machine vision system are determined according to the difference images of the on/off of the controlled indicator lamps, and then the patterns corresponding to the reference targets are determined in the third image according to the preliminary positions.

Specifically, the step of determining each of the reference targets in the third image includes:

step S501, a report number command is sent to each reference target through a machine vision acquisition device, so as to obtain the number and the coordinates of each reference target.

In the step, the coordinates of the reference targets are actual coordinates measured by the total station in the step S1 and recorded in the targets, the machine vision acquisition equipment sends a report number command to each reference target, and the reference targets report own numbers and coordinates in response to the command, so that the machine vision acquisition establishes the association information of the reference targets and the coordinates.

In the address coding segmentation, coding a reference target into 0xF 0-0 xFE, and coding a machine vision acquisition device into 0x 00-0 x09 (0 x00 is a master station by default); the measurement target codes 0xA0 to 0xEF.

If the machine vision acquisition equipment has obtained the serial numbers of each target in advance, if the serial numbers are manually input in advance, a coordinate acquisition command is directly sent to the corresponding reference targets in sequence according to the serial numbers, and the reference targets respond to the command to report own coordinates for machine vision acquisition to establish the association information of the reference targets and the coordinates.

In addition, the numbers and coordinates of the reference targets may be recorded together in advance by the staff, and if the machine vision acquisition device has obtained the associated information of the numbers and coordinates of the targets in advance, the steps S502 to S504 are directly executed.

Step S502, the machine vision acquisition equipment sends a controlled indicator lamp starting command to a corresponding reference target according to the number of the reference target, and acquires a fourth image when the controlled indicator lamp of the reference target is started;

step S503, a machine vision acquisition device sends a controlled indicator lamp closing command to the corresponding reference target, and acquires a fifth image when the reference target controlled indicator lamp is closed;

step S504, determining the preliminary position of the reference target according to the fourth image and the fifth image;

step S505, determining the reference target in the third image according to the preliminary position of the reference target.

In one embodiment, steps S501, S502-S504 are performed prior to step S2, since the position of the reference target is relatively fixed, the preliminary position of the reference target in the machine vision system is determined after the measurement-ready placement work is completed. The coordinates of the layout target, the acquisition device, and the reference target, and the preliminary position measurement can be divided into measurement preparation stages. After the preparation stage is finished, the machine vision acquisition equipment does not need manual intervention, and the system enters an automatic response and monitoring state. In the construction dynamic measurement process, after the preliminary position of the measurement target is obtained through the steps S2-S4, the position of the blast hole can be obtained through image processing analysis according to the existing information.

And S6, determining the center coordinates of the measuring target according to the relative position relations and the reference target coordinates to obtain the positions of the blastholes to be measured.

Specifically, the center coordinates of the target to be measured are calculated by the following method，/>）：

；

；

Wherein, the method comprises the following steps of，/>) Is the +.sup.th measured in step S1>Reference target coordinates->Is the total number of reference targets. Target center coordinates to be measured (+)>，/>) I.e. the blasthole position. Alternatively, the coordinates of the reference target are measured by total station。

In one embodiment of the invention, at least two machine vision acquisition devices are arranged in step S1, one of the machine vision acquisition devices being set as master station and the remainder being set as slave station.

The functions of the master station include: receiving a blast hole position measurement instruction, controlling the controlled indicator lights of the targets to be turned on and turned off, synchronizing information to the slave stations, controlling the slave stations to cooperatively collect images of the controlled indicator lights in the on or off state, and receiving the reported data of the slave stations.

The functions of the secondary station include: and responding to the control instruction of the master station to cooperatively collect the image under the on or off state of the controlled indicator lamp, receiving the synchronous information of the master station and reporting the data to the master station.

When one machine vision acquisition device cannot cover a face area and images clearly, the embodiment lays a plurality of machine vision acquisition devices to form an acquisition workstation, one of the machine vision acquisition devices is set as a master station, the other machine vision acquisition devices are slave stations, the master station is connected with the slave stations in a wireless communication manner, and the identity is identified through the address information of the equipment. The machine vision acquisition device address information may be set to: 0x00 is the master station, and the slave stations increment from 0x 01. The blast hole position dynamic measurement method is realized as follows:

