CN105526993B - Machine vision level-sensing device and its method for measuring material position - Google Patents
Machine vision level-sensing device and its method for measuring material position Download PDFInfo
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- 238000010586 diagram Methods 0.000 description 14
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- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
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Abstract
The present invention relates to level measurement field, a kind of method for disclosing machine vision level-sensing device and its measuring material position, light emitting members to surface of material to be measured project at least two beam directional lights and it is at least a branch of with each directional light be in default angle oblique light；Image acquisition component acquires each directional light and each oblique light is irradiated to the image of the directional light hot spot and oblique light hot spot that are formed after surface of material to be measured, and sends an image to arithmetic processor；Arithmetic processor carries out calculation process to above-mentioned image according to known necessary information and obtains material position information；The present invention can greatly eliminate the influence that the factors such as image acquisition component image-forming principle and zoom obtain image and calculate, simplify survey calculation amount, without largely demarcating, really realize machine vision to material continuously measure, can also be achieved to measurement point fixed point monitoring, obtain surface of material tilt angle, obtain material surface temperature, obtain measurement space realtime graphic, measurement is accurate, reliable, succinct, and algorithm is simple and efficient.
Description
Technical field
The present invention relates to level measurement field, in particular to a kind of machine vision level-sensing device and its method for measuring material position.
Background technique
With the fast development of technology, the idea of level measurement and monitoring is carried out always by Machine Vision Recognition and calculating
Since be widely noticed, while can because Machine Vision Recognition not only can be with the height or distance of real-time display material (object)
With to user show measurement object image, allow user can " seeing is believing " to monitoring environment be monitored.
But machine vision level monitoring equipment is not made largely really in actual production and life for many years
With with it is universal the main reason for, or because of existing machine vision level monitoring apparatus and method for, be unable to meet production scene
Real situation or measurement method can not be realized really in actual measurement.
Existing machine vision material position identification apparatus and method for is broadly divided into the following two kinds:
1, measured material image is directly analyzed and determined, judges level of filler material.This kind of method directly acquires material
Image in measurement space, is compared using the image prestored in realtime graphic and measuring device, judges realtime graphic institute
The image of displaying meets that image in altimeter, makes material position judgement.This kind of method needs to prerecord and store each
The material image of different height, and be stored in equipment.The calibration of height with image is carried out in advance.
Such as Chinese Patent Application No. 01107328.4, publication date 2002.11.6 discloses a kind of digital video frequency level indicator,
The digital video frequency level indicator is connected with each other by video input unit, image pick-up card, microprocessor and display screen.
Using
Machine vision technique detects solid-material level, and detection material position step is material position Image Acquisition, at digital picture
It manages and divides
Analysis, storage display.Video input unit is directed at tested material, video input unit is connected to the view of image pick-up card
Frequently
Input terminal, microprocessor control image pick-up card and acquire material position image by the sampling period set by user, and to this
Image into
Row processing, calculates material position true value for the material position coordinate value analyzed compared with the calibration gauge of calibration, simultaneously will
Material position figure
The variation tendency of picture, material position true value and the value is shown on a display screen.Its measure material position main means be
Utilize material
The reading on calibration gauge demarcated at the coordinate points of position is to obtain material position true value.
Chinese Patent Application No. 99100675.5, publication date 2000.8.16 disclose a kind of defocus-focus distance measuring side
Method, espespecially a kind of method using image processing do the object distance measurement of extensive angle, that is, utilize a pair of a certain spy
Set a distance
For the camera lens of focal length, after the fuzzy image for obtaining practical scenery, different inverse functions is recycled (to defocus function
Inverse function)
Convolution conversion, several blocks are divided into, and defocus to its block the comparison of situation, by comparing result
With it is pre-
The value first acquired relatively finds out distance value, obtains with the estimated value of each point distance in the camera lens center of circle.
2, material is irradiated using single point light source, is judged by the characteristics of image to single hot spot, judges level of filler material.It should
Kind method measures level of filler material by the characteristics of image of the single hot spot of measurement indirectly.
Such as: Chinese Patent Application No. 200710038493.8, publication date 2008.9.24 are disclosed a kind of based on machine view
Feel
Material level measuring method and device, the device is by groups such as special point light source, Image Acquisition machine, machine vision modules
At.It adopts
Solid-material level is detected with machine vision technique, detects material position step are as follows: by the spy being mounted at the top of feed bin
Different point
The light beam that light source is launched, is incident upon surface of material, is the taper of isosceles from the vertical section of feed bin.Not
With high
The high-luminance light circular image that different-diameter is obtained on the level cross-sectionn of degree, by machine vision module using verifying
Type light circle
Detection algorithm is analyzed and is handled, and the diameter or size for calculating light source obtain material position value in turn.Meanwhile
Really
Display material position scene real scene image device.
China Patent No. 201010509916.1, a kind of contactless coal bin coal position photoelectric measurement method and device, provide
It is a kind of contactless, based on pixel number in image between laser facula imaging point and image center, obtain material in feed bin
The photoelectric measurement method and device of depth value belong to level gauging technical field.Depth measurement especially suitable for coal bin coal position.This
Invention device makes camera optical path perpendicular to surface of material in tubular coal bunker spindle top stationary digital camera and laser emitter,
Laser emitter is arranged in the position to form an angle θ with the horizontal direction, it is ensured that swash
The imaging region of light hot spot can be incident upon in the surface of material within the scope of viewing field of camera.Camera is using N grades of segmentations
Fixed-focus can absorb clearly image to meet at the different coal positions of coal bunker.Using DSP as processor cores, pass through meter
The pixel number between laser facula imaging point and image center is calculated, the depth for the correspondence different pixels number mean value demarcated in advance is inquired
Table completes depth detection.
The above existing machine vision recognition method, the reason of can not really being used, are, have ignored video and image
Equipment image-forming principle characteristic: even if the image of same area gets over long-term plan from image acquisition equipment under same imaging focal length parameter
As smaller；Zoom is needed if considering further that and obtaining clear image, and image size is more in image acquisition equipment for same area image
Add complicated and changeable.Therefore the prior art, no matter by directly acquire image or pass through image and pre-stored image comparative approach or
Person directly calculate projected spot area or deviate pixel method, have ignored the basic image-forming principle of image acquisition equipment and
The more complicated Parameters variation of image acquisition equipment zoom bring, can not really implement, and it is accurate also can not just to obtain material
Material position.
Summary of the invention
Goal of the invention: aiming at the problems existing in the prior art, the present invention provides a kind of machine vision level-sensing device and its survey
The method for measuring material position, can eliminate the influence that the factors such as image acquisition component image-forming principle and zoom calculate image
To realize the continuous measurement to level of filler material, it can also realize the fixed point monitoring to measurement point, also can measure inclining for surface of material
Rake angle, measurement is accurate, reliable, and method is succinct, and algorithm is simple and efficient.
Technical solution: the present invention provides a kind of machine vision level-sensing device, including light emitting members, image acquisition component,
Arithmetic processor and signal output component, the light emitting members and described image acquisition component are arranged at where material to be measured
It measures in space, the arithmetic processor is separately connected described image acquisition component and the signal output component；The light hair
Component is penetrated for being in pre- to the surface of material projection at least two beam directional lights to be measured and at least a branch of and each directional light
If the oblique light of angle；Described image acquisition component for acquire each directional light and each oblique light be irradiated to it is described
The image of the directional light hot spot and oblique light hot spot that are formed after surface of material to be measured, and described image is sent at the operation
Manage device；The arithmetic processor is used for according to the light source of practical spacing, each oblique light between each directional light and each
Figure between practical spacing, each default angle, each directional light hot spot between the directional light in described image
As the image spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, at operation
Reason obtains the material position information of the material to be measured at the facula position of each oblique light, and the material position information signal is passed
It is defeated by the signal output component；And/or the arithmetic processor is used to reach default height according to the material position of the material to be measured
Image spacing, each directional light hot spot and each inclination when spending, between each directional light hot spot in described image
It is each parallel in image spacing and the real-time acquired image of described image acquisition component between hot spot in described image
Image spacing, each directional light hot spot between light hot spot and the image spacing between each oblique light hot spot, at operation
Reason logic judgment goes out whether the material to be measured reaches the preset height, and the consequential signal of the logic judgment is transferred to
The signal output component；The signal output component is used to believe the material position information and/or the result of the logic judgment
Number output.
Preferably, in each directional light hot spot and each oblique light hot spot, at least there are two the directional light light
Spot and an oblique light hot spot are located at same straight line.
Preferably, two to be located along the same line the directional light hot spot and an equal position of oblique light hot spot
In the same controlling level of the material to be measured.
Further, if the light emitting members are to the surface of material projection to be measured at least directional light of two beams and extremely
Few two beams and each directional light are in the oblique light of default angle；Then the arithmetic processor is according between each directional light
Practical spacing, each oblique light light source and each directional light between practical spacing, each default angle, each described
Between directional light hot spot between image spacing, each oblique light hot spot and each directional light hot spot in described image
Image spacing in described image, calculation process obtains the surface slope information of the material to be measured, and the surface is inclined
Slope information signal is transferred to the signal output component；The signal output component sentences the material position information, the logic
Disconnected result and/or surface slope information signal output.
Preferably, in at least two directional light hot spots and at least two oblique light hot spots, at least two institutes
It states directional light hot spot and at least two oblique light hot spots is located at same straight line and along the same inclined surface of material to be measured
Inclined direction be arranged successively.
