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Stone wall blasthole detecting and positioning device based on binocular vision and positioning method

A technology of binocular vision and positioning device, applied in the field of measurement and control, can solve the problems of high labor intensity, large surface area, surface morphology, high risk, and achieve the effect of improving real-time performance and reducing the amount of calculation.

Active Publication Date: 2015-01-21
山东越浩自动化设备有限公司
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Problems solved by technology

However, due to the high stone wall, large surface area and extremely irregular surface morphology in the field environment, artificial implantation of explosives is not only labor-intensive, inefficient, but also very dangerous. The distance between some holes and the operator on the equipment is too far, so that the equipment operators often miss or install many holes by mistake. Therefore, it is necessary to develop an automatic detection and positioning device for blast holes to provide the operator with empty position information and improve the safety of explosive implantation. Accuracy, reduce missing loading rate and operator's labor intensity

Method used

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  • Stone wall blasthole detecting and positioning device based on binocular vision and positioning method
  • Stone wall blasthole detecting and positioning device based on binocular vision and positioning method
  • Stone wall blasthole detecting and positioning device based on binocular vision and positioning method

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[0024] After two main cameras 1 and auxiliary cameras 2 in different orientations take images of blast holes at the same time, the images of blast holes are denoised and enhanced by conventional methods using image processing software, and the holes in the images are automatically segmented. Lock a hole as the current target hole, such as hole 2. Such as figure 2 shown.

[0025] Assume that the two-dimensional coordinates of the center of the target hole in the two camera images are P 1 (u,v) and P 2 (u',v'). At this time, if the parameters of the two cameras (such as focal length, resolution, etc.) are the same, and the optical axes of the two cameras are parallel, then the three-dimensional position of the target hole in the coordinate system C with camera 1 as the reference can be obtained through simple triangular relations. Coordinates (X,Y,Z).

[0026] according to image 3 The shown bi-objective calibration model diagram of the blast hole can be obtained as follo...

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Abstract

The invention provides a stone wall blasthole detecting and positioning device based on binocular vision and a positioning method. The device comprises a main video camera and an auxiliary video camera. The main video camera and the auxiliary video camera are mounted on a multi-joint movable manipulator and connected with an image acquisition card through signal lines. The image acquisition card and the multi-joint movable manipulator are connected with a computer through signal lines. According to the device, the main video camera is used for searching for, partitioning and locking a hole, and meanwhile the auxiliary video camera is used for photographing images and storing the images for standby application; after the target hole is locked through the computer, the image corresponding to the target hole in the auxiliary video camera is called and is combined with a target hole image obtained by the main video camera for binocular calibration, and then the current space coordinate position of the target hole relative to the working manipulator can be positioned.

Description

technical field [0001] The invention belongs to the technical field of measurement and control, and in particular relates to a binocular vision-based rock wall blast hole detection and positioning device and positioning method, that is, the same blast hole image is captured by two cameras at the same time, and the three-dimensional image of the target hole is obtained through image processing and calculation. coordinate. Background technique [0002] In large-scale civil engineering, it is usually necessary to blast the mountain body. Generally, holes are drilled on the stone wall at first, and then explosives are loaded. However, due to the high stone wall, large surface area and extremely irregular surface morphology in the field environment, artificial implantation of explosives is not only labor-intensive, inefficient, but also very dangerous. The distance between some holes and the operator on the equipment is too far, so that the equipment operators often miss or inst...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00F42D1/00
Inventor 陈从平黄正
Owner 山东越浩自动化设备有限公司
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