S101, arranging at least one reference target in the middle area of a face, measuring the coordinates of the reference target by using a total station, arranging a measuring target in the center of a blast hole to be measured, arranging at least two machine vision acquisition devices, wherein one device is set as a master station, the other devices are set as slave stations, and the machine vision acquisition devices are combined to form images to cover the face area and the rack of the blast hole position area to be monitored does not shade the images;

step S102, responding to a blast hole position measurement instruction, a main station sends a controlled indicator lamp starting command to a measurement target, controls the controlled indicator lamp of the measurement target to be started, and controls each station to acquire a first image when the controlled indicator lamp of the measurement target is started;

step S103, the master station sends a controlled indicator lamp closing command to the measurement target, controls the controlled indicator lamp of the measurement target to be closed, and controls each station to acquire a second image when the controlled indicator lamp of the measurement target is closed;

step S104, determining the preliminary position of the measurement target according to the first image and the second image;

step 105, keeping a controlled indicator lamp of the measurement target closed, starting an infrared illuminating lamp of the machine vision acquisition equipment, acquiring a third image, determining a target to be measured in the third image according to the preliminary position, and calculating the relative position relationship between the target to be measured and each reference target;

And S106, determining the center coordinates of the measuring target according to the relative position relations and the reference target coordinates to obtain the positions of the blastholes to be measured.

In steps S102 and S103, the master station controls the slave station to collect the first image and the second image when the measurement target controlled indicator lamp is turned on and off, and the master station also has an image collecting function, so that the master station itself also collects the first image and the second image, and one slave station arrangement can be reduced.

In step S104, since the first images and the second images acquired by the plurality of secondary stations are multiple, the plurality of first images are combined, the plurality of second images are combined to form an image of the complete area, and the preliminary position of the measurement target is determined according to the difference between the two combined images.

In one embodiment, after each station collects the first image and the second image, the image processing module of each station calculates the preliminary position, and then sends the result to the main equipment for summarizing, so as to obtain the final preliminary position. Fig. 5 is a schematic workflow diagram of a multi-machine vision acquisition device, and steps of acquiring a first image and a second image are described in steps S102-S103. The difference is that after the acquired image is obtained, each station firstly determines whether a detected target exists in the acquired image, if the detected target is not in the field of view of the station, the target which is not in compliance with the condition is reported to the master station, the master station receives the reported information of each slave station for summarization, and if the target which is not in compliance with the condition is all the stations, the feedback target is not found, so that the staff is prompted to perform manual inspection.

If the detected target exists in the acquired image, each station determines the preliminary position of the detected target by utilizing the contrast calculation of the acquired image, and sends the result to the master station for summarizing. The stations respectively process the images, so that the processing efficiency can be improved, the information of each station is not easy to be confused, and the probability of calculation errors is reduced.

The final preliminary position can be obtained by averaging the results, or other data processing methods, and the purpose of the final preliminary position is to reduce measurement errors.

In one embodiment, the preliminary location is verified against each other by both methods described above.

The step of determining the preliminary position of the reference target in the machine vision system is as follows:

step 201, the master station sends a report number command to each reference target to obtain the number and the coordinates of each reference target, sets target address information to be used, whether each target is connected to other monitoring parameter modules and corresponding control command streams, and synchronizes the information to each slave station.

Step S202, the master station transmits the reference target number to the first stationThe reference targets send controlled indicator lamp on commands and control the slave station to collect the +.>A fourth image of the time the controlled indicator light of the reference target is turned on.

Step S203, master station goes to the firstThe reference targets send controlled indicator lamp turn-off commands and collect +.>A fifth image of the target controlled indicator light being off.

Step S204, determining the preliminary position of the reference target according to the fourth image and the fifth image.

Similarly, in determining the preliminary position of a reference target in a machine vision systemAt the time, the first shot of each slave stationFourth and fifth image combinations of the reference targets, and determining the +.>Preliminary positions of the individual reference targets. And the master station sequentially executes steps SS202-S204 to the reference targets according to the numbers of the reference targets to obtain the preliminary positions of all the reference targets.

Or each station calculates the preliminary position and reports to the master station for summarization.

In one embodiment, the machine vision acquisition device can continuously and sequentially control the controlled indicator lights of a plurality of targets (two or more) to be turned on or off, and determine the general positions of the controlled reference targets in the difference images, so as to complete continuous measurement of the positions of a plurality of blastholes.

Specifically, measurement targets are respectively arranged at a plurality of blast hole positions, the measurement targets are set to initiate blast hole measurement instructions, a machine vision acquisition device (a main station) receives the measurement instructions and the numbers of the measurement targets, steps S2-S6 are sequentially executed on the measurement targets according to the numbers, and measurement of the blast hole positions is completed. In a second aspect of the invention, a controlled machine vision wireless target is provided for matching with a machine vision acquisition device to complete a blast hole position dynamic measurement method.

