CN201653485U - Coal bunker level measurement device based on laser and binocular vision - Google Patents
Coal bunker level measurement device based on laser and binocular vision Download PDFInfo
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- CN201653485U CN201653485U CN2009202999607U CN200920299960U CN201653485U CN 201653485 U CN201653485 U CN 201653485U CN 2009202999607 U CN2009202999607 U CN 2009202999607U CN 200920299960 U CN200920299960 U CN 200920299960U CN 201653485 U CN201653485 U CN 201653485U
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Abstract
The utility model relates to a coal bunker level measurement device based on laser and binocular vision, which belongs to the field of machine vision and comprises a stereoscopic imaging portion, a stereoscopic visual processing portion, an illumination light source portion, a motor rotation portion and an explosion-proof portion. The stereoscopic imaging portion comprises two CCD cameras sharing the same parameter, two lenses with consistent parameters and one or more lasers, when one laser is used, the two CCD cameras and the laser are connected with the motor rotation portion via camera fixing frames so as to be driven to rotate circumferentially, and when multiple lasers are used, the two CCD cameras and the lasers are connected with an explosion-proof outer casing via the camera fixing frames. The stereoscopic visual processing portion is an embedded processor connected with the two CCD cameras, the lasers, the illumination light source portion and the motor rotation portion, and the illumination light source portion is connected with the explosion-proof outer casing via a light source fixing frame. The measurement device realizes stereoscopic measurement by combining advantages of active and passive vision, and avoids light spot loss effectively.
Description
Technical field
The utility model is a kind of coal bunker apparatus for measuring charge level based on laser and binocular vision, belongs to machine vision, measurement in space and automatic field, is used for the correct fast positional information that obtains the coal bunker material level.
Background technology
The detection of coal bunker material level is the important measures of Safety of Coal Mine Production, along with coal is sent into coal bunker continuously, the coal face is more and more littler from the distance at coal bunker top, as the untimely coal that stops, just might overflow, cause dump long-pending, thereby cause long-pending coal pile things on of rubber conveyer head and sealing-tape machine heavy load starting phenomenon, and then cause a series of major accidents; After if coal drops to the minimum material level of regulation, if untimely stopping to be unloaded coal, its following mouth structure is hit and destroys on the one hand, can guarantee bottom staff's safety on the other hand.Simultaneously, also can prevent to cause dust concentration sharply to increase, may cause blast, lead to coal mining accident owing to the flying upward of leaking out of causing of the distinguished and admirable negative pressure of bunker upper and lower opening and coal dust dust.The detection of coal bin coal position is extremely important, by the coal position of real-time detection coal bunker, grasps coal bunker coal storage situation, is convenient to control the amount of delivering coal of each sealing-tape machine, and the generation of having stopped coal bunker coal piling accident is removed a hidden danger, and realizes transporting safely production.
Coal bunker material level detection method commonly used at present has: Weight type, electric pole type, condenser type, machine rod-type, Weighing type, revolution wing wheel formula, radar type, ultrasonic type, laser type, nucleon formula etc.Wherein Weight type, electric pole type, condenser type, machine rod-type, Weighing type and revolution wing wheel formula belong to contact measurement method, and remaining is a contactless measurement.The most frequently used have based on the radio frequency capacitance technology, based on ultrasonic technology with based on three kinds of measuring methods of Radar Technology, based on radio frequency capacitance technology measuring method a radio frequency is sent on the probe, the variation by continuous analysis electric capacity realizes measuring; Utilize the mistiming of ultrasound wave transmission and acceptance to realize measuring based on the measuring method of ultrasonic technology; Utilize electromagnetic transmitted wave and reflection wave mistiming to realize measuring based on the measuring method of Radar Technology.
Chinese patent application numbers 200710038493.8, open day 2008.9.24, a kind of high confidence level method and device thereof of the contactless continuous coverage fine granularity material material level based on machine vision are disclosed, device is by the particular point light source, the image acquisition machine, compositions such as machine vision module, the high-luminance light circular image that the light beam that the collection of image acquisition machine is launched by pointolite forms on the material surface, adopt checking type light circle detection algorithm to analyze and handle by machine vision module, calculate bright dipping diameter of a circle or area size, and then obtain the material value, thereby realize the material measurement.
Chinese patent application number 01107328.4, open day 2002.11.6, a kind of digital video frequency level indicator is disclosed, by video input unit, image pick-up card, microprocessor and display screen etc. interconnect and form, video input unit is aimed at tested material, video input unit is connected to the video inputs of image pick-up card again, microprocessor control image pick-up card is gathered the material level image by the sampling period that the user sets, and image handled, the material level coordinate figure of analysis and the calibration gauge of demarcation are relatively calculated the material level actual value, simultaneously with the material level image, the variation tendency of material level actual value and this value is presented on the display screen.
The present coal bunker material level measuring method that exists has multiple, and these method and apparatus have following problem.
1) the contact measuring method is because probe contact material easily cling material and damage, and most of method measuring distance is also smaller, mostly the Weight type charge level sensor is mechanical, comprise that the display part total is very complicated, functional reliability is poor, easy break-down.
2) contactless measuring method, in case measuring head pollutes, measuring accuracy descends significantly, and these class methods generally require coal face regular shape, and inside surface is smooth, and it is bigger to measure the blind area, the measuring accuracy instability, when ripple was propagated in addition, humidity also influenced measuring accuracy in the storehouse in, and much method has certain requirement to the diameter and the depth ratio of coal bunker.
3) based on the distance-finding method of single camera because there are many analyticities of too many blind spot and image in imaging, as Fig. 7 real world 5 in different its 2D images of object is, measuring error is big;
4) precision is low, and when the space three-dimensional object scene projected to two dimensional image, same scenery differed greatly at the different points of view hypograph, and because inclement condition in the coal bunker, the geometric configuration of coal and physical characteristics, noise etc. are all by comprehensively in single gradation of image.From the image that comprises so many unfavorable factors, be difficult to try to achieve high-precision, depth information, cause very mistake probably.
5) initiative is poor; Because the high depth of coal bunker, particle degree difference unglazed, coal is very big, does not have obviously consistent feature, and initiative is poor.
6) be difficult for disposing, dispose, based on the vision system of PC, compare difficulty, and be difficult to realize the characteristic of Safety of Coal Mine Production in the extreme position that has of down-hole coal bunker.
In order to improve the initiative of coal bunker level gauging, high precision obtains the depth information of coal in the coal bunker in real time, and is easy to dispose, and the utility model provides a kind of coal bunker apparatus for measuring charge level based on laser and binocular vision.
Summary of the invention
The purpose of this utility model is to propose a kind of coal bunker apparatus for measuring charge level based on laser and binocular vision, and in order to improve the initiative of coal bunker level gauging, high precision obtains the depth information of coal in the coal bunker in real time, and is easy to dispose.It is subjected to the enlightenment of people's eyes observed range, utilizes lower-cost generating laser and two cameras, with the degree of depth of higher relatively precision measure coal bunker material level.
Aforementioned purpose of the present utility model will realize that described device comprises by a kind of coal bunker apparatus for measuring charge level based on laser and binocular vision proposed below: three-dimensional imaging part, stereopsis part, lighting source part, motor rotating part and flame proof part.
Three-dimensional imaging partly comprises one or more laser instruments and imaging moiety, and imaging moiety comprises that two have the CCD camera of identical parameters, the camera lens of two parameter unanimities.Laser instrument is used to produce laser beam, and the laser beam variable size; Laser instrument is made up of a plurality of laser beam emitting heads, determines to connect the quantity of laser beam emitting head according to the degree of depth of coal bunker; Image-generating unit is made up of with two consistent camera lenses of parameter the CCD camera of two parameter unanimities, and it is right to be used to obtain the light spot image that described laser beam forms on the coal face;
Stereopsis partly is a flush bonding processor, link to each other with two CCD cameras, acceptance to data, and utilizes described image log to it is calculated that at hot spot parallax in a pair of image from two CCD image of camera, and then calculates the actual range between coal face auto levelizer; Described flush bonding processor also with light source, laser instrument links to each other with motor, control light source, the work of laser instrument and motor.
The lighting source part is made up of led array, and the lighting source part links to each other with flameproof enclosure by light source fixing frame.Led array is divided into polycomponent and does not link to each other with above-mentioned flush bonding processor, the illumination when it is used to the camera images acquired is provided, and determine to connect the quantity of LED in the led array according to the degree of depth of coal bunker, thus make illumination a suitable scope.
The motor rotating part links to each other by the camera fixed mount with laser instrument with two CCD cameras, is subjected to its rotation can make two CCD cameras and laser instrument along circular motion.
When with a laser instrument, two CCD cameras link to each other with the motor rotating part by the camera fixed mount with laser instrument, are subjected to its rotation can be along circular motion.When with a plurality of laser instrument, two CCD cameras link to each other with flameproof enclosure by the camera fixed mount with laser instrument;
Flame proof partly comprises flameproof enclosure and high printing opacity form, links to each other with all the other each several parts by different fixed mounts, is used for realizing the requirement of explosion proof under the coal mine.
Described flush bonding processor mainly comprises:
Image fetching unit links to each other with two CCD cameras, is used to read two image of camera to data, and stores designated memory locations into.
Image storage unit is used for the image log certificate that the memory image reading unit reads, and according to the requirement of three-dimensional processing unit image log according to being input to processing unit.
Three-dimensional processing unit is used for two images are carried out pre-service, three-dimensional coupling and depth calculation.
Control module is used for controlling the quantity of light source igniting led array, is used for controlling Laser emission and closes, and is used for controlling two cameras and begins images acquired and stop to gather the processing of control sensor signal.
A kind of coal bunker apparatus for measuring charge level based on laser and binocular vision of the utility model has two kinds of working methods optional: real-time detecting pattern and pattern detecting sensor.
When being operated in real-time detecting pattern, can uneasyly load and unload the coal sensor and the sensor of coalingging;
When being operated in mode sensor, device must be installed the unload coal sensor and the sensor of coalingging;
The beneficial effects of the utility model are:
1) precision height, robustness is good.The binocular principle that the present invention utilizes the people to observe object utilizes matching algorithm efficiently to release the depth information of three-dimensional scene, and the precision height owing to can operation sensor only accept the light of certain band limits, has been got rid of a lot of external interference, and the robustness of measurement is good.
2) initiative is strong.Because the high depth of coal bunker, particle degree difference unglazed, coal is very big, does not have obviously consistent feature, utilizes laser spot that unified feature initiatively is provided, and reduces operand significantly, has good initiative.
3) be easy to dispose, the present invention adopts embedded architecture, adopts the multilayer circuit board design, and that can do is very little, in limited space, down-hole, is easy to dispose, and is easy to realize the requirement of explosion proof of mine safety.
4) favorable expandability.The present invention adopts embedded main the processing, and processor itself is integrated great amount of conventional interface is easy to expansion, so as with different equipment carry out mutual with communicate by letter.
Description of drawings
Fig. 1 is the utility model laser and binocular vision coal bunker material level apparatus for measuring charge level floor map during with a plurality of laser head;
Fig. 2 is the utility model laser and binocular vision coal bunker apparatus for measuring charge level floor map during with a laser head;
Fig. 3 is the utility model laser emitting module structural representation that is circular layout;
Fig. 4 is the block scheme of a kind of laser of the utility model and binocular vision coal bunker apparatus for measuring charge level.
Fig. 5 is the assembly front view fragmentary cross-sectional view of the utility model laser and binocular vision coal bunker apparatus for measuring charge level.