Further, if the light emitting members are to the surface of material projection at least four beam directional lights to be measured and at least
Two beams and each directional light are in the oblique light of default angle；Then the arithmetic processor is according to the reality between each directional light
Practical spacing between border spacing, each plane formed between the directional light two-by-two, two-by-two between the light source of the oblique light
Difference in height, each oblique light light source and each directional light between practical spacing, each default angle, each described
Image spacing and each oblique light hot spot between directional light hot spot in described image and each directional light hot spot it
Between image spacing in described image, calculation process obtains the surface slope information of the material to be measured, and by the table
Plane inclination information signal is transferred to the signal output component；The signal output component by the material position information, described patrol
Collect the result and/or surface slope information signal output of judgement.
Preferably, in at least four directional light hot spots and at least two oblique light hot spots, at least four institutes
It states directional light hot spot and at least two oblique light hot spots is respectively positioned on the same inclined surface of material to be measured, and at least two
The directional light hot spot and at least one described oblique light hot spot are located at first straight line, on the first controlling level, in addition also extremely
Few two directional light hot spots and at least one described oblique light hot spot are located at second straight line, on the second controlling level, are located at
Light the first plane of composition of two directional light hot spots in the first straight line, two in the second straight line
The light of the directional light hot spot constitutes the second plane, and first plane is parallel with second plane.
Further, the machine vision level-sensing device further includes that component is stablized in damping, and component and institute are stablized in the damping
It states light emitting members and/or described image acquisition component effectively contacts.
Preferably, it is mechanical passive type or gyroscope active control type that component is stablized in the damping.
Further, the machine vision level-sensing device further includes dust-proof ash disposal component, and the dust-proof ash disposal component is located at
Described image acquisition component and/or the light emitting members nearby and with the arithmetic processor are connected.
Preferably, the dust-proof ash disposal component is gas blowing mechanism or brusher motivation structure.
Further, the machine vision level-sensing device further includes illuminace component, the illuminace component be fixed on it is described to
It is connect where surveying material inside container and with the arithmetic processor.
Preferably, the illuminace component is visible illumination equipment or infrared ray non-visible light lighting apparatus.
Further, the machine vision level-sensing device further includes infrared or Principles of Laser temperature-measuring parts, for remote
The temperature information of range measurement surface of material, the temperature-measuring part are connect with the arithmetic processor, and the temperature-measuring part is by institute
It states temperature information and is sent to the arithmetic processor, the arithmetic processor is again exported the temperature information by the signal
Component output.
Further, the light emitting members are also used to project the fill-in light perpendicular to the directional light.
Further, the arithmetic processor is also used to carry out calculation process to described image to obtain the material to be measured
Three-dimensional image, and the three-dimensional image is exported through the signal output component.
Further, described image acquisition component is also used to acquire flame or burning image, and by flame or burning image
It is sent to the arithmetic processor, the arithmetic processor is also used to control when receiving the flame or burning image external
Alarm equipment alarm or the arithmetic processor export the flame or burning image through the signal output component.
Further described image obtaining widget is also used to acquire the ambient image in the measurement space, and by the ring
Border image is sent to the arithmetic processor, and the ambient image is passed through the signal output component again by the arithmetic processor
Output.
The present invention also provides a kind of methods of machine vision level-sensing device measurement material position comprising the steps of: S1: to described
Surface of material projection at least two beam directional lights to be measured and at least a branch of and each directional light are in the oblique light of default angle, respectively
The directional light and each oblique light are correspondingly formed directional light hot spot and oblique light light after being irradiated to the surface of material to be measured
Spot；S2: the reality between the light source and each directional light of practical spacing between each directional light, each oblique light is prestored
Practical angle between border spacing and each oblique light and each directional light；Alternatively, prestoring the material of the material to be measured
Image spacing, each oblique light hot spot when position reaches preset height, between each directional light hot spot in described image
Image spacing between each directional light hot spot in described image；S3: each directional light hot spot of acquisition and each described
The image of oblique light hot spot；S4: calculation process is carried out to described image, is obtained between each directional light hot spot in described image
In image spacing, the image spacing between each oblique light hot spot and each directional light hot spot in described image；S5:
According to the practical spacing between the light source and each directional light of practical spacing, each oblique light between each directional light
And practical angle between each oblique light and each directional light, the image spacing between each directional light hot spot with
And the image spacing between each oblique light hot spot and each directional light hot spot, calculation process obtain each oblique light
The material position information of the material to be measured at facula position；And/or preset height is reached according to the material position of the material to be measured
When, image spacing, each directional light hot spot and each oblique light between each directional light hot spot in described image
In image spacing and the real-time acquired image of described image acquisition component between spot in described image, each directional light
Image spacing, each directional light hot spot between hot spot and the image spacing between each oblique light hot spot, calculation process
Logic judgment goes out whether the material to be measured reaches the preset height；S6: by the material position information and/or the logic judgment
Consequential signal output.
Preferably, in the S1, at least two directional light hot spots that are wherein located along the same line and extremely are selected
A few oblique light hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot, and defines any reference tilt
Light hot spot is the first reference tilt light hot spot, described in any two with reference to directional light hot spot is respectively first to refer to directional light hot spot
Directional light hot spot is referred to second；Then in the S2, the described first light and described second with reference to directional light hot spot is prestored
With reference to directional light hot spot light between practical space D 1, the first reference tilt light hot spot light source and it is described first ginseng
Examine directional light hot spot light or it is described second with reference to directional light hot spot light between practical spacing T1, it is described first reference
Oblique light and described first is with reference to the practical angle theta between directional light or the second reference directional light；In the S3: in real time
Described first is acquired with reference to directional light hot spot, the second reference directional light hot spot and the first reference tilt light hot spot
Image；In the S4: carrying out calculation process to described image, obtain described first with reference to directional light hot spot and second ginseng
Examine image space D 1 ', the first reference tilt light hot spot and first ginseng between directional light hot spot in described image
Directional light hot spot or described second is examined with reference to the image space D 2 ' between directional light hot spot in described image；In the S5:
The first reference tilt light hot spot is obtained according to the D1, the T1, the θ, the D1 ' and the D2 ' calculation process
The material position information of the material to be measured at position.
Preferably, in the S1, at least two directional light hot spots that are wherein located along the same line and extremely are selected
A few oblique light hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；And define any reference tilt
Light hot spot is the first reference tilt light hot spot, described in any two with reference to directional light hot spot is respectively first to refer to directional light hot spot
Directional light hot spot is referred to second；In the S2: when prestoring the material position of the material to be measured and reaching preset height h, described the
One with reference to the image space D 1 between the light of directional light hot spot and the light of the second reference directional light hot spot, first reference
Oblique light hot spot and described first is with reference to the image space D 2 between directional light hot spot or the second reference directional light hot spot；?
In the S3: acquiring described first in real time with reference to directional light hot spot, described second with reference to directional light hot spot and first ginseng
Examine the image of oblique light hot spot；In the S4: carrying out calculation process to described image, obtain described first and refer to directional light light
Spot and described second with reference to the image spacing between directional light hot spot be D1 ', the first reference tilt light hot spot and described the
Image spacing between one reference directional light hot spot or the second reference directional light hot spot is D2 '；In the S5, if at certain
One moment, D1 '/D2 ' are equal to or more than the D1/D2, then calculation process logic judgment goes out the material position of this moment described material to be measured
Reach the h.
Preferably, the first reference tilt light hot spot, described first are with reference to directional light hot spot and second reference
Directional light hot spot is respectively positioned on the same controlling level of the material to be measured.
Preferably, if in the S1, to the surface of material projection at least two beam directional lights to be measured and at least two beams
It is in the oblique light of default angle with each directional light；Then in the S5, according between each directional light practical spacing,
Practical spacing, each oblique light between the light source of each oblique light and each directional light and between each directional light
Practical angle, the image spacing between each directional light hot spot in described image, each oblique light hot spot and each institute
The image spacing between directional light hot spot in described image is stated, calculation process obtains the surface slope letter of the material to be measured
Breath；It is in the S6, the material position information, the result of the logic judgment and/or the surface slope information signal is defeated
Out.
Preferably, in the S1, selection is wherein located at same straight line and along the same inclined surface of material to be measured
At least two directional light hot spots and at least two oblique light hot spots that inclined direction is arranged successively are used as with reference to parallel
Light hot spot and reference tilt light hot spot, and define described in any two with reference to directional light hot spot be respectively first refer to directional light light
Spot and second with reference to directional light hot spot, reference tilt light hot spot described in any two be respectively the first reference tilt light hot spot and the
Two reference tilt light hot spots；In the S2: prestoring described first with reference to the light of directional light hot spot and described second with reference to flat
The light source of practical space D 1, the first reference tilt light hot spot between the light of row light hot spot is with described first with reference to parallel
Practical spacing T1, the second reference tilt light between the light of the light of light hot spot or the second reference directional light hot spot
Between the light source of hot spot and the described first light or the described second light with reference to directional light hot spot with reference to directional light hot spot
Practical spacing T2, the light of the first reference tilt light hot spot and described first are with reference to the light of directional light hot spot or described the
The light and described first of practical angle theta 1, the second reference tilt light hot spot between the light of two reference directional light hot spots
With reference to the practical angle theta 2 between the light of directional light hot spot or the light of the second reference directional light hot spot；In the S3
In: acquisition described first is with reference to directional light hot spot, second with reference to directional light hot spot, the first reference tilt light hot spot and institute
State the image of the second reference tilt light hot spot；In the S4: carrying out calculation process to described image and obtain first reference
Directional light hot spot and the described second image space D 1 ', first reference tilt with reference to directional light hot spot on the image
Light hot spot and described first is with reference to directional light hot spot or the described second image spacing with reference to directional light hot spot on the image
D2 ', the second reference tilt light hot spot and described first exist with reference to directional light hot spot or described second with reference to directional light hot spot
Image space D 3 ' in described image；In the S5: according to the D1, the T1, the T2, the θ 1, the θ 2, institute
It states D1 ', the D2 ' and the D3 ' calculation process obtains the surface slope information of the material to be measured.
Preferably, if in the S1, to the surface of material projection at least four beam directional lights to be measured and at least two beams
It is in the oblique light of default angle with each directional light；Then in the S5, according between each directional light practical spacing,
Practical spacing, each oblique light between the light source of each oblique light and each directional light and between each directional light
Practical angle, the practical spacing between each plane for forming between the directional light two-by-two, the oblique light two-by-two light source
Between difference in height, the image spacing between each directional light hot spot in described image, each oblique light hot spot and each
Image spacing between the directional light hot spot in described image, calculation process obtain the surface slope of the material to be measured
Information；In the S6, by the material position information, the result of the logic judgment and/or the surface slope information signal
Output.
Preferably, in the S1, selection is wherein located at first straight line, at least two on the first controlling level described flat
Row light hot spot and at least one described oblique light hot spot and on second straight line, the second controlling level at least two described in
Directional light hot spot and at least one described oblique light hot spot, which are used as, refers to directional light hot spot and reference tilt light hot spot, and described the
One straight line is parallel with the second straight line, and defines and refer to directional light hot spot described in any two being located in the first straight line
Respectively first reference directional light hot spot and the second reference directional light hot spot, any one of reference tilt light hot spot are first
Reference tilt light hot spot, defining and referring to directional light hot spot described in any two being located in the second straight line is respectively third ginseng
Examining directional light hot spot and the 4th reference directional light hot spot, any one of reference tilt light hot spot is the second reference tilt light light
Spot；Described first with reference to directional light hot spot, described second with reference to directional light hot spot, the third with reference to directional light hot spot, described
4th reference directional light hot spot, the first reference tilt light hot spot and the second reference tilt light hot spot are respectively positioned on described
On the same inclined surface of material to be measured, described first refers to directional light hot spot with reference to the light of directional light hot spot and described second
Light constitute the first plane be parallel to the third with reference to directional light hot spot light and it is described 4th refer to directional light light
The second plane that the light of spot is constituted；In the S2: prestoring the described first light and described second with reference to directional light hot spot
With reference to directional light hot spot light between practical space D 1, the third with reference to directional light hot spot light and it is described 4th ginseng
Examine the practical space D 2 between the light of directional light hot spot, the light source of the first reference tilt light hot spot and described first refers to
Practical spacing T1, second reference between the light of the light of directional light hot spot or the second reference directional light hot spot incline
The light source of skew ray hot spot and the third with reference to directional light hot spot light or the described 4th with reference to directional light hot spot light it
Between practical spacing T2, the first reference tilt light hot spot light and it is described first with reference to directional light hot spot light or institute
State second with reference to directional light hot spot light between practical angle theta 1, the second reference tilt light hot spot light with it is described
Third with reference to directional light hot spot light or the described 4th with reference to directional light hot spot light between practical angle theta 2, described the
The light source of practical spacing K, the first reference tilt light hot spot between one plane and second plane and second ginseng
Examine the difference in height Δ H between the light source of oblique light hot spot；In the S3: acquisition described first is with reference to directional light hot spot, described
Second refers to reference to directional light hot spot, the described 4th with reference to directional light hot spot, described first with reference to directional light hot spot, the third
The image of oblique light hot spot and the second reference tilt light hot spot；In the S4: carrying out calculation process to described image
Obtain described first with reference to directional light hot spot and described second with reference to directional light hot spot image space D 1 ' on the image,
The third refers to directional light hot spot image space D 2 ' on the image, described with reference to directional light hot spot and the described 4th
First reference tilt light hot spot and the first reference directional light hot spot or the second reference directional light hot spot are in described image
On image space D 3 ', the second reference tilt light hot spot and the third be with reference to directional light hot spot or the 4th reference
The image space D 4 ' of directional light hot spot on the image；In the S5: according to the D1, D2, the T1, described
T2, the θ 1, the θ 2, the K, the Δ H, the D1 ', the D2 ', the D3 ' and the D4 ' calculation process obtain institute
State the surface slope information of material to be measured.
The utility model has the advantages that the directional light that light emitting members emit in the present invention, is equivalent to a scale, and this scale is in object
Material surface is held essentially constant with the variation of level of filler material, simultaneously because being responsible for the oblique light hot spot of measurement material position and as scale
Parallel hot spot collected by image acquisition component after in the light spot image that is formed, caused by the factors such as image-forming principle and zoom
It is both image change characteristics and almost the same, so Image Acquisition can be eliminated after bringing this scale parameter in algorithm into
The factors such as component image-forming principle and zoom are seriously affected for what image calculated；Pass through the optical scale that this is projected, Image Acquisition
The zoom or other factors of component are basically eliminated the damaging influence of the measurement method in the present invention.
The beneficial effect of this level-sensing device and measurement method has:
1, accurate measurement of the machine vision to level of filler material is really realized；
2, without carrying out a large amount of staking-out works such as scaling board calibration；
3, the test constantly to level of filler material is really realized；
4, measurement accuracy is much higher than existing machine vision metrology method；
5, it realizes the measurement to surface of material tilt condition, there is very active influence for the application such as automatic blending；
6, the presentation of surface of material three-dimensional image may be implemented；
7, the monitoring of material surface temperature, combustion case, real-time condition can be provided；
8, algorithm is succinct and efficient.
Detailed description of the invention
Fig. 1 is the signal flow schematic diagram of machine vision level-sensing device in embodiment 1；
Fig. 2 is the generation type schematic diagram of directional light and oblique light in embodiment 1；
Fig. 3 is the generation type schematic diagram of directional light and oblique light in embodiment 1；
Fig. 4 is fill-in light and schematic diagram when directional light and oblique light cross action in embodiment 6；
Fig. 5 is the method schematic diagram that material position is calculated in embodiment 8 (surface of material is smooth)；
Fig. 6 is the method schematic diagram that material position is calculated in embodiment 8 (surface of material has gradient)；
Fig. 7 is the method schematic diagram that material position is calculated in embodiment 8；
Fig. 8 is the method schematic diagram that material position is calculated in embodiment 9；
Fig. 9 is the method schematic diagram that material position is calculated in embodiment 10；
Figure 10 is the method schematic diagram that material position is calculated in embodiment 11；
Figure 11 is the method schematic diagram that material position is calculated in embodiment 12；
Figure 12 is the method schematic diagram that material position is calculated in embodiment 12；
Figure 13 is the method schematic diagram that material position is calculated in embodiment 13；
Figure 14 is the method schematic diagram that material position is calculated in embodiment 13.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing.
Embodiment 1:
Present embodiments provide for a kind of machine vision level-sensing devices, as shown in Figure 1, including light emitting members, Image Acquisition
Component, arithmetic processor and signal output component, light emitting members and image acquisition component are surveyed where being arranged at material to be measured
In quantity space, arithmetic processor is separately connected image acquisition component and signal output component；
Light emitting members are used to project at least two beams perpendicular to the flat of a certain cross section of material to be measured to surface of material to be measured
Row light and at least a branch of and each directional light are in the oblique light of default angle；
Image acquisition component for acquire formed after each directional light is irradiated to surface of material to be measured with each oblique light it is parallel
The image of light hot spot and oblique light hot spot, and send an image to arithmetic processor；
Arithmetic processor is between the light source and each directional light according to practical spacing, each oblique light between each directional light
Practical spacing, each default angle, the image spacing between each directional light hot spot in the picture and each oblique light hot spot and each
Image spacing between directional light hot spot in the picture, calculation process obtain the material to be measured at the facula position of each oblique light
Material position information, and material position information signal is transferred to signal output component；
And/or arithmetic processor is being schemed between each directional light hot spot when reaching preset height according to the material position of material to be measured
Image spacing and image acquisition part between image spacing, each directional light hot spot and each inclination hot spot as in the picture
In the real-time acquired image of part, image spacing, each directional light hot spot between each directional light hot spot and each oblique light hot spot it
Between image spacing, calculation process logic judgment goes out material to be measured and whether reaches preset height, and the result of logic judgment is believed
Number it is transferred to signal output component；
Signal output component is used to export the consequential signal of material position information and/or logic judgment.
In the present embodiment, in order to prevent light emitting members and/or image acquisition component during the work time due to work
Make bad environments and shake, component can be stablized for the two configuration damping, it is preferable to use mechanical passive type or gyroscope master
The damping part of dynamic control formula；In addition, the environment as locating for material to be measured is usually relatively more severe, dust is larger, in order to avoid
The larger directional light and oblique light for interfering light emitting members transmitting of dust, and in order to avoid image acquisition component since dust covers
Image can not be acquired by covering, and dust-proof ash disposal is additionally provided near image acquisition component and/or light emitting members in present embodiment
Component, the dust-proof ash disposal component dextrorotation using gas blowing mechanism or brusher motivation structure, which can be by transporting
It calculates processor control and automatically turns on or close operation；Since image acquisition component has image real-time acquisition and supervisory function bit, and
Material local environment light to be measured is generally more dim, and being easy, which influences image acquisition component, collects clearly image, so
Illuminace component can also be installed in space where material to be measured in present embodiment, visible illumination equipment or red can be used
Outside line non-visible light lighting apparatus.
Preferably, in the present embodiment, temperature-measuring part can also be increased to machine vision level-sensing device, it is preferable to use infrared
Or laser temperature-measuring component, where being mounted on material to be measured in space, for measuring the temperature information of surface of material；Temperature-measuring part energy
Enough that the temperature information measured is sent to arithmetic processor, arithmetic processor is defeated by signal output component by temperature information again
Out.
Preferably, in the present embodiment, if many beam directional lights of light emitting members transmitting and many beam oblique lights,
Image acquisition component can collect the image comprising several directional light hot spots and oblique light hot spot, and arithmetic processor is by making
After carrying out calculation process to these images with several hot spots with existing image processing techniques means, it will be able to obtain to be measured
The three-dimensional image of material, material information is more directly showed user.Arithmetic processor can also be according to multiple
Material position information, the multiple surficial inclination information at hot spot are tilted, generates more than one synthesis by comprehensive calculation process
Material position information or more than one comprehensive tilt angle information either average value.
Preferably, the image acquisition component in present embodiment can also acquire flame or burning image, and by these figures
As being sent to arithmetic processor, arithmetic processor can judge in the space of material place to be measured after receiving these images again
Material to be measured catches fire, it will be able to which real-time control alarm equipment alarm exports image to user by signal output component, makes
User can learn field conditions in time, take timely measure；In addition, image acquisition component in present embodiment is in addition to can
Outside the image for collecting directional light hot spot and oblique light hot spot, additionally it is possible to the material situation ring to be measured in the space of acquisition measurement in real time
Border real scene image, and by these image transmittings to arithmetic processor, it is exported through signal output component for user by arithmetic processor
More intuitively understand the material situation in measurement space.
In addition, the directional light in present embodiment can be parallel light (such as Fig. 2), it can also be the parallel edges in light beam
Or parallel surface (such as Fig. 3)；Oblique light i.e. but an oblique light ray (such as Fig. 2), can also for an inclined side in light beam or
Inclined surface (such as Fig. 3).
Additionally need it is emphasised that: directional light truly is difficult really to realize in reality, in present embodiment
Directional light also include in measurement spatial dimension close to the light of real directional light or in measurement range its dissipate for
The negligible light close to directional light of influence of this measurement method.
Embodiment 2:
Present embodiment is a specific embodiment of embodiment 1, in the present embodiment, light emitting members and image
Acquisition component is arranged at container top where material to be measured, and light emitting members are used to project two beams to surface of material to be measured vertical
In a certain cross section of material to be measured directional light and it is a branch of with any a branch of directional light be in default angle oblique light, and two beams
After directional light and a branch of oblique light are irradiated in surface of material to be measured, corresponding two directional lights hot spot and an oblique light hot spot are located at
On same straight line；
Arithmetic processor is used for according to the light source of practical spacing, oblique light between two directional lights and is in default angle with it
Directional light between practical spacing, default angle, image spacing and oblique light between two directional light hot spots in the picture
Hot spot and the image spacing between its directional light hot spot in default angle in the picture, calculation process obtain the light of oblique light
The material position information of material to be measured at spot position, and material position information signal is transferred to signal output component.
And/or arithmetic processor is when being used to reach preset height according to the material position of material to be measured, between two directional light hot spots
Image spacing and Image Acquisition between image spacing in the picture, two directional light hot spots and inclination hot spot in the picture
Image spacing, two directional light hot spots and oblique light hot spot in the real-time acquired image of component, between each two directional lights hot spot
Between image spacing, calculation process logic judgment goes out material to be measured and whether reaches preset height, and by the result of logic judgment
Signal is transferred to signal output component.
In addition to this, present embodiment is identical with embodiment 1, is not repeated herein.
Embodiment 3:
Present embodiment is the further improvement of embodiment 2, is mainly theed improvement is that, in embodiment 2, two is flat
Row light hot spot is located along the same line with an oblique light hot spot, but when it is plane that surface of material, which has the gradient not, is located at same
The very possible locating level of filler material height of three hot spots on straight line is different, acquires three from top to bottom in this case
Image when, it is easy to because the position of three hot spot range image acquisition components is different and three hot spots when causing to acquire image
Focal length it is different, and then cause the image spacing of three in acquired image cannot be completely corresponding with practical spacing, and then lead
The material position information for causing subsequent arithmetic processor calculation process to obtain is inaccurate；So in the present embodiment, can select to be located at same
One straight line and be located at same controlling level on two directional light hot spots and an oblique light hot spot as image acquisition component
Acquisition target, this makes it possible to the height for guaranteeing three's range image acquisition component is identical, and then when acquiring image, focal length is identical,
Acquired image will not be distorted, and can relatively accurately reflect the actual positional relationship between three, final arithmetic processor
Accurate material position information and/or logic judgment result are obtained to the accurate image procossing.
In addition to this, present embodiment is identical with embodiment 2, is not repeated herein.
Embodiment 4:
Present embodiment is roughly the same with embodiment 1, and the main distinction is: in the embodiment 1, light emitting members hair
It is incident upon few two beam directional lights and at least a branch of oblique light, by projecting the hot spot figure on material to be measured to directional light and oblique light
The acquisition of picture, and the controlling level that the material to be measured at oblique light facula position can be obtained after image progress calculation process is believed
Breath, and/or, logic judgment is carried out to when material reaches preset height；But at the scene in environment, the surface of material is usually
There is certain slope, the height of material position is different at different gradient, only measures the height of some point on material to be measured also much
Cannot reflect the whole material position feature of material, cannot the material position to material to be measured carry out comprehensive monitoring；And in this embodiment party
The controlling level of surface of material certain point to be measured can not only be monitored, and can be inclined in formula to the surface of material to be measured
Gradient is monitored, more comprehensively intuitively to monitor the material position information of material to be measured.
Specifically, in the present embodiment, it is vertical that light emitting members can project at least two beams to surface of material to be measured
In the oblique light that the directional light of material cross section to be measured and at least two beams and each directional light are in default angle；Above-mentioned directional light and
After the surface that oblique light is irradiated to material to be measured forms hot spot, at least two directional light hot spots and at least one oblique light hot spot position
It is arranged successively on same straight line and along the inclined direction of the same inclined surface of material to be measured；Image acquisition component acquires upper rheme
In at least two directional light hot spots being arranged successively on same straight line and along the inclined direction of the same inclined surface of material to be measured and
The image of at least one oblique light hot spot, and it is sent to arithmetic processor, arithmetic processor is further according to the reality between each directional light
Border spacing, each oblique light light source and each directional light between practical spacing, each default angle, scheming between each directional light hot spot
Image spacing between image spacing and each oblique light hot spot and each directional light hot spot as in the picture, calculation process obtain
Obtain the surface slope information of material to be measured；Obviously, while obtaining surface slope information, each oblique light can also be obtained
Material position information and material position at facula position reach the logic judgment result of a certain preset height.
In addition to this, present embodiment is identical with embodiment 1, is not repeated herein.
Embodiment 5:
Present embodiment is roughly the same with embodiment 4, and the main distinction is the mode of acquisition surface of material gradient not
Together, and in present embodiment the precision of the surface of material gradient got is higher, because being located at same when surface of material has the gradient
The height of level of filler material locating for each hot spot being arranged successively from top to bottom on the same inclined surface of one straight line is different, this
In the case of when acquiring the image of each hot spot from top to bottom, it is easy to because the position of each hot spot range image acquisition component is different
The focal length for leading to acquire each hot spot when image is different, and then causes the image spacing of each hot spot in acquired image cannot be complete
It is corresponding with practical spacing, and then the material position information for causing subsequent arithmetic processor calculation process to obtain is inaccurate；And in this implementation
It can be avoided above-mentioned error in mode.
Specifically, in the present embodiment, it is vertical that light emitting members can project at least four beams to surface of material to be measured
In the oblique light that the directional light of material cross section to be measured and at least two beams and each directional light are in default angle；Above-mentioned directional light and
After the surface that oblique light is irradiated to material to be measured forms hot spot, at least four directional light hot spots and at least two oblique light hot spots are equal
On the same inclined surface of material to be measured, and wherein at least two directional light hot spot and at least one oblique light hot spot are located at
In first straight line, the first controlling level, in addition there are also at least two directional light hot spots and at least one oblique light hot spots to be located at the
On two straight lines, the second controlling level, and the light for two directional light hot spots being located in first straight line constitutes the first plane, is located at
The light of two directional light hot spots in second straight line constitutes the second plane；Image acquisition component acquires above-mentioned first straight line, the
The image of six hot spots on one controlling level and in second straight line, the second controlling level is simultaneously sent to arithmetic processor, fortune
Calculate processor further according between the light source and each directional light of practical spacing, each oblique light between each directional light practical spacing,
Practical spacing between each default angle, each plane formed between directional light two-by-two, the two-by-two height between the light source of oblique light
It spends between image spacing and each oblique light hot spot and each directional light hot spot between poor, each directional light hot spot in the picture and is scheming
Image spacing as in, calculation process obtain the surface slope information of material to be measured；Obviously, surface slope information is being obtained
While, it can also obtain material position information and material position at each oblique light facula position and reach the logic of a certain preset height and sentence
Disconnected result.
As it can be seen that can guarantee each hot spot distance map for calculation process being located along the same line in these cases
As the height of acquisition component is identical, and then when acquiring image, focal length is identical, and acquired image will not be distorted, can be relatively more accurate
Ground reflects the actual positional relationship between each hot spot, final to obtain more accurately material position information.
Embodiment 6:
Present embodiment is the further improvement of embodiment 1, is mainly theed improvement is that, in the present embodiment, light
Emission element is applied not only to projection directional light and oblique light, is also used to project the fill-in light perpendicular to directional light, the fill-in light
Effect be in order to which assistant images acquisition component collects light spot image because dust usually where material to be measured in space compared with
Greatly, dust has scattering process to directional light and oblique light, may be due to after directional light and oblique light reach surface of material
The biggish reason hot spot of dust is very unintelligible, if directly being adopted at this time using image acquisition component to light spot image
Collection, acquired image can be smudgy, and it is larger to eventually result in subsequent operation result error, level of filler material accuracy compared with
It is low；
For these reasons, the function of transmitting fill-in light, fill-in light are provided with to light emitting members in the present embodiment
Perpendicular to directional light, and fill-in light can generate crosspoint with directional light and oblique light, and such as Fig. 4 is advantageous in that: 1, the intersection
Light at point is strong compared to no intersection, so the crosspoint projects the hot spot brightness meeting after surface of material to be measured
Reinforce, compares clearly light spot image so as to guarantee that image acquisition component collects；As long as 2, arithmetic processor acquisition is auxiliary
Help light hot spot, directional light hot spot and/or oblique light hot spot institute more than two spots on straight line, so that it may straight line where calculating,
Further arithmetic processor can calculate the crosspoint of fill-in light and directional light and oblique light to obtain the pass needed for calculating
Key characteristic information, and then prepare for the material position information that subsequent arithmetic handles to obtain accurate material to be measured.
Embodiment 7:
Present embodiments provide for a kind of methods using the machine vision level-sensing device measurement material position in embodiment 1, should
Method the following steps are included:
S1: at least two beams are projected perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measured
A branch of and each directional light is in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measured
At directional light hot spot and oblique light hot spot；
S2: the practical spacing between the light source and each directional light of practical spacing between each directional light, each oblique light is prestored
And the practical angle between each oblique light and cross section；
Alternatively, the image when material position for prestoring material to be measured reaches preset height, between each directional light hot spot in the picture
Image spacing and image acquisition component between spacing, each directional light hot spot and each inclination hot spot in the picture acquire in real time
To image in, between image spacing, each directional light hot spot between each directional light hot spot and the image between each oblique light hot spot
Away from；
S3: the image of each directional light hot spot and each oblique light hot spot is acquired；
S4: calculation process is carried out to image, obtains image spacing, each oblique light between each directional light hot spot in the picture
Image spacing between hot spot and each directional light hot spot in the picture；
S5: according to the practical spacing between the light source and each directional light of practical spacing, each oblique light between each directional light
And practical angle between each oblique light and each directional light, the image spacing between each directional light hot spot, each oblique light hot spot
With the image spacing between each directional light hot spot, calculation process obtains the material position of the material to be measured at the facula position of each oblique light
Information；
And/or according to image spacing, each directional light hot spot and each inclination hot spot between each directional light hot spot in the picture
Between in image spacing and the real-time acquired image of image acquisition component in the picture, between each directional light hot spot
Image spacing between image spacing, each directional light hot spot and each oblique light hot spot, calculation process logic judgment go out material to be measured
Whether preset height is reached；
S6: the consequential signal of material position information and/or logic judgment is exported.
Embodiment 8:
Present embodiment is a specific embodiment of embodiment 7, and the present embodiment comprises the steps of:
S1 projects at least two beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measured
A branch of and each directional light is in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measured
At directional light hot spot and oblique light hot spot；Select at least two directional light hot spots being wherein located along the same line and at least one
Oblique light hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；
As shown in Fig. 5,6 and 7, defining the reference tilt light hot spot A being located along the same line is the first reference tilt light light
Spot, two references directional light hot spot (B and C) are respectively that the first reference directional light hot spot and second refer to directional light hot spot (at this time
A, tri- hot spots of B and C are arranged successively)；Wherein S1, S2 and S3 are respectively the light source of the first reference tilt light hot spot A, the first reference
The light source of the light source of directional light hot spot B and the second reference directional light hot spot B.
S2 is prestored between the first light S3C with reference to the reference of the light S2B of directional light hot spot B and second directional light hot spot C
Practical space D 1, the first reference tilt light hot spot A light source and second with reference to directional light hot spot C light between reality between
Away from T1, the first reference tilt light S1A and second with reference to the practical angle theta between directional light S3C；(note: between reality mentioned here
Vertical range away from the point on not instead of ordinary meaning to line, interplanar spacing viewed from above, due to each light source in Fig. 2
And image acquisition component is respectively positioned on above material to be measured, so above-mentioned D1 and T1 be from image acquisition component downwards from
The plan range arrived, it is described below in explanation about practical spacing, it is unless otherwise instructed, equivalent in meaning with here)
S3: acquisition first in real time refers to directional light hot spot C and the first reference tilt light with reference to directional light hot spot B, second
The image of hot spot A；
S4: carrying out calculation process to upper image, obtains first and refers to directional light hot spot C with reference to directional light hot spot B and second
Between image space D 1 ' in the picture, the first reference tilt light hot spot A and second with reference between directional light hot spot C in image
In image space D 2 '；
S5: it is obtained according to D1, T1, θ, D1 ' and D2 ' calculation process to be measured at the first reference tilt light hot spot location A
The material position information of material.
The material position information of material to be measured first reference tilt light hot spot A to the light of the first reference tilt light hot spot A herein
Spacing HA between the S1 of source indicates, then HA=(D2 ' * D1/D1 '-T1)/tan θ；
Such as Fig. 7, if between light source and the first light with reference to directional light hot spot B that T1 is the first reference tilt light hot spot A
Practical spacing, θ be the first reference tilt light S1A and first with reference to practical angle, the D2 ' between directional light S2B be the first ginseng
Image spacing in the picture between the reference of oblique light hot spot A and first directional light hot spot B is examined, then HA=(T1-D2 ' * D1/D1
')/tan θ；
So calculate HA formula can be summarized as HA=| D2 ' * D1/D1 '-T1 |/tan θ；
S6: above-mentioned HA signal is exported.
Embodiment 9:
Present embodiment is the further improvement of embodiment 8, is mainly theed improvement is that, in embodiment 8, first
Reference tilt light hot spot A, first are only to be located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second,
The straight line may be the straight line to go down along one gradient of surface of material to be measured, be located in different material position height for 3 points of A, B and C at this time
At degree, such as Fig. 6 or 7, when acquiring the image of three from top to bottom in this case, it is easy to because three hot spot range images are adopted
The focal length of three hot spots is different when collecting the position difference of component and causing to acquire image, and then leads to three in acquired image
Image spacing cannot be completely corresponding with practical spacing, and then the material position information for causing subsequent arithmetic processor calculation process to obtain
Inaccurately.And the first reference tilt light hot spot A, the first reference directional light hot spot B and second in present embodiment are with reference to parallel
Light hot spot C is not only located on same straight line, and is located at the same controlling level of material to be measured, as shown in figure 8, in such case
Under be to ensure that the height of three's range image acquisition component is identical, and then acquire image when focal length it is identical, collected figure
As that will not be distorted, it can relatively accurately reflect the actual positional relationship between three.
In addition to this, in the formula and other technical characteristics and embodiment 8 due to calculating HA in present embodiment completely
It is identical, so being not repeated herein.
Embodiment 10:
Present embodiment is also a specific embodiment of embodiment 7, and the present embodiment comprises the steps of:
S1 projects at least two beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measured
A branch of and each directional light is in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measured
At directional light hot spot and oblique light hot spot；Select at least two directional light hot spots being wherein located along the same line and at least one
Oblique light hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；
As shown in figure 9, the reference tilt light hot spot A that definition is located along the same line is the first reference tilt light hot spot, two
A refer to directional light hot spot (B and C) is respectively that the first reference directional light hot spot and second refer to directional light hot spot；Wherein S1, S2
It is respectively that the light source of the first reference tilt light hot spot A, the light source of the first reference directional light hot spot B and the second reference are parallel with S3
The light source of light hot spot B；
S2: when prestoring the material position of material to be measured and reaching preset height h, first with reference to the light S2B of directional light hot spot B and the
Image space D 1, the first reference tilt light hot spot A between the light S3C of two reference directional light hot spot C are with first with reference to parallel
Image space D 2 between light hot spot B；
S3: acquisition first in real time refers to directional light hot spot C and the first reference tilt light with reference to directional light hot spot B, second
The image of hot spot A；
S4: carrying out calculation process to above-mentioned image, obtains first and refers to directional light hot spot with reference to directional light hot spot B and second
Image spacing between C is D1 ', the image spacing between the reference of the first reference tilt light hot spot A and first directional light hot spot B is
D2´；
S5, if at a time, D1 '/D2 ' is equal to or more than D1/D2, then calculation process logic judgment goes out this moment to be measured
The material position of material reaches h.
S6: the consequential signal of above-mentioned logic judgment is exported.
Embodiment 11:
Present embodiment is the further improvement of embodiment 10, is mainly theed improvement is that, in embodiment 10, the
One reference tilt light hot spot A, first are only to be located at same straight line with reference to directional light hot spot C with reference to directional light hot spot B and second
On, which may be the straight line to go down along the inclined direction of surface of material to be measured, at this time 3 points of A, B and C be located in it is different
At controlling level, such as Fig. 9, when acquiring the image of three from top to bottom in this case, it is easy to because of three hot spot distance maps
The focal length of three hot spots is different when causing to acquire image as the position of acquisition component is different, and then causes in acquired image
The image spacing of three cannot be completely corresponding with practical spacing, and then the D1 ' for causing subsequent arithmetic processor calculation process to obtain/
D2 ' cannot be completely corresponding with D1/D2.And the first reference tilt light hot spot A, the first reference directional light hot spot in present embodiment
B and second is not only located on same straight line with reference to directional light hot spot C, and is located at the same controlling level of material to be measured, is such as schemed
It shown in 10, is to ensure that the height of three's range image acquisition component is identical in this case, and then acquires burnt when image
Away from identical, acquired image will not be distorted, and can relatively accurately reflect the actual positional relationship between three.
In addition to this, present embodiment is identical with embodiment 10, so being not repeated herein.
Embodiment 12:
Present embodiment is also a specific embodiment of embodiment 7, and the present embodiment comprises the steps of:
S1 projects at least two beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measured
Two beams and each directional light are in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measured
At directional light hot spot and oblique light hot spot；Selection is wherein located at same straight line and along the inclination side of the same inclined surface of material to be measured
It is used as at least two directional light hot spots and at least two oblique light hot spots being arranged successively and inclines with reference to directional light hot spot and reference
Skew ray hot spot；
As shown in figure 11, definition is located at same straight line and is arranged successively along the inclined direction of the same inclined surface of material to be measured
Two with reference to directional light hot spots be respectively first with reference to directional light hot spot C and second with reference to directional light hot spot D, two with reference to inclining
Skew ray hot spot be respectively the first reference tilt light hot spot A and the second reference tilt light hot spot B(at this time tetra- hot spots of C, A, D and B according to
Secondary arrangement)；Wherein S1, S2, S3 and S4 are respectively the light source of the first reference tilt light hot spot A, the second reference tilt light hot spot B
Light source, first are with reference to the light source of directional light hot spot C and the light source of the second reference directional light hot spot D；
S2: it prestores between the first light S4D with reference to the reference of the light S3C of directional light hot spot C and second directional light hot spot D
Practical space D 1, the first reference tilt light hot spot A light source S1 and first with reference to directional light hot spot C light S3C between
Reality between practical spacing T1, the light source S2 of the second reference tilt light hot spot B and the light S4D of the second reference directional light hot spot D
Reality between border spacing T2, the light S1A of the first reference tilt light hot spot A and the light S3C of the first reference directional light hot spot C
Angle theta 1, the light S2B of the second reference tilt light hot spot B and second refer to the practical folder between the light S4D of directional light hot spot D
Angle θ 2；
S3: acquisition first with reference to directional light hot spot C, second with reference to directional light hot spot D, the first reference tilt light hot spot A with
And second reference tilt light hot spot B image；
S4: calculation process is carried out to above-mentioned image and obtains first with reference to directional light hot spot C and second with reference to directional light hot spot D
The image of image space D 1 ', the first reference tilt light hot spot A and first with reference to directional light hot spot C on the image on the image
The image space D 3 ' of space D 2 ', the second reference tilt light hot spot B and second with reference to directional light hot spot D on the image；
S5: can be at operation by simple trigonometric function algorithm according to D1, T1, T2, θ 1, θ 2, D1 ', D2 ' and D3 '
Reason obtains the surface slope information of material to be measured；
Assuming that the inclination angle between the inclined surface and bottom surface of material to be measured is f, then
tanf=((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´- D2´*
D1/D1´)
If A, tetra- hot spots of C, D and B are arranged successively, such as Figure 12, then
tanf=((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´+D2´*
D1/D1´)
So calculating the formula of tanf can summarize are as follows:
tanf= ((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´±D2
´*D1/D1´)
It that is: is subtraction when two oblique lights are located at two directional light same directions, when two oblique lights are located at two directional light phases
It is addition when opposite direction.
Embodiment 13:
Present embodiment is also a specific embodiment and the further improvement of embodiment 12 of embodiment 7,
In embodiment 12, the first reference tilt light hot spot A, the second reference tilt light hot spot B, first are with reference to directional light hot spot C and the
Two are located at same straight line with reference to directional light hot spot D, on same inclined surface, and above-mentioned same straight line is the nauropemeter along material to be measured
What the inclined direction in face went down, four hot spots are just located at different controlling levels at this time, such as Figure 11 or 12, such case
Under when acquiring four light spot images on the straight line from top to bottom, it is easy to because four hot spot range images on the straight line are adopted
The focal length of four hot spots is different when collecting the distance difference of component and causing to acquire image, and then causes this in acquired image straight
The image spacing of four hot spots on line cannot be completely corresponding with practical spacing, and then leads to subsequent arithmetic processor calculation process
Cannot be completely corresponding between the obtained image spacing and practical spacing between each hot spot, cause measurement result inaccurate.And this
At least four beam directional lights and at least two beam oblique lights can be projected in embodiment to surface of material to be measured, it is parallel by least four beams
Light and the inclination optical operation of at least two beams obtain more accurate surface of material gradient.Specifically, the present embodiment includes following
Step:
S1 projects at least four beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measured
Two beams and each directional light are in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measured
At directional light hot spot and oblique light hot spot；Selection is wherein located at the same inclined surface of material to be measured, first straight line and the first material position
At least two directional light hot spots and at least one oblique light hot spot in height, which are used as, refers to directional light hot spot and reference tilt light
Hot spot, and select other at least two directional light being located on above-mentioned same inclined surface, second straight line and the second controlling level
Hot spot and at least one oblique light hot spot are as other reference directional light hot spot and reference tilt light hot spot；
As shown in Figs. 13 and 14, two reference directional light hot spots point of the definition on first straight line, the first controlling level
It Wei first with reference to directional light hot spot C and second be not the first reference tilt with reference to directional light hot spot D, a reference tilt light hot spot
Light hot spot A, it is respectively third with reference to directional light light that two on second straight line, the second controlling level, which refer to directional light hot spot,
Spot E and the 4th is the second reference tilt light hot spot B with reference to directional light hot spot F, a reference tilt light hot spot；(A, C and D at this time
It is arranged successively positioned at same straight line and B, E and F)；Wherein, the light of the first reference directional light hot spot C is with second with reference to parallel
The first plane that the light of light hot spot D is constituted is parallel to third and refers to directional light light with reference to the light of directional light hot spot E and the 4th
The second plane that the light of spot F is constituted, S1, S2, S3, S4, S5 and S6 are respectively the light source of the first reference tilt light hot spot A, the
The light source of two reference tilt light hot spot B, first with reference to directional light hot spot C light source, second with reference to directional light hot spot D light source,
Third is with reference to the light source of directional light hot spot E, the light source of the 4th reference directional light hot spot F；
S2: it prestores between the first light S4D with reference to the reference of the light S3C of directional light hot spot C and second directional light hot spot D
Practical space D 1, third with reference to directional light hot spot E light S5E and the 4th with reference to directional light hot spot F light S6F between
Practical space D 2, the light source S1 of the first reference tilt light hot spot A and first refer to the reality between the light S3C of directional light hot spot C
Border spacing T1, the light source S2 of the second reference tilt light hot spot B and third refer to the reality between the light S5E of directional light hot spot E
Practical folder between spacing T2, the light S1A of the first reference tilt light hot spot A and the light S3C of the first reference directional light hot spot C
Angle θ 1, the light S2B of the second reference tilt light hot spot B and third refer to the practical angle between the light S5E of directional light hot spot E
The light source S1 of practical spacing K, the first reference tilt light hot spot A between θ 2, the first plane and the second plane incline with the second reference
Difference in height Δ H between the light source S2 of skew ray hot spot B；
S3: acquisition first is with reference to directional light hot spot C, second with reference to directional light hot spot D, third with reference to directional light hot spot E, the
The image of four reference directional light hot spot F, the first reference tilt light hot spot A and the second reference tilt light hot spot B；
S4: calculation process is carried out to above-mentioned image and obtains first with reference to directional light hot spot C and second with reference to directional light hot spot D
The image of image space D 1 ', third with reference to directional light hot spot E and the 4th with reference to directional light hot spot F on the image on the image
Space D 2 ', the first reference tilt light hot spot A and first are joined with reference to the image space D 3 ', second of directional light hot spot C on the image
Oblique light hot spot B and third are examined with reference to the image space D 4 ' of directional light hot spot E on the image；
S5: it is calculated according to D1, D2, T1, T2, θ 1, θ 2, K, Δ H, D1 ', D2 ', D3 ' and D4 ' by simple trigonometric function
Method can calculation process obtain the surface slope information of material to be measured；
Assuming that the inclination angle between the inclined surface and bottom surface of material to be measured is f, then
tanf=(|( D4´* D2/ D2´- T2)/ tanθ2-( D3´* D1/ D1´- T1)/ tanθ1|-ΔH)/K
By above-mentioned discussion as it can be seen that the first reference tilt light hot spot A in present embodiment, first referring to directional light hot spot
C and second is not only located at same inclined surface with reference to directional light hot spot D, in first straight line, and is respectively positioned on the of material to be measured
One controlling level (i.e. first straight line be located at the first controlling level position), the second reference tilt light hot spot B, third are with reference to parallel
Light hot spot E and the 4th is not only located at above-mentioned same inclined surface with reference to directional light hot spot F, in second straight line, and be respectively positioned on to
The second controlling level (i.e. second straight line be located at the second controlling level position) for surveying material, is to ensure that in this case
The height of three hot spot range image acquisition components in first straight line is identical, and three hot spot range images in second straight line are adopted
The height for collecting component is also identical, and then focal length is identical when acquisition image, and acquired image will not be distorted, can be relatively accurately
Reflect the actual positional relationship between each hot spot, and then keeps final measurement result more accurate.
The technical concepts and features of the respective embodiments described above only to illustrate the invention, its object is to allow be familiar with technique
People can understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all according to this hair
The equivalent transformation or modification that bright Spirit Essence is done, should be covered by the protection scope of the present invention.
Claims (26)
1. a kind of machine vision level-sensing device, which is characterized in that including light emitting members, image acquisition component, arithmetic processor and
Where signal output component, the light emitting members and described image acquisition component are arranged at material to be measured in measurement space,
The arithmetic processor is separately connected described image acquisition component and the signal output component；
The light emitting members are used for the surface of material projection at least two beam directional lights to be measured and at least a branch of and each institute
State the oblique light that directional light is in default angle；
Described image acquisition component is used to acquire each directional light and each oblique light is irradiated to the surface of material to be measured
The image of the directional light hot spot and oblique light hot spot that are formed afterwards, and described image is sent to the arithmetic processor；
The arithmetic processor is used for light source and each institute according to practical spacing, each oblique light between each directional light
State practical spacing between directional light, each default angle, the image between each directional light hot spot in described image
Image spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, calculation process
The material position information of the material to be measured at the facula position of each oblique light is obtained, and the material position information signal is transmitted
To the signal output component；
And/or the arithmetic processor be used for according to the material position of the material to be measured reach preset height when, each directional light
In described image between image spacing, each directional light hot spot and each inclination hot spot in described image between hot spot
In image spacing and the real-time acquired image of described image acquisition component in, between the image between each directional light hot spot
Away from the image spacing between, each directional light hot spot and each oblique light hot spot, calculation process logic judgment go out it is described to
It surveys whether material reaches the preset height, and the consequential signal of the logic judgment is transferred to the signal output component；
The signal output component is used to export the consequential signal of the material position information and/or the logic judgment.
2. machine vision level-sensing device according to claim 1, which is characterized in that in each directional light hot spot and each described
In oblique light hot spot, at least there are two the directional light hot spots and an oblique light hot spot to be located at same straight line.
3. machine vision level-sensing device according to claim 2, which is characterized in that two to be located along the same line the institute
It states directional light hot spot and an oblique light hot spot is respectively positioned on the same controlling level of the material to be measured.
4. machine vision level-sensing device according to claim 1, which is characterized in that
If the light emitting members project at least directional light of two beams and at least two beams and each institute to the surface of material to be measured
State the oblique light that directional light is in default angle；
Then the arithmetic processor according to the light source of practical spacing, each oblique light between each directional light with it is each described
Between image between practical spacing, each default angle, each directional light hot spot between directional light in described image
Away from the image spacing between, each oblique light hot spot and each directional light hot spot in described image, calculation process is obtained
The surface slope information of the material to be measured, and the surface slope information signal is transferred to the signal output section
Part；
The signal output component is by the material position information, the result of the logic judgment and/or the surface slope information
Signal output.
5. machine vision level-sensing device according to claim 4, which is characterized in that in at least two directional light hot spots and
In at least two oblique light hot spots, at least two directional light hot spots and at least two oblique light hot spots are located at together
It one straight line and is arranged successively along the inclined direction of the same inclined surface of material to be measured.
6. machine vision level-sensing device according to claim 1, which is characterized in that
If the light emitting members to the surface of material to be measured projection at least four beam directional lights and at least two beams with it is each described
Directional light is in the oblique light of default angle；
Then the arithmetic processor according to the light source of practical spacing, each oblique light between each directional light with it is each described
Reality between practical spacing, each default angle between directional light, each plane formed between the directional light two-by-two
Image between spacing, the two-by-two difference in height between the light source of the oblique light, each directional light hot spot in described image
Image spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, calculation process
The surface slope information of the material to be measured is obtained, and the surface slope information signal is transferred to the signal and is exported
Component；
The signal output component is by the material position information, the result of the logic judgment and/or the surface slope information
Signal output.
7. machine vision level-sensing device according to claim 6, which is characterized in that in at least four directional light hot spots and
In at least two oblique light hot spots, at least four directional light hot spots and at least two oblique light hot spots are respectively positioned on
The same inclined surface of material to be measured, and at least two directional light hot spots and at least one described oblique light hot spot are located at
In first straight line, the first controlling level, in addition there are also at least two directional light hot spots and at least one described oblique light light
Spot is located at second straight line, on the second controlling level；The light structure of two directional light hot spots in the first straight line
At the first plane, light the second plane of composition of two directional light hot spots in the second straight line, described first
Plane is parallel with second plane.
8. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that further include damping stabilizers
Part, the damping are stablized component and are effectively contacted with the light emitting members and/or described image acquisition component.
9. machine vision level-sensing device according to claim 8, which is characterized in that it is mechanical passive that component is stablized in the damping
Formula or gyroscope active control type.
10. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that further include dust-proof ash disposal
Component, the dust-proof ash disposal component be located at described image acquisition component and/or the light emitting members nearby and with the operation
Processor is connected.
11. machine vision level-sensing device according to claim 10, which is characterized in that the dust-proof ash disposal component blows for gas
Sweep mechanism or brusher motivation structure.
12. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that it further include illuminace component,
It is connect where the illuminace component is fixed on the material to be measured inside container and with the arithmetic processor.
13. machine vision level-sensing device according to claim 12, which is characterized in that the illuminace component is visible illumination
Equipment or infrared ray non-visible light lighting apparatus.
14. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that further include
Infrared or Principles of Laser temperature-measuring parts, for the temperature information of telemeasurement surface of material, the temperature-measuring part and institute
Arithmetic processor connection is stated, the temperature information is sent to the arithmetic processor, the calculation process by the temperature-measuring part
Device is again exported the temperature information by the signal output component.
15. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the light
Emission element is also used to project the fill-in light perpendicular to the directional light.
16. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the fortune
It calculates processor to be also used to carry out calculation process to described image to obtain the three-dimensional image of the material to be measured, and by described three
Dimension stereo-picture is exported through the signal output component.
17. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the figure
As acquisition component is also used to acquire flame or burning image, and flame or burning image are sent to the arithmetic processor, institute
Arithmetic processor is stated to be also used to control external alarm equipment alarm or the operation when receiving the flame or burning image
Processor exports the flame or burning image through the signal output component.
18. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the figure
As obtaining widget is also used to acquire the ambient image in the measurement space, and the ambient image is sent at the operation
Device is managed, the arithmetic processor is again exported the ambient image by the signal output component.
19. a kind of method of machine vision level-sensing device measurement material position as described in claim 1, which is characterized in that comprising following
Step:
S1: to the surface of material projection at least two beam directional lights to be measured and at least a branch of and each directional light in default folder
The oblique light at angle, each directional light and each oblique light are correspondingly formed directional light light after being irradiated to the surface of material to be measured
Spot and oblique light hot spot；
S2: between the light source and each directional light for prestoring practical spacing between each directional light, each oblique light
Practical angle between practical spacing and each oblique light and each directional light；
Alternatively, when the material position for prestoring the material to be measured reaches preset height, in described image between each directional light hot spot
In image spacing, the image spacing between each oblique light hot spot and each directional light hot spot in described image；
S3: the image of acquisition each the directional light hot spot and each oblique light hot spot；
S4: carrying out calculation process to described image, obtain image spacing between each directional light hot spot in described image,
Image spacing between each oblique light hot spot and each directional light hot spot in described image；
S5: according between the light source and each directional light of practical spacing, each oblique light between each directional light
The figure between practical angle, each directional light hot spot between practical spacing and each oblique light and each directional light
As the image spacing between spacing and each oblique light hot spot and each directional light hot spot, calculation process obtains each described
The material position information of the material to be measured at the facula position of oblique light；
And/or when according to the material position of the material to be measured arrival preset height, in described image between each directional light hot spot
In image spacing, image spacing in described image between each directional light hot spot and each inclination hot spot, and
Image spacing, each directional light light in the real-time acquired image of described image acquisition component, between each directional light hot spot
Image spacing between spot and each oblique light hot spot, calculation process logic judgment go out the material to be measured whether reach it is described
Preset height；
S6: the consequential signal of the material position information and/or the logic judgment is exported.
20. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that
In the S1, select at least two directional light hot spots that are wherein located along the same line and at least one described in incline
Skew ray hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot, and defining any reference tilt light hot spot is first
It is respectively first flat with reference to directional light hot spot and the second reference that directional light hot spot is referred to described in reference tilt light hot spot, any two
Row light hot spot；
Then in the S2, described first is prestored with reference to the light of directional light hot spot and the light of the second reference directional light hot spot
The light of the light source of practical space D 1, the first reference tilt light hot spot between line and the first reference directional light hot spot
Or practical spacing T1, the first reference tilt light and first ginseng between the light of the second reference directional light hot spot
Directional light or described second is examined with reference to the practical angle theta between directional light；
In the S3: acquiring described first in real time with reference to directional light hot spot, described second with reference to directional light hot spot and described
The image of first reference tilt light hot spot；
In the S4: carrying out calculation process to described image, obtain described first with reference to directional light hot spot and second ginseng
Examine image space D 1 ', the first reference tilt light hot spot and first ginseng between directional light hot spot in described image
Directional light hot spot or described second is examined with reference to the image space D 2 ' between directional light hot spot in described image；
In the S5: obtaining described first according to the D1, the T1, the θ, the D1 ' and the D2 ' calculation process
The material position information of the material to be measured at reference tilt light facula position.
21. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that
In the S1, select at least two directional light hot spots that are wherein located along the same line and at least one described in incline
Skew ray hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；And defining any reference tilt light hot spot is first
It is respectively first flat with reference to directional light hot spot and the second reference that directional light hot spot is referred to described in reference tilt light hot spot, any two
Row light hot spot；
In the S2: when prestoring the material position arrival preset height h of the material to be measured, described first with reference to directional light hot spot
Light and second with reference to directional light hot spot light between image space D 1, the first reference tilt light hot spot and described the
One with reference to the image space D 2 between directional light hot spot or the second reference directional light hot spot；
In the S3: acquiring described first in real time with reference to directional light hot spot, described second with reference to directional light hot spot and described
The image of first reference tilt light hot spot；
In the S4: carrying out calculation process to described image, obtain described first with reference to directional light hot spot and second ginseng
It examines the image spacing between directional light hot spot and refers to directional light light for D1 ', the first reference tilt light hot spot and described first
Image spacing between spot or the second reference directional light hot spot is D2 '；
In the S5, if at a time, D1 '/D2 ' is equal to or more than the D1/D2, then calculation process logic judgment goes out
The material position of this moment described material to be measured reaches the h.
22. the method for the measurement material position of the machine vision level-sensing device according to claim 20 or 21, which is characterized in that described the
One reference tilt light hot spot, described first with reference to directional light hot spot and described second with reference to directional light hot spot be respectively positioned on it is described to
Survey the same controlling level of material.
23. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that if in the S1
In, it is in default angle to the surface of material projection at least two beam directional lights to be measured and at least two beams and each directional light
Oblique light；
Then in the S5, according to the light source of practical spacing, each oblique light between each directional light and each described flat
Practical spacing, each oblique light between row light and the practical angle between each directional light, each directional light hot spot
Between between image spacing, each oblique light hot spot and each directional light hot spot in described image in described image
Image spacing, calculation process obtains the surface slope information of the material to be measured；
It is in the S6, the material position information, the result of the logic judgment and/or the surface slope information signal is defeated
Out.
24. the method for machine vision level-sensing device measurement material position according to claim 23, which is characterized in that
In the S1, selection wherein be located at same straight line and along the inclined direction of the same inclined surface of material to be measured successively
At least two directional light hot spots and at least two oblique light hot spots of arrangement, which are used as, refers to directional light hot spot and reference
Oblique light hot spot, and define described in any two with reference to directional light hot spot be respectively first with reference to directional light hot spot and second reference
Reference tilt light hot spot described in directional light hot spot, any two is respectively the first reference tilt light hot spot and the second reference tilt light
Hot spot；
In the S2: prestoring described first with reference to the light of directional light hot spot and the light of the second reference directional light hot spot
Between practical space D 1, the first reference tilt light hot spot light source and it is described first with reference to directional light hot spot light or
The light source of practical spacing T1, the second reference tilt light hot spot between the light of the second reference directional light hot spot and institute
State first with reference to directional light hot spot light or described second with reference to directional light hot spot light between practical spacing T2, described
The light of first reference tilt light hot spot and described first refers to directional light light with reference to the light of directional light hot spot or described second
The light of practical angle theta 1, the second reference tilt light hot spot between the light of spot and described first refers to directional light hot spot
Light or it is described second with reference to directional light hot spot light between practical angle theta 2；
In the S3: acquisition described first refers to directional light hot spot, first reference tilt with reference to directional light hot spot, second
The image of light hot spot and the second reference tilt light hot spot；
In the S4: carrying out calculation process to described image and obtain described first with reference to directional light hot spot and second reference
Directional light hot spot image space D 1 ' on the image, the first reference tilt light hot spot are with described first with reference to parallel
Light hot spot or described second is with reference to directional light hot spot image space D 2 ' on the image, the second reference tilt light light
Spot and described first is with reference to directional light hot spot or the described second image space D 3 ' with reference to directional light hot spot on the image；
In the S5: according to the D1, the T1, the T2, the θ 1, the θ 2, the D1 ', the D2 ' and the D3
' calculation process obtains the surface slope information of the material to be measured.
25. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that if in the S1
In, it is in default angle to the surface of material projection at least four beam directional lights to be measured and at least two beams and each directional light
Oblique light；
Then in the S5, according to the light source of practical spacing, each oblique light between each directional light and each described flat
Practical spacing, each oblique light between row light and the practical angle between each directional light, the two-by-two directional light it
Between practical spacing between each plane for forming, the two-by-two difference in height between the light source of the oblique light, each directional light light
In described image between image spacing, each oblique light hot spot and each directional light hot spot in described image between spot
In image spacing, calculation process obtains the surface slope information of the material to be measured；
It is in the S6, the material position information, the result of the logic judgment and/or the surface slope information signal is defeated
Out.
26. the method for machine vision level-sensing device measurement material position according to claim 25, which is characterized in that
In the S1, selection wherein be located at first straight line, at least two directional light hot spots on the first controlling level and
At least one described oblique light hot spot and at least two directional light hot spots on second straight line, the second controlling level
It is used as with oblique light hot spot described at least one and refers to directional light hot spot and reference tilt light hot spot, and the first straight line and institute
State that second straight line is parallel, and defining described in any two being located in the first straight line with reference to directional light hot spot is respectively first
It is the first reference tilt light with reference to directional light hot spot and the second reference directional light hot spot, any one of reference tilt light hot spot
Hot spot, defining and referring to directional light hot spot described in any two being located in the second straight line is respectively third with reference to directional light light
Spot and the 4th reference directional light hot spot, any one of reference tilt light hot spot are the second reference tilt light hot spot；Described
One is flat with reference to directional light hot spot, the 4th reference with reference to directional light hot spot, the third with reference to directional light hot spot, described second
Row light hot spot, the first reference tilt light hot spot and the second reference tilt light hot spot are respectively positioned on the material to be measured
On same inclined surface, described first is constituted with reference to the light of directional light hot spot and the light of the second reference directional light hot spot
The first plane be parallel to the third with reference to directional light hot spot light and it is described 4th with reference to directional light hot spot light structure
At the second plane；
In the S2: prestoring described first with reference to the light of directional light hot spot and the light of the second reference directional light hot spot
Between practical space D 1, the third with reference to directional light hot spot light and it is described 4th with reference to directional light hot spot light it
Between practical space D 2, the first reference tilt light hot spot light source and it is described first with reference to directional light hot spot light or institute
State second with reference to directional light hot spot light between practical spacing T1, the second reference tilt light hot spot light source with it is described
Third with reference to directional light hot spot light or the described 4th with reference to directional light hot spot light between practical spacing T2, described the
The light of one reference tilt light hot spot and described first refers to directional light hot spot with reference to the light of directional light hot spot or described second
Light between practical angle theta 1, the second reference tilt light hot spot light and the third with reference to directional light hot spot
Practical angle theta 2, first plane and second plane between the light of light or the 4th reference directional light hot spot
Between practical spacing K, the first reference tilt light hot spot light source and the second reference tilt light hot spot light source it
Between difference in height Δ H；
In the S3: acquisition described first is referred to reference to directional light hot spot, described second with reference to directional light hot spot, the third
Directional light hot spot, the described 4th are with reference to directional light hot spot, the first reference tilt light hot spot and second reference tilt
The image of light hot spot；
In the S4: carrying out calculation process to described image and obtain described first with reference to directional light hot spot and second reference
Image space D 1 ', the third of directional light hot spot on the image are parallel with the 4th reference with reference to directional light hot spot
Image space D 2 ', the first reference tilt light hot spot and the first reference directional light light of light hot spot on the image
Spot or described second with reference to directional light hot spot image space D 3 ' on the image, the second reference tilt light hot spot with
The third is with reference to directional light hot spot or the described 4th image space D 4 ' with reference to directional light hot spot on the image；
In the S5: according to the D1, the D2, the T1, the T2, the θ 1, the θ 2, the K, the Δ H, institute
It states D1 ', the D2 ', the D3 ' and the D4 ' calculation process and obtains the surface slope information of the material to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610062643.8A CN105526993B (en) | 2016-01-29 | 2016-01-29 | Machine vision level-sensing device and its method for measuring material position |
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| CN201610062643.8A CN105526993B (en) | 2016-01-29 | 2016-01-29 | Machine vision level-sensing device and its method for measuring material position |
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| CN106248005A (en) * | 2016-10-16 | 2016-12-21 | 欧阳平 | A kind of optical measurement flatness and the method for gradient |
| TWI645166B (en) * | 2018-01-19 | 2018-12-21 | 友達晶材股份有限公司 | System for measuring a surface height of a liquid and method for measuring a surface height of a liquid |
| CN109540259B (en) * | 2018-11-07 | 2020-07-10 | 北京德普新源生态技术有限公司 | Method and system for monitoring material level of boiler stokehole bin |
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