The controlled machine vision wireless target comprises a reflective target surface, a wireless communication module, a control main board, a controlled indicator lamp, a key module and a power module.

The reflective target surface reflects infrared illumination light of the machine vision acquisition equipment and is used for acquiring an image by the acquisition equipment;

the wireless communication module is used for establishing wireless communication with the machine vision acquisition equipment and receiving instructions of the machine vision acquisition equipment;

the control main board is used for analyzing the received instruction and sending the instruction to the corresponding module for execution;

the controlled indicator light is turned on or off in response to an instruction of the machine vision acquisition device;

the key module is used for sending a blast hole position measurement instruction to the machine vision acquisition equipment;

the power module supplies power to each module.

The key module is used for dynamically testing the application scene to acquire data from the target wireless call acquisition equipment.

The controlled machine vision wireless target has the following advantages: in a dynamic test scene, because the target has a moving condition, the machine vision acquisition equipment can determine the target of the monitoring point by only lighting the indicator lamp controlled by the target to be measured, so that error updating of error target data in other moving is avoided. The problems of target error identification or difficult identification and the like caused by multiple targets and large deformation factors of monitoring points are effectively solved.

Further, the power supply module is composed of a battery, a charging module and a power supply circuit.

The reflective target surface of the wireless target and the controlled indicator lamp form a combination of an active target and a passive target, the wireless communication module is closed, and the wireless target can be used as a common target to expand application scenes.

The reflective target surface is made of a reflective film with patterns, and reflects infrared illumination light of a machine vision acquisition system, and is used for acquiring images by acquisition equipment, and calculating the central position of the reflective pattern to be used for representing the target position.

Further, the wireless communication module is manufactured by adopting a LORA wireless module, and the wireless target responds to the command of the acquisition equipment and transmits data through the wireless communication module.

Further, the wireless communication module is further configured to receive data of other monitoring parameters connected to the motherboard through a communication interface (TTL, 232 or 485 interface), and answer the acquisition device command and transmit the data through the wireless communication module.

Further, the wireless target further comprises a status light, wherein the status light is displayed in a first display mode when the target enters a state to be measured, and is displayed in a second display mode when the target is in a measurement state.

As shown in fig. 7, a schematic diagram of a controlled machine vision wireless target structure is shown, a status light is used to indicate the working state of the system, in one embodiment, the target enters the state to be measured to display green, a red light indicates that the measurement target is wrong in the measurement process, and a red light blinks.

The target receives a controlled indicator lamp on or off instruction of the machine vision acquisition equipment, or enters a measurement state when sending a blast hole position measurement instruction to the machine vision acquisition equipment.

The key module and the status indicator lamp are configured only in the dynamic test application scene.

Further, when the wireless target is in the measuring process, if the instruction of the machine vision acquisition equipment is not received for more than the preset time, the status lamp is changed to be displayed in a third display mode.

Specifically, if the test key is started to press down to trigger, the target sends a request test instruction to the machine vision acquisition equipment, a red state indicator lamp is started to wait for the machine vision acquisition equipment instruction, if the machine vision acquisition equipment instruction is not received after the time is out (1000 ms), the red flashing state indicator lamp is started to prompt a worker to check whether shielding exists or not to influence the machine vision working condition.

Referring to fig. 6, fig. 6 is a schematic diagram of the controlled machine vision wireless target operation, and the target operation scene is divided into a conventional test scene and a dynamic test scene.

Under conventional test scene, target fixed position installation, the monitoring process is by machine vision acquisition equipment master control, and conventional test scene is applicable to the reference target, and work steps include:

(1) And starting the machine after the target is electrified, entering a self-checking and initializing process, and normally lighting a green light to enter a state of waiting for receiving a machine vision acquisition device command.

(2) After the target receives the command and checks correctly, the target respectively enters the processes of reporting the serial number, turning off the controlled indicator lamp, turning on the controlled indicator lamp and testing other monitoring parameters/uploading data.

Reporting sequence number flow: the target receives the instruction code 0xE1, reads the preset number of the target, and the battery voltage information to form a data packet and uploads the data packet to the machine vision acquisition equipment.

Turning off the controlled indicator light flow: and the target receives the instruction code 0xD2, controls the controlled indicator lamp to be powered off, and sends a data packet for confirming to be powered off to the machine vision acquisition equipment.

Turning on a controlled indicator light flow: and the target receives the instruction code 0xE3, controls the power supply of the controlled indicator lamp to be started, and sends a data packet for confirming the starting to the machine vision acquisition equipment.

Other monitoring parameter test/data upload flows: and the target receives the instruction code 0xB4, sends command stream data in the instruction packet to the communication interface, and packages the received data and uploads the packaged data to the machine vision acquisition equipment.

(3) After the target uploads the data packet with the command execution completed, waiting to receive the confirmation information of the machine vision acquisition equipment, and entering a low-power consumption standby mode after overtime (500 ms) or receiving the end test command 0x 96.

Under the dynamic test scene, the target is distributed at a non-fixed position, after moving to the part to be monitored, the manual key initiates the acquisition process, and the dynamic test scene is suitable for measuring the target, and the working steps are as follows:

(1) After the target is electrified, the machine is started to enter a self-checking and initializing process, and a green light is normally lightened to enter a standby receiving machine vision acquisition equipment command and key inquiry state.

(2) If the measurement key is started to press down to trigger, the target sends a request test instruction 0xFA to the machine vision acquisition equipment, a red state indicator lamp is started to wait for the machine vision acquisition equipment instruction, and if the instruction is not received after the time is out (1000 ms), the red flashing state indicator lamp is started to prompt a worker to check whether shielding exists or not to influence the machine vision working condition.

(3) And the target receives the instruction, performs corresponding operation according to the instruction requirement and returns a response.

(4) The target receives the test error command 0xA5, and a red flashing state indicator lamp is started to prompt a worker to check whether shielding exists or not to influence the working condition of machine vision.

(5) And the target receives the test ending instruction 0x96 and shifts to a low-power consumption standby state.

Instruction description:

(1) Report number 0xE1.

The machine vision acquisition equipment sends out global instructions, and all targets respond to reporting numbers and states. The machine vision acquisition equipment end is used for acquiring information such as target numbers in a monitoring range after the target is set or changed.

(2) The controlled indicator light 0xD2 is turned off.

The machine vision acquisition equipment sends out, can appoint the target or the global shutoff, and after the target received the instruction, confirm that the target needs to accord with promptly to turn off the controlled pilot lamp.

(3) The controlled indicator light 0xC3 is turned on.

The machine vision acquisition equipment sends out, can appoint the target or open globally, and after the target received the instruction, confirm that the target needs to accord with promptly to open controlled pilot lamp.

(4) Test/data read instruction 0xB4 is initiated.

Issued by the machine vision acquisition device, a target or global execution may be specified.

The monitoring mode of other accessed monitoring parameter modules is an available global mode for synchronously starting the test after starting the test and then calling the data by the polling target; and if the monitoring mode of the other monitoring parameter modules accessed by the targets is the uploading monitoring data after the test is started, adopting the designated target testing mode to poll all targets.

(5) Request test instruction 0xFA.

The key triggers the target to send, and the machine vision acquisition equipment receives the request test instruction, namely, sends the instruction according to a preset mode to start the test flow of the target.

(6) Error instruction 0xA5 is tested.

The surface test fails and is sent out by the machine vision acquisition equipment.

(7) Ending test 0x96.

Issued by the machine vision acquisition device, a target or global execution may be specified. And after the instruction is received, the test is finished, and the target is switched into a low-power consumption standby state.

Commands of the wireless target are divided into instruction codes and response codes, and the formats of the instruction codes and the response codes are described below.

(1) The instruction codes are shown in the following table:

head beating code

Instruction code

Address code

Collector address code

Command stream length L

Command stream

Check code

2 bytes

1 byte

1 byte

1 byte

1 byte

L bytes

1 byte

Head code: 0xAA, 0x55.

Instruction code: report number 0xE1 turns off controlled indicator light 0xD2 and turns on controlled indicator light 0xC3.

Initiating test/data read instruction 0xB4; request test instruction 0xFA.

Test error 0xA5; ending test 0x96.

Address code: an instruction target number, 0xFF global instruction, is received.

Acquisition instrument address code: the acquisition instrument number that issued the command.

Command stream length L: the target forwards the command stream length to the communication interface (the byte value of the remaining commands is 0 except for the 0xB4 command).

Command stream: command stream forwarded to communication interface by target (no command stream except 0xB4 command)

Check code: byte-previous-byte summation code for this byte

(2) The response codes are shown in the following table:

head beating code	Response code	Address code	Data length L	Data flow	Check code
						2 bytes	1 byte	1 byte	2 bytes	L bytes	1 byte

Head code: 0xAA, 0x55.

Response code: report number 0xE1, turn off the controlled indicator light 0xD2, turn on the controlled indicator light 0xC3.

Test/data read instruction 0xB4 is initiated.

Address code: and (5) numbering targets.

Data length L: the length of the data is then used.

Data flow: and operating the generated data according to the instruction codes.

Check code: byte summation code preceding this byte.

In a third aspect of the invention, a system for dynamically measuring the position of a blasthole based on machine vision is provided, and comprises a machine vision acquisition device and a controlled machine vision wireless target.

The machine vision acquisition equipment is one or more, and is determined according to the size of the face area.

The controlled machine vision wireless targets are divided into reference targets and measurement targets, and the machine vision acquisition equipment and the wireless targets are arranged according to the foregoing method.

Fig. 8 is a schematic diagram of a machine vision collecting device, including an industrial camera and lens module, an infrared lighting module, an industrial control motherboard, a LORA wireless communication module, and a power module.

The industrial camera and lens module, the infrared illuminating lamp module and the LORA wireless communication module are all connected with the industrial control main board, and the power module supplies power for the whole equipment.

The machine vision acquisition device establishes wireless communication with a wireless target or other machine vision acquisition devices through the LORA wireless communication module.

The method for dynamically measuring the position of the blast hole in any of the previous embodiments of the invention is realized by the measuring system, and specifically:

the machine vision acquisition equipment receives a blast hole measurement instruction, sends an instruction for opening and closing a controlled indicator lamp to the measurement target through the LORA wireless communication module, and simultaneously controls the industrial camera and the lens module to acquire a first image when the controlled indicator lamp of the measurement target is opened and a second image when the controlled indicator lamp of the measurement target is closed so as to determine the general position of the measurement target in the machine vision system; and controlling the infrared illuminating lamp module to be turned on, and simultaneously controlling the industrial camera and the lens module to acquire a third image. The image processing unit is integrated on the industrial control main board and calculates the acquired image to obtain the blast hole position information.

In a fourth aspect of the present invention, there is provided an electronic apparatus including a processor, a memory, an input device, an output device, and a communication device; the number of processors in the computer device may be one or more, taking one processor as an example; the processor, memory, input devices, and output devices in the electronic device may be connected by a bus or other means.

The memory is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules. The processor executes various functional applications and data processing of the electronic device by running software programs, instructions and modules stored in the memory to implement the blast hole position dynamic measurement method according to any of the above embodiments of the present invention.

The memory may mainly include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device can be used for receiving external equipment data, and the output device is used for outputting instructions and data processing results.

In a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the blasthole position dynamic measurement method of any of the embodiments of the present invention. The storage medium may be ROM/RAM, magnetic disk, optical disk, etc.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A method for dynamically measuring the position of a blasthole based on machine vision, which is characterized by comprising the following steps:

s1, arranging at least one reference target in the middle area of a face, measuring the coordinates of the reference target, arranging a measuring target in the center of a blast hole to be measured, and arranging a machine vision acquisition device for acquiring images of the reference target and the measuring target;

S2, responding to a blast hole position measurement instruction, the machine vision acquisition equipment sends a controlled indicator lamp starting command to the measurement target and acquires a first image of the measurement target when the controlled indicator lamp is started;

s3, the machine vision acquisition equipment sends a controlled indicator lamp closing command to the measurement target and acquires a second image when the measurement target controlled indicator lamp is closed;

s4, determining the preliminary position of the measurement target according to the first image and the second image;

s5, keeping a controlled indicator lamp of the measurement target closed, starting an infrared illuminating lamp of the machine vision acquisition equipment, acquiring a third image, determining a target to be measured in the third image according to the initial position, and calculating the relative position relation between the target to be measured and each reference target;

s6, determining the coordinates of the measuring targets according to the relative position relation of the reference targets and the coordinates of the reference targets to obtain the positions of the blast holes to be measured.

2. The method of claim 1, wherein determining the preliminary position of the measurement target from the first image and the second image comprises:

And respectively carrying out binarization processing on the first image and the second image, obtaining a difference value of gray values of pixels corresponding to the two binarized images to obtain a controlled indicator light pattern only comprising the measuring target, and calculating the centroid of the controlled indicator light pattern to obtain the preliminary position of the measuring target.

3. The method for dynamically measuring the position of a blast hole according to claim 1, wherein said determining a target to be measured in said third image based on said preliminary position, calculating the relative positional relationship between said target to be measured and each of said reference targets, comprises:

determining a target closest to the primary position in a third image as a target to be detected, and calculating the centroid of the pattern of the target to be detected to obtain the center coordinate of the target to be detected,/>) Wherein->Is the centroid horizontal coordinate value of the target to be measured,is the centroid vertical coordinate value of the target to be measured;

determining each reference target in the third image, and calculating the centroid of each reference target pattern to obtain the center coordinate of each reference target,/>) Wherein->Is->Centroid horizontal coordinate values of the individual reference targets, +.>Is->The centroid vertical coordinate values of the reference targets;

Obtaining the relative position relationship between the measuring target and each reference target according to the difference value between the center coordinates of the target to be measured and the center coordinates of each reference target:，/>。

4. the method for dynamically measuring the position of a blast hole according to claim 3, wherein the coordinates of the measuring target are [ ]，) The calculation is as follows:

；

；

wherein, the method comprises the following steps of，/>) Is the +.sup.th as measured in S1>Coordinates of the individual reference targets, which are measured by total station, +.>Is the total number of reference targets.

5. The method of claim 3, wherein said determining each of said reference targets in said third image comprises:

the machine vision acquisition equipment sends a report number command to each reference target so as to acquire the number and the coordinates of each reference target;

the machine vision acquisition equipment sends a controlled indicator lamp starting command to the reference target according to the number of the reference target, and acquires a fourth image when the controlled indicator lamp of the reference target is started;

the machine vision acquisition equipment sends a controlled indicator lamp closing command to the reference target and acquires a fifth image of the reference target when the controlled indicator lamp is closed;

Determining a preliminary position of the reference target from the fourth image and the fifth image;

each of the reference targets is determined in the third image based on the preliminary position of each of the reference targets.

6. The method according to claim 1, wherein at least two machine vision collecting devices are arranged in step S1, one of the machine vision collecting devices is set as a master station, and the rest is set as a slave station;

the functions of the master station include: receiving a blast hole position measurement instruction, controlling a controlled indicator lamp of a target to be turned on and turned off, synchronizing information to a slave station, controlling the slave station to cooperatively collect images of the controlled indicator lamp in an on or off state, and receiving data reported by the slave stations;

the functions of the secondary station include: and responding to the control instruction of the master station to cooperatively collect the image under the on or off state of the controlled indicator lamp, receiving the synchronous information of the master station and reporting the data to the master station.

7. The method of claim 1, wherein the blast hole position measurement command is initiated by the measurement target to the machine vision collection device.

8. The controlled machine vision wireless target is characterized by comprising a reflecting target surface, a wireless communication module, a control main board, a controlled indicator lamp, a key module and a power module;

The light-reflecting target surface reflects infrared illumination light of the machine vision acquisition equipment and is used for acquiring an image by the acquisition equipment;

the wireless communication module is used for establishing wireless communication with the machine vision acquisition equipment and receiving an instruction of the machine vision acquisition equipment;

the control main board is used for analyzing the received instruction and sending the instruction to the corresponding module for execution;

the controlled indicator light is turned on or turned off in response to an instruction of the machine vision acquisition device;

the button module is used for sending a blast hole position measurement instruction to the machine vision acquisition equipment;

the power module supplies power to each module.

9. The controlled machine vision wireless target of claim 8, further comprising a status light that displays a first display mode when the target is in a state to be measured and a second display mode when the target is in a measurement state;

the target enters a measuring state when receiving a controlled indicator lamp on or off instruction of the machine vision acquisition equipment or sending a blast hole position measuring instruction to the machine vision acquisition equipment.

10. A machine vision based blasthole location dynamic measurement system, characterized in that the system comprises a machine vision acquisition device and the controlled machine vision wireless target of any one of claims 8-9;

The machine vision acquisition equipment comprises an industrial camera, a lens module, an infrared lighting lamp module, an industrial control main board, a LORA wireless communication module and a power module;

the industrial camera, the lens module, the infrared illuminating lamp module and the LORA wireless communication module are all connected with the industrial control main board, and the power module supplies power for the whole equipment;

the machine vision acquisition equipment establishes wireless communication with the wireless target or other machine vision acquisition equipment through a LORA wireless communication module;

the system is configured to implement the blast hole position dynamic measurement method of any one of claims 1-7.