Fig. 6 is the front view sectional view of the utility model laser and binocular vision coal bunker apparatus for measuring charge level during with a plurality of laser instrument;
Fig. 7 is the front view sectional view of the utility model laser and binocular vision coal bunker apparatus for measuring charge level during with a plurality of laser instrument;
Embodiment
Below in conjunction with example listed in the accompanying drawing preferred embodiment of the present utility model is carried out illustrating in detail, wherein use similar Reference numeral to represent like.
Fig. 1 is the utility model laser and binocular vision coal bunker material level apparatus for measuring charge level floor map during with a plurality of laser head.As shown in Figure 1, coal bunker apparatus for measuring charge level of the present invention comprises the charge-coupled device (CCD) camera of a plurality of laser instrument 8, two parameter unanimities: camera 6 and camera 7, two parameters be camera lens always: camera lens 4 and camera lens 5, light source 3, flameproof enclosure 15 and shell form 16.When device was operated in optional working sensor pattern, device also comprised the coaling sensor 14 and the sensor 13 of unloading coal.Above-mentioned laser instrument 8 produces laser beam, and the size of laser beam is adjusted according to the degree of depth of coal bunker material level.One of described a plurality of laser instrument 818 each connection are connected successively until form suitable hot spot on the coal face; Described CCD camera 6 and CCD camera 7 obtain two width of cloth images by the same hot spot of taking laser beam simultaneously and forming on the coal face, it is right that two width of cloth images are formed image.Described light source 3 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described flameproof enclosure 15 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 16 wherein is high printing opacities.
Fig. 2 is the utility model laser and binocular vision coal bunker apparatus for measuring charge level floor map during with a laser head.As shown in Figure 2, coal bunker apparatus for measuring charge level of the present invention comprises the charge-coupled device (CCD) camera of laser instrument 8, two parameter unanimities: camera 6 and camera 7, two parameters be camera lens always: camera lens 4 and camera lens 5, light source 3, motor rotating mechanism 86, flameproof enclosure 15 and shell form 16.When device was operated in optional working sensor pattern, device also comprised the coaling sensor 14 and the sensor 13 of unloading coal.Above-mentioned laser instrument 8 produces laser beam, and the size of laser beam is adjusted according to the degree of depth of coal bunker material level.Described CCD camera 6 and CCD camera 7 obtain two width of cloth images by the same hot spot of taking laser beam simultaneously and forming on the coal face, it is right that two width of cloth images are formed image.Described light source 3 is made up of led array, lights the quantity of LED in the led array according to the degree of depth of coal bunker, for the image that obtains provides suitable illumination.Described motor rotating mechanism 86 drives laser instrument 8 rotations, until form suitable hot spot point on the coal face; Described flameproof enclosure 15 is to design in order to satisfy requirement of explosion proof under the coal mine, and the form of inlaying 16 wherein is high printing opacities.
Fig. 3 is the utility model laser head structural representation that is circular layout; As shown in Figure 3, laser instrument 8 of the present invention comprises laser emitting module shell 26, fixed mount 27 and generating laser 28.Above-mentioned laser emitting module shell 26 is used for fixing whole laser instrument 8.Described fixed mount 27 is used for fixing generating laser 28.Laser instrument 8 is made up of a plurality of generating lasers 28, according to the definite quantity of connecting generating laser 28 of the degree of depth of coal bunker, provides appropriate information to guarantee spot size.
Fig. 4 is the block scheme of a kind of laser of the utility model and binocular vision coal bunker apparatus for measuring charge level.As shown in Figure 4, above-mentioned laser instrument 8 emission of lasering beam of control module 25 controls, and according to above-mentioned generating laser 28 quantity of the definite connection of the degree of depth of coal bunker material level, and then the size of change laser beam; Realize the control of light-source brightness by the quantity of LED in the led array in the control connection light source 3; And during as optional working sensor pattern, the sensor 13 and the sensor 14 of coalingging carry out communication with unloading coal.Image fetching unit 21 described CCD cameras 6 of control and CCD camera 7 obtain the image of the hot spot point that is formed by laser beam on the coal face, thereby obtain a pair of image log certificate.Described CCD camera 6, CCD camera 7 and image fetching unit 21 according to being stored in the storage unit 23, and being used to the image log that obtains three-dimensional processing unit 24 and carrying out image pre-service, three-dimensional coupling and calculate the coal bunker material level degree of depth.
Fig. 5 is the assembly front view fragmentary cross-sectional view of the utility model laser and binocular vision coal bunker apparatus for measuring charge level.As shown in Figure 5, camera substrate 88 is connected with flameproof enclosure 15 screws with light source substrate 93; Light source 3 is connected with light source substrate 93 screws; Laser instrument 8 and camera fixed mount 92 interference fit; Camera 6 is connected with camera fixed mount 92 screws with camera 7; Camera lens 4 and camera 6 are threaded; Camera lens 5 and camera 7 are threaded; Motor 86 is connected with camera substrate 88 screws with motor fixing plate 87; Bearing holder (housing, cover) 90 is connected with camera substrate 88 screws; Bearing holder (housing, cover) 80 and bearing 91 interference fit; Camera fixed mount 92 is connected with rotating shaft 89 screws; The axle of motor 86 is connected with rotating shaft 89 keys;
Fig. 6 is the front view sectional view of the utility model laser and binocular vision coal bunker apparatus for measuring charge level during with a plurality of laser instrument; As shown in Figure 6, phase board 127 and light source platform 130 and flameproof enclosure 15 welding; Light source fixing frame 129 is connected with light source platform 130 screws; Light source 3 is connected with the light source fixing frame screw; Camera fixed mount 128 is connected with phase board 127 screws; Camera 6 is connected with camera fixed mount 128 screws with camera 7; Camera lens 4 and camera 6 are threaded; Camera lens 5 and camera 7 are threaded; A plurality of laser instrument 818 shells are connected with camera fixed mount 128 screws.
The front view sectional view of laser and binocular vision coal bunker apparatus for measuring charge level when Fig. 7 is a plurality of laser instrument of the utility model; As shown in Figure 7, a plurality of laser instruments 818 along the even or non-homogeneous layout of circumference, are connected a laser instrument by a plurality of laser instruments 8 at every turn, connect successively until form suitable hot spot point on the coal face; The a plurality of LED11 of light source 3 row form; Camera lens 4 and camera 6 are threaded; Camera lens 5 and camera 7 are threaded.
As mentioned above, the utility model provides a kind of coal bunker apparatus for measuring charge level based on laser and binocular vision.Its principle be laser emitting module as the active light source, on the coal face, form hot spot, ask for hot spot is realized the coal bunker material level at the parallax of two width of cloth camera images measurement by binocular vision.So the utility model utilizes generating laser and CCD camera simple in structure and that structure is cheap, make this coal bunker apparatus for measuring charge level use not only convenient but also economical.In addition, advantage of the present utility model is, owing to utilize laser as the active light source, on the coal face, form laser facula, efficiently solve the complicacy of coal bunker material level feature, make that the robustness of total system is good, because laser forms the hot spot point as the active light source on the coal face, lighting requirement to vision system reduces significantly, thereby has solved dark coal bunker illumination the biggest problem.
Although described embodiment more of the present utility model, for the people who is familiar with this area, be clearly, these embodiment are done multiple remodeling and do not cause disengaging principle of the present utility model and marrow; Appended claim and equivalent term thereof limit the utility model and ask for protection scope.
Claims (8)
1. the coal bunker apparatus for measuring charge level based on laser and binocular vision comprises: three-dimensional imaging part, stereopsis part, lighting source part, motor rotating part and flame proof part; Three-dimensional imaging partly comprises two camera lens and one or more laser instruments with the CCD camera of identical parameters, two parameter unanimities; When with a laser instrument, two CCD cameras link to each other with the motor rotating part by the camera fixed mount with laser instrument, and being subjected to it to rotate guiding can be along circular motion; When with a plurality of laser instrument, two CCD cameras link to each other with flameproof enclosure by the camera fixed mount with laser instrument; Stereopsis partly is a flush bonding processor, links to each other with laser instrument with two CCD cameras, and flush bonding processor links to each other with the motor rotating part with the lighting source part; The lighting source part links to each other with flameproof enclosure by light source fixing frame.
2. coal bunker apparatus for measuring charge level according to claim 1, it is characterized in that: described two CCD cameras are concentric with described two camera lenses respectively, and two optical center relative distances are called baseline, length is 120mm, guarantees the camera lens axis parallel by Precision Machining and small adjustment.
3. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described laser instrument is made up of a plurality of laser beam emitting heads, and a plurality of laser beam emitting heads are by circular compact Layout, and laser instrument is the module of essential safe type.
4. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described processor unit is a flush bonding processor, links to each other with the CCD camera, accepts to organize the data of two CCD cameras and carry out parallel processing.Described embedded processing also with light source, laser instrument links to each other with motor, control light source, the work of laser instrument and motor.
5. coal bunker apparatus for measuring charge level according to claim 1, it is characterized in that: described motor rotating mechanism links to each other with laser instrument with camera respectively with laser holder by the camera fixed mount, the motor rotating mechanism drives two-phase machine and laser instrument rotation by rotation, and the relative position of two cameras and laser is constant.
6. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described a plurality of laser instruments are along the even or non-homogeneous layout of circumference, and a plurality of laser instruments link to each other with flush bonding processor respectively.
7. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described flameproof enclosure with form is a flame proof, and form is high printing opacity.
8. coal bunker apparatus for measuring charge level according to claim 1 is characterized in that: described light source, along the even or non-homogeneous layout of circumference, a plurality of LED are divided into polycomponent and do not link to each other with above-mentioned flush bonding processor by a plurality of infrared LEDs.
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| CN2009202999607U CN201653485U (en) | 2009-12-22 | 2009-12-22 | Coal bunker level measurement device based on laser and binocular vision |
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| CN2009202999607U CN201653485U (en) | 2009-12-22 | 2009-12-22 | Coal bunker level measurement device based on laser and binocular vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698900A (en) * | 2016-02-25 | 2016-06-22 | 佛山市南海区广工大数控装备协同创新研究院 | Laser high-temperature liquid height measurement and control system and method |
| CN112698353A (en) * | 2020-12-31 | 2021-04-23 | 清华大学苏州汽车研究院（吴江） | Vehicle-mounted vision radar system combining structured line laser and inclined binocular |
| CN113566733A (en) * | 2021-06-29 | 2021-10-29 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
| CN114683545A (en) * | 2022-04-01 | 2022-07-01 | 深圳市智能派科技有限公司 | Photocuring 3D printer and printing method thereof |
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2009
- 2009-12-22 CN CN2009202999607U patent/CN201653485U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698900A (en) * | 2016-02-25 | 2016-06-22 | 佛山市南海区广工大数控装备协同创新研究院 | Laser high-temperature liquid height measurement and control system and method |
| CN105698900B (en) * | 2016-02-25 | 2019-02-19 | 佛山市南海区广工大数控装备协同创新研究院 | Laser high-temp liquid height TT&C system and method |
| CN112698353A (en) * | 2020-12-31 | 2021-04-23 | 清华大学苏州汽车研究院（吴江） | Vehicle-mounted vision radar system combining structured line laser and inclined binocular |
| CN113566733A (en) * | 2021-06-29 | 2021-10-29 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
| CN114683545A (en) * | 2022-04-01 | 2022-07-01 | 深圳市智能派科技有限公司 | Photocuring 3D printer and printing method thereof |
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Granted publication date: 20101124 Termination date: 20131222 |