CN204202556U - A kind of cliff blast hole detection & localization device based on virtual binocular vision - Google Patents

Abstract

The utility model discloses a kind of cliff blast hole detection & localization device based on virtual binocular vision, and device mainly bag vision module, control module and explosive implants mechanical arm.The utility model utilizes a video camera to search for hole from different visual angles, split, lock, behind lock onto target hole, call the target hole image that another angle obtains, combine with the target hole image formerly obtained and carry out binocular calibration, and gained coordinate conversion will be demarcated to mechanical arm base coordinate system, get final product the current spatial coordinate position of localizing objects hole relative to work robot.

Description

A kind of cliff blast hole detection & localization device based on virtual binocular vision

Technical field

The utility model belongs to observation and control technology field, is specifically related to a kind of cliff blast hole detection & localization device based on virtual binocular vision and localization method.

Background technology

Usually need to carry out explosion to massif in large scale civil engineering, generally first hole on cliff, then load explosive.But, because cliff in field environment is very high, large and the surface topography irregular of surface area, not only labour intensity is large to adopt Artificial Intervention explosive, efficiency is low, and danger is very high, explosive is implanted according to automation equipment, again because the operator on most of hole and equipment is apart from too far away, aperture pattern irregular easily and finger stone the reason such as to obscure and make the frequent neglected loading of equipment operator or the many holes of misloading, thus the automatic detection & localization device in exploitation blasting hole is needed, for operator provides empty position information, improve the accuracy that explosive is implanted, reduce the labour intensity of neglected loading rate and operator.

Summary of the invention

The utility model provide a kind of can replace manually automatically completing the detection & localization of cliff blast hole, based on the cliff blast hole detection & localization device of virtual binocular vision.

Order of the present utility model is achieved in that a kind of cliff blast hole detection & localization device based on virtual binocular vision, comprise video camera, video camera is arranged on multi-joint movable mechanical on hand, video camera is connected with image pick-up card by signal wire, image pick-up card is connected with computing machine, multi-joint movable mechanical hand is connected with computing machine by control module, and vision module is connected with computing machine by signal wire.

Described control module is also provided with displacement and speed pickup.

Described displacement and the signal transmission of speed pickup are to control module.

The cliff blast hole detection & localization device based on virtual binocular vision that the utility model provides, by the translation motion of mechanical arm, video camera can from the image in two different territories, viewing angles same hole, and image is processed by capture card feeding computing machine, by the method that the utility model provides, can accurately by the location, hole on cliff, so that adopt the mode of machinery to implant explosive in hole, it is far away that the utility model can overcome operator's distance aperture, aperture pattern irregular easily and finger stone the problem such as to obscure and accurately locate blast hole, human users can be replaced, reduce the risk of safety in production.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the utility model is described in further detail.

Fig. 1 is system of the present utility model composition schematic diagram.

Fig. 2 a, Fig. 2 b are pretreated blast hole images.

Fig. 3 is the virtual binocular calibration illustraton of model of blast hole, and in Fig. 3, f is focal length of camera, is the known quantity determined by camera; (u ₀, v ₀) be the coordinate of camera imaging planar central point, P is target hole center, P ₁, P ₂be respectively the imager coordinate of center, hole P in video camera two difference shooting visual angle; U, u ' be respectively the horizontal ordinate of P imaging in video camera under two different visual angles; C, C ' be respectively the true origin of the coordinate system of video camera when two different shooting visual angles.

Embodiment

Be below specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiments.

The cliff blast hole detection & localization apparatus structure based on virtual binocular vision that the utility model provides is as follows: as shown in Figure 1, comprise video camera 1, video camera 1 is arranged on multi-joint movable mechanical hand 7, video camera 1 is connected with image pick-up card 2 by signal wire, image pick-up card 2 is connected with computing machine, multi-joint movable mechanical hand 7 is connected with computing machine 3 by control module 5, includes speed and displacement transducer in control module, and vision module 4 is connected with computing machine 3 by signal wire.

Be below an operational instances of the present utility model:

By the translation motion of mechanical arm 7, image from the image in two different territories, viewing angles same hole 6, and can be sent into computing machine by capture card 2 by video camera 1.The operation such as denoising, enhancing of the imgae processing software of vision module 4 routine processes two width images respectively, and it is current goal hole (as hole 2) that searching image mesopore territory also locks a wherein hole, as shown in Figure 2 a.

Processed by the image of the image processing software in vision module 4 to target hole, obtain its two dimensional image coordinate P in the first visual angle and the second visual angle respectively ₁(u, v) and P ₂(u ', v '), now, if optical axis when video camera is in the second visual angle is parallel to optical axis when it is in the first visual angle, then can obtain the three-dimensional coordinate (X of target hole in the coordinate system C being reference with video camera 1 (the first visual angle) by triangle relation, Y, Z).

The binocular calibration illustraton of model of the blast hole according to Fig. 3, can obtain:

$\left\{\begin{array}{c}X=\frac{L}{\mathrm{kd}}(u-u_0)k=\frac{L}{d}(u-u_0)\\ Y=\frac{L}{\mathrm{kd}}(v_0-v)k=\frac{L}{d}(v_0-v)\\ Z=\frac{\mathrm{Lf}}{\mathrm{kd}}\end{array}\right.$ (k is pixel length)

(1)

In formula (1), f is camera focus, and L is the distance between two video cameras.D=u-u ' is parallax, (u ₀, v ₀) be the coordinate of plane of delineation central pixel point; Namely the three-dimensional coordinate of target hole center in camera coordinate system C is obtained thus;

Further, video camera 1 coordinate system C and mechanical arm base coordinate system O (X is supposed ₀, Y ₀, Z ₀) between space conversion matrix be T, each parameter wherein in T is recorded in real time by the displacement transducer be arranged in control module 5, then camera coordinate system C can be converted in robot coordinate system O:

After this, after obtaining arbitrary target hole, by above calculation procedure, by target hole space coordinate conversion in mechanical arm base coordinate system, realize target hole is relative to the space orientation of robot coordinate system.

Be below a located instance of the present utility model:

By actual measurement, target hole 2 diameter in shown in known Fig. 2 a is 150mm, and its central point is (65.00 at the coordinate of mechanical arm base coordinate system, 780.00,1550.00), unit is mm (below unless specifically indicated, unit is millimeter).

And the coordinate of the central point of blast hole 2 in image coordinate system is respectively P ₁(1339.50,1293.71) (unit: pixel), P ₂(501.43,1292.65) (unit: pixel), now, focal distance f=25.5mm, k=0.01mm, camera translation distance L=246mm, (ku ₀, kv ₀)=(16.32,12.24).Therefore to can be calculated the coordinate of blast hole 2 in camera coordinate system according to formula (1) be C (-85.85 ,-20.46,748.51).

Now, camera coordinates is T (150.00,800.00 relative to robot base transition matrix, 800.00), the coordinate of center in robot coordinate system that (2) formula of substitution can obtain blast hole 2 is O (64.15,779.54,1548.51).

To when result:

Contrasted from the actual coordinate at above blast hole 2 center and surving coordinate, maximum error between Two coordinate is 1.49mm (Z-direction), therefore the utility model has higher measuring accuracy (especially for larger-diameter hole) and good realizability.

Claims (3)

1. the cliff blast hole detection & localization device based on virtual binocular vision, it is characterized in that: comprise video camera (1), video camera (1) is arranged on multi-joint movable mechanical hand (7), video camera (1) is connected with image pick-up card (2) by signal wire, image pick-up card (2) is connected with computing machine, multi-joint movable mechanical hand (7) is connected with computing machine (3) by control module (5), and vision module (4) is connected with computing machine (3) by signal wire.

2. a kind of cliff blast hole detection & localization device based on virtual binocular vision according to claim 1, is characterized in that: described control module (5) is also provided with displacement and speed pickup.

3. a kind of cliff blast hole detection & localization device based on virtual binocular vision according to claim 2, is characterized in that: described displacement and the signal transmission of speed pickup are to control module (5).