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

A binocular vision and positioning device technology, applied in the field of measurement and control, can solve the problems of high risk, large surface area, low efficiency, etc., and achieve the effect of reducing risks

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, the shape of the hole is irregular and easily confused wi

Method used

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

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Example Embodiment

[0022] The following is an operation example of the present invention:

[0023] Through the translational movement of the manipulator 7, the camera 1 can capture images of the same aperture 6 from two different perspectives, and send the images to the computer through the capture card 2. Vision module 4 uses conventional image processing software operations such as denoising and enhancement to process the two images separately, search for the hole field in the image and lock one of the holes as the current target hole (such as hole 2), such as figure 2 Shown.

[0024] Process the image of the target hole through the image processing software in the vision module 4, and obtain its two-dimensional image coordinates P in the first and second perspectives respectively 1 (u,v) and P 2 (u′,v′), at this time, if the optical axis of the camera in the second angle of view is parallel to the optical axis of the camera in the first angle of view, the triangle relationship can be used to find ...

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Abstract

The invention discloses a stone wall blasthole detecting and positioning device based on virtual binocular vision and a positioning method. The device mainly comprises a vision module, a control module and an explosive implantation manipulator. According to the device, one video camera is utilized for conducting searching, partitioning and locking on a hole at different viewing angles; after the target hole is locked, a target hole image obtained at another angