CN201653497U - Coal bunker material position measuring device based on laser and monocular vision - Google Patents
Coal bunker material position measuring device based on laser and monocular vision Download PDFInfo
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- CN201653497U CN201653497U CN2009202999611U CN200920299961U CN201653497U CN 201653497 U CN201653497 U CN 201653497U CN 2009202999611 U CN2009202999611 U CN 2009202999611U CN 200920299961 U CN200920299961 U CN 200920299961U CN 201653497 U CN201653497 U CN 201653497U
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Abstract
The utility model relates to a coal bunker material position measuring device based on laser and monocular vision, belonging to the field of the machine vision, which comprises a imaging part, a processing part, an illuminated light source part and an explosion-proof part, wherein the imaging part comprises a CCD camera and a group or a plurality of groups of laser device pairs. When using a group of laser device pairs, the device also comprises a rotating television and a line electric motor, the camera, the line electric motor and the laser devices are connected with an electric rotating motor, and can be transduced by the electric rotating motor to do circumferential rotation, the laser is connected with the line electric motor, and is guided by the line electric motor to do circular rotation; when the groups of pairs of the laser devices are used, the camera, the groups of pairs of the laser devices, and the illuminated light source part are connected with the explosion-proof part by a fixed support. The processing part is an embedded processor connected with the parts of the device, the illuminated light source part comprises an infrared LED array, the explosion-proof part comprises an isolation housing and a high-transmitting window. The utility model has the advantages of simple structure, low cost, high precision and good robustness and solves the problem of light spot loss.
Description
Technical field
The utility model is a kind of coal bunker apparatus for measuring charge level based on laser and monocular vision, belongs to machine vision, measurement in space and automatic field, is used for the correct fast depth information that obtains the coal bunker material level.
Background technology
The detection of coal bunker material level is the important measures of Safety of Coal Mine Production, along with coal is sent into coal bunker continuously, the coal face is more and more littler from the distance at coal bunker top, as the untimely coal that stops, just might overflow, cause dump long-pending, thereby cause long-pending coal pile things on of rubber conveyer head and sealing-tape machine heavy load starting phenomenon, and then cause a series of major accidents; After if coal drops to the minimum material level of regulation, if untimely stopping to be unloaded coal, its following mouth structure is hit and destroys on the one hand, may cause bottom staff's casualty accident on the other hand.Simultaneously, also may may cause blast, lead to coal mining accident because flying upward of leaking out of causing of the distinguished and admirable negative pressure of bunker upper and lower opening and coal dust dust causes dust concentration sharply to increase.Therefore, the detection of coal bin coal position is extremely important, by the coal position of real-time detection coal bunker, grasps coal bunker coal storage situation, is convenient to control the amount of delivering coal of each sealing-tape machine, and the generation of having stopped coal bunker coal piling accident is removed a hidden danger, and realizes transporting safely production.
Coal bunker material level detection method commonly used at present has: Weight type, electric pole type, condenser type, machine rod-type, Weighing type, revolution wing wheel formula, radar type, ultrasonic type, laser type, nucleon formula etc.Wherein Weight type, electric pole type, condenser type, machine rod-type, Weighing type and revolution wing wheel formula belong to contact measurement method, and remaining is a contactless measurement.The most frequently used have based on the radio frequency capacitance technology, based on ultrasonic technology with based on three kinds of measuring methods of Radar Technology, based on radio frequency capacitance technology measuring method a radio frequency is sent on the probe, the variation by continuous analysis electric capacity realizes measuring; Utilize the mistiming of ultrasound wave transmission and acceptance to realize measuring based on the measuring method of ultrasonic technology; Utilize electromagnetic transmitted wave and reflection wave mistiming to realize measuring based on the measuring method of Radar Technology.
Chinese patent application numbers 200710038493.8, open day 2008.9.24, a kind of high confidence level method and device thereof of the contactless continuous coverage fine granularity material material level based on machine vision are disclosed, device is by the particular point light source, the image acquisition machine, compositions such as machine vision module, the high-luminance light circular image that the light beam that the collection of image acquisition machine is launched by pointolite forms on the material surface, adopt checking type light circle detection algorithm to analyze and handle by machine vision module, calculate bright dipping diameter of a circle or area size, and then obtain the material value, thereby realize the material measurement.
Chinese patent application number 01107328.4, open day 2002.11.6, a kind of digital video frequency level indicator is disclosed, by video input unit, image pick-up card, microprocessor and display screen etc. interconnect and form, video input unit is aimed at tested material, video input unit is connected to the video inputs of image pick-up card again, microprocessor control image pick-up card is gathered the material level image by the sampling period that the user sets, and image handled, the material level coordinate figure of analysis and the calibration gauge of demarcation are relatively calculated the material level actual value, simultaneously with the material level image, the variation tendency of material level actual value and this value is presented on the display screen.
The present coal bunker material level measuring method that exists has multiple, and these method and apparatus have following problem.
1) the contact measuring method is because probe contact material easily cling material and damage, and most of method measuring distance is also smaller, mostly the Weight type charge level sensor is mechanical, comprise that the display part total is very complicated, functional reliability is poor, easy break-down.
2) contactless measuring method, in case measuring head pollutes, measuring accuracy descends significantly, and these class methods generally require coal face regular shape, and inside surface is smooth, and it is bigger to measure the blind area, the measuring accuracy instability, when ripple was propagated in addition, humidity also influenced measuring accuracy in the storehouse in, and much method has certain requirement to the diameter and the depth ratio of coal bunker.
3) based on the distance-finding method of light circular image, because there are many analyticities of too many blind spot and image in imaging, the composition of special coal, difference such as granularity may or lack the most information of hot spot at the disappearance hot spot, thereby measuring error are big, and robustness is low;
4) initiative is poor; Because the high depth of coal bunker, particle degree difference unglazed, coal is very big, does not have obviously consistent feature, and initiative is poor.
5) be difficult for disposing, dispose, based on the vision system of PC, compare difficulty, and be difficult to realize the characteristic of Safety of Coal Mine Production in the extreme position that has of down-hole coal bunker.
In order to improve the initiative of coal bunker level gauging, high precision obtains the depth information of coal in the coal bunker in real time, and with low cost.The utility model provides a kind of coal bunker apparatus for measuring charge level and method based on laser and monocular vision.
Summary of the invention
The purpose of this utility model is to propose a kind of coal bunker apparatus for measuring charge level based on laser and monocular vision, it utilizes laser instrument to initiatively light source is provided, solved advanced coal bunker ature of coal feature complicated problems, detect the spacing of hot spot point with single camera, and then the purpose of realization coal bunker level gauging, realized higher measuring accuracy and high real-time with lower cost.
Purpose described in the utility model is achieved by the coal bunker apparatus for measuring charge level based on laser and monocular vision proposed below.Described device comprises imaging moiety, processing section, lighting source part and flame proof part.Imaging moiety comprises that CCD camera and one or more groups laser instrument are right.Described laser instrument produces the laser beam that two bundles form an angle to the degree of depth according to coal bunker.Described CCD camera is used for obtaining 2 light spot images that laser beam forms on coal bunker coal face.When with one group of laser instrument to the time, device also comprises electric rotating machine and linear electric motors.Camera, linear electric motors and laser instrument pair link to each other with electric rotating machine, are subjected to its transduction can do circumference and rotate.Laser instrument pair links to each other with linear electric motors, is subjected to its guiding can do circular motion, to guarantee forming two hot spots that size is more or less the same on the coal face.When with many group laser to the time, camera and many group laser instruments, the lighting source part partly links to each other with flame proof by fixed mount, to connect one group of laser instrument right at every turn, connects successively until two hot spots that size is more or less the same of formation on the coal face.The lighting source part is made up of infrared LED array.Flame proof partly comprises every shell and high printing opacity form.
The utility model utilizes laser to producing two laser beam that form an angle, on the coal face, produce two hot spots, gather light spot image with the CCD camera, processor calculates the distance of two hot spots and realizes the purpose of coal bunker level gauging in conjunction with one group of right angle of laser.Advantage of the present utility model is: simple in structure, with low cost, and the precision height, robustness is good, and has solved hot spot and lose problem.
Description of drawings
Below in conjunction with accompanying drawing preferred embodiment is described in detail, the above-mentioned purpose and the advantage of utility model will become clearer from these are described.Wherein:
Fig. 1 is that the utility model is organized the planimetric map of laser instrument to a kind of embodiment apparatus for measuring charge level more;
Fig. 2 be the utility model with one group of laser instrument to the time a kind of embodiment apparatus for measuring charge level planimetric map;
Fig. 3 is the honeycomb arrangement structural representation of each laser instrument of the utility model laser alignment;
Fig. 4 is the block scheme of the utility model laser and monocular vision coal bunker apparatus for measuring charge level;
Fig. 5 is the utility model laser and monocular vision coal bunker level gauging principle schematic
The synoptic diagram of gained image when Fig. 6, Fig. 7 and Fig. 8 represent the utility model coal bunker level gauging;
Fig. 9 be the utility model with one group of laser instrument to the time apparatus for measuring charge level assembly front view;
Figure 10 be the utility model with one group of laser instrument to the time apparatus for measuring charge level assembly right view;
Figure 11 be the utility model with one group of laser instrument to the time apparatus for measuring charge level assembly front view half-sectional view;
Figure 12 be the utility model with one group of laser instrument to the time apparatus for measuring charge level assembly front view part sectioned view;
Figure 13 be the utility model with many group laser instruments to the time apparatus for measuring charge level front view sectional view;
Figure 14 be the utility model with many group laser instruments to the time apparatus for measuring charge level upward view sectional view;
Specific implementation method
Below in conjunction with example listed in the accompanying drawing preferred embodiment of the present utility model is carried out illustrating in detail, wherein use similar Reference numeral to represent like.
Fig. 1 is that the utility model is organized the planimetric map of laser instrument to a kind of embodiment apparatus for measuring charge level more; As shown in Figure 1, the utility model coal bunker apparatus for measuring charge level comprises: organize laser instrument to 100, one charge-coupled device (CCD) cameras 6, light source 5, explosion-resistant enclosure 8 and shell form 10 more; Each right laser instrument of described many group laser instruments becomes the even or non-homogeneous layout of circumference, organizes laser to two laser instruments of each group laser instrument centering of 100 (such as laser instrument 3 and laser instrument 4) symmetric arrangement more, and produces the laser beam of fixed angle.Described CCD camera 6 obtains a sub-picture by the picture of taking two two hot spots forming of bundle laser on the coal face.Described many group laser instruments are right to one group of laser instrument of each connection, connect successively, obtain the picture of two hot spots up to described CCD camera.Described light source 5 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described explosion-resistant enclosure 7 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 10 wherein is high printing opacities.
Fig. 2 be the utility model with one group of laser instrument to the time a kind of embodiment apparatus for measuring charge level planimetric map.As shown in Figure 2, coal bunker apparatus for measuring charge level of the present utility model comprises: one group of laser instrument is right: laser instrument 3 and laser instrument 4, charge-coupled device (CCD) camera 6, light source 5, motor 7, linear electric motors 11, explosion-resistant enclosure 8 and a shell form 10.Above-mentioned laser instrument 3 and laser instrument 4 symmetric arrangement, and the laser beam of generation fixed angle.Described CCD camera 6 obtains a sub-picture by the picture of taking two two hot spots forming of bundle laser on the coal face.Described light source 5 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described motor 7 by rotating the direction that changes laser beam, guarantees to form similarly hot spot of two shapes and size on the coal face.Drive laser holder 61, laser holder 62, CCD camera during rotation, the linear electric motors unit rotates simultaneously, and one group of laser instrument is right, the CCD camera, and linear electric motors unit relative position is constant.Described linear electric motors 11 are done rectilinear motion, drive support bar 63 and support bar 64 foldings, and support bar 63 drives laser instrument fixed bar 61, and support bar 64 drives laser instrument fixed bar 62, realizes the variation of angular separation between two laser bean.Described explosion-resistant enclosure 7 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 10 wherein is high printing opacities.
Fig. 3 is the honeycomb arrangement structural representation of each laser instrument of the utility model laser instrument centering; As shown in Figure 3, laser instrument 3 of the present utility model is identical with laser instrument 4, and each laser instrument comprises laser instrument shell 32, honeycomb fixed mount 31 and laser head 30.Above-mentioned laser instrument shell 32 is used for fixing on runing rest.Described honeycomb fixed mount 31 is used for fixing laser head 30.Laser instrument 3 and laser instrument 4 all are made up of a plurality of laser heads 30, according to the definite quantity of connecting laser head 30 of the degree of depth of coal bunker, provide appropriate information to guarantee spot size.
Fig. 4 is the block scheme of a kind of laser of the utility model and monocular vision coal bunker apparatus for measuring charge level.As shown in Figure 4, described processing unit further comprises control module 41, storage unit 45, collecting unit 44, Flame Image Process and depth calculation unit 42 and external communication unit 43.Above-mentioned laser instrument 3 and laser instrument 4 emission of lasering beam of control module 41 controls are realized the control of light-source brightness by the quantity that controls LED in the led array of connecting in the light source 5, and control motor 7 rotations, thus the change of the direction of realization laser beam.The described CCD camera 6 of collecting unit 44 controls obtains the image of two hot spot points that formed by laser beam on the coal face.The view data that described CCD camera 6 and collecting unit 44 obtain is stored in the storage unit 45, and is used to the population size and the coal bunker material level degree of depth of Flame Image Process and depth calculation unit 42 calculating hot spots.External communication unit 43 is responsible for carrying out communication with the coaling facilities of coal bunker and the equipment of unloading coal.
Fig. 5 is the utility model laser and monocular vision coal bunker level gauging principle schematic.As shown in Figure 5, described measurement mechanism 301 produces two bundle laser beam angles, form two hot spots on the two bundle laser beam coal faces 302: hot spot 303 and hot spot 304, obtained 2 light spot images in the image by the CCD camera, by the center O that calculates two hot spots of processor unit
1And O
2, O
1The center of expression hot spot 304, O
2The center of expression hot spot 303, O represents the angle of two light beams, O, O
1, O
2Form an isosceles triangle at 3, according to O
1, O
2Between the angle theta apart from B and two light beams can be in the hope of the depth d of coal bunker material level, its computing formula is as follows:
The signal of gained image when Fig. 6, Fig. 7 and Fig. 8 represent the utility model coal bunker level gauging.
Among Fig. 6, utilize CCD camera 6 to obtain projecting image under the situation in the slit between the coal cinder fully at the beam of laser bundle, can't measure the coal bunker material level degree of depth according to the utility model, need utilize above-mentioned motor rotating mechanism 7 to rotate a certain angle, thereby change the direction of two laser, carry out CCD camera 6 again and obtain image.
Among Fig. 7, utilize CCD camera 6 to obtain partly projecting image under the situation in the slit between the coal cinder at the beam of laser bundle, measure the coal bunker material level degree of depth according to the utility model and may cause error, in order to obtain than high measurement accuracy, need utilize above-mentioned motor rotating mechanism 7 to rotate a certain angle, thereby change the direction of two laser, carry out CCD camera 6 again and obtain image.
Among Fig. 8, image when utilizing CCD camera 6 to obtain on two bundle laser beam projection coal faces, according to the utility model just not needs motor rotating mechanism 7 be rotated, the image that utilizes CCD to gather carries out asking for of two spot centers, and then calculates the degree of depth of coal bunker material level.
Fig. 9 be the utility model with one group of laser to the time apparatus for measuring charge level assembly front view; As shown in Figure 9, camera substrate 14 is connected with flameproof enclosure 8 screws with light source substrate 16; Light source 5 is connected with light source substrate 16 screws; Electric rotating machine 7 and motor fixing plate 15 by screw retention on camera substrate 14; Laser fixed mount 11 is connected by pin 19 with camera fixed mount 13 with laser fixed mount 12.
Figure 10 be the utility model with one group of laser to the time apparatus for measuring charge level assembly right view; As shown in figure 10, CCD camera 6 is connected with camera fixed mount 13 screws; Linear electric motors 17 are connected with camera fixed mount 13 screws;
Figure 11 be the utility model with one group of laser to the time apparatus for measuring charge level assembly front view half-sectional view; As shown in figure 11, laser support bar 23 is connected with linear electric motors 17 screws with laser support bar 24; Laser support bar 23 is connected with laser fixed mount 12 screws 33; Laser support bar 24 is connected with laser fixed mount 11 screws 25.
Figure 12 be the utility model with one group of laser to the time apparatus for measuring charge level assembly front view part sectioned view; As shown in figure 12, laser instrument 3 and laser fixed mount 11 interference fit; Laser instrument 4 and laser fixed mount 12 interference fit; Camera fixed mount 13 and rotating shaft 36 are connected by bolt; Spin motor shaft 37 and rotating shaft 36 are connected by key; Bearing holder (housing, cover) 34 by screw retention on camera substrate 14; Bearing 35 and bearing holder (housing, cover) 34 interference fit.
Figure 13 be the utility model with many group laser to the time apparatus for measuring charge level front view sectional view; As shown in figure 13, laser fixed station 65 and light source fixed station 66 and flameproof enclosure 8 welding; Many group laser are connected with laser fixed station 65 screws 100 shells; Camera 6 is connected with camera fixed mount 69 screws; Camera fixed mount 69 is connected with flameproof enclosure 8 screws; Many group laser are fixed on many group laser in 100 shells to closely cooperating; The two-laser of every group of laser alignment (as laser instrument 3 and laser instrument 4) is by certain angle symmetric arrangement; Light source fixing frame 68 is connected with light source fixed station 66 screws; Light source 5 is connected with light source fixing frame 68 screws.
Figure 14 be the utility model with many group laser to the time apparatus for measuring charge level upward view sectional view; As shown in figure 14, organize laser to 100 by a plurality of laser constitutions more, and along the even or non-homogeneous layout of circumference; Every group of two-laser (as laser instrument 3 and laser instrument 4) symmetric arrangement that laser is right; Light source 5 is made up of a plurality of LED78.
As mentioned above, the utility model provides a kind of coal bunker material level measuring method and device based on laser and monocular vision.Its principle is to utilize laser as the active light source, produces into the laser beam of fixed angle, forms two hot spots on the coal face, obtains two light spot images by the CCD camera, realizes the measurement of coal bunker material level by the centre distance of asking for two hot spots.So the utility model utilizes generating laser and CCD camera simple in structure and that structure is cheap, make this coal bunker apparatus for measuring charge level use not only convenient but also economical.In addition, the utility model advantage is, because the utility model is simple based on coal bunker apparatus for measuring charge level step when measuring the coal bunker material level of laser and monocular vision, so reduced the load of whole coal bunker level gauging system, and make Measuring Time shorten, and then satisfy the real-time of coal bunker level gauging.Have, advantage of the present utility model is, owing to utilize laser as the active light source again, on the coal face, form laser facula, efficiently solve the complicacy of coal bunker material level feature, make that the robustness of total system is good, and lose problem because the direction-agile of laser beam has solved hot spot effectively.Because laser forms the hot spot point as the active light source on the coal face, the lighting requirement of vision system is reduced significantly, thereby solved the dark coal bunker the biggest problem of throwing light on.
Although described embodiment more of the present utility model, for the people who is familiar with this area, be clearly, these embodiment are done multiple remodeling and do not cause disengaging principle of the present utility model and marrow; Appended claim and equivalent term thereof limit the utility model and ask for protection scope.
Claims (9)
1. the coal bunker apparatus for measuring charge level based on laser and monocular vision comprises imaging moiety, processing section, lighting source part and flame proof part; Imaging moiety comprises that CCD camera and one or more groups laser instrument are right; When with one group of laser instrument to the time, device also comprises electric rotating machine, linear electric motors, two laser fixed bars and two support bars, camera, linear electric motors and laser instrument pair link to each other with electric rotating machine, being subjected to its transduction can do circumference rotates, laser instrument pair links to each other with linear electric motors, is subjected to its guiding can do circular motion; When with many group laser to the time, camera and many group laser instruments are right, the lighting source part partly links to each other with flame proof by fixed mount, processor partly is a flush bonding processor, link to each other with the device each several part, the lighting source part is made up of infrared LED array, and flame proof partly comprises every shell and high printing opacity form.
2. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: each laser instrument of described laser alignment is made up of a plurality of generating lasers, and a plurality of generating lasers become cellular layout.
3. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described every group of laser is to the initial angle symmetric arrangement according to two laser, initial angle is determined by the degree of depth and the diameter of coal bunker, and every group of laser alignment laser instrument is positioned on the straight line.
4. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described many group laser instrument alignment lasers are evenly arranged and non-homogeneous layout along circumference; The described every group of right laser instrument of laser instrument of organizing to linking to each other with flush bonding processor respectively more, and it is right that embedded processing drives one group of laser instrument at every turn, drives successively until form two sizeable hot spots on the coal face.
5. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described electric rotating machine links to each other with flush bonding processor, the rotation of flush bonding processor driven in rotation motor; Described electric rotating machine and one group of laser instrument are right, the CCD camera, linear electric motors link to each other, be subjected to electric rotating machine rotation guided laser device to can be along circular motion, be used for guaranteeing on the coal face, forming two sizeable hot spots, and one group of laser is right, the CCD camera, and linear electric motors unit relative position is constant.
6. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described linear electric motors unit links to each other with two support bars, and two support bars link to each other with two laser fixed bars, and two laser poles and laser instrument are to linking to each other.
7. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described flush bonding processor links to each other with the CCD camera, and reception gets view data from the CCD camera and handles.
8. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described antibomb unit is the explosion-resistant enclosure that comprises form, and form is high printing opacity.
9. according to the coal bunker apparatus for measuring charge level shown in the claim 1, it is characterized in that: described lighting source part is made up of led array, led array is divided into many groups, every group links to each other with flush bonding processor respectively, embedded processor determines according to the coal bunker degree of depth how many drivings organizes LED, is used for guaranteeing that illumination is a suitable degree.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102095469A (en) * | 2010-12-04 | 2011-06-15 | 沈阳航空航天大学 | Device and method for measuring liquid level in storage tank by utilizing camera |
| CN105526993A (en) * | 2016-01-29 | 2016-04-27 | 上海云鱼智能科技有限公司 | Machine vision material level meter and method adopting same for material level measurement |
| CN106595800A (en) * | 2016-12-27 | 2017-04-26 | 上海云鱼智能科技有限公司 | Machine vision based material level meter |
| CN106996751A (en) * | 2016-01-26 | 2017-08-01 | 中国科学院沈阳自动化研究所 | A kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image |
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| CN110726454A (en) * | 2019-11-20 | 2020-01-24 | 青岛澳科仪器有限责任公司 | Material level measuring method and system |
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- 2009-12-22 CN CN2009202999611U patent/CN201653497U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102095469A (en) * | 2010-12-04 | 2011-06-15 | 沈阳航空航天大学 | Device and method for measuring liquid level in storage tank by utilizing camera |
| CN106996751A (en) * | 2016-01-26 | 2017-08-01 | 中国科学院沈阳自动化研究所 | A kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image |
| CN106996751B (en) * | 2016-01-26 | 2019-02-15 | 中国科学院沈阳自动化研究所 | A kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image |
| CN105526993A (en) * | 2016-01-29 | 2016-04-27 | 上海云鱼智能科技有限公司 | Machine vision material level meter and method adopting same for material level measurement |
| CN105526993B (en) * | 2016-01-29 | 2019-01-04 | 上海云鱼智能科技有限公司 | Machine vision level-sensing device and its method for measuring material position |
| CN106595800A (en) * | 2016-12-27 | 2017-04-26 | 上海云鱼智能科技有限公司 | Machine vision based material level meter |
| CN107991506A (en) * | 2017-10-26 | 2018-05-04 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of device and test method for testing pendulum scarnning mirror speed and uniformity |
| CN110196010A (en) * | 2019-05-15 | 2019-09-03 | 湖南中联重科混凝土机械站类设备有限公司 | Material height measuring device and method |
| CN110196010B (en) * | 2019-05-15 | 2021-03-16 | 湖南中联重科混凝土机械站类设备有限公司 | Material height measuring device and method |
| CN110726454A (en) * | 2019-11-20 | 2020-01-24 | 青岛澳科仪器有限责任公司 | Material level measuring method and system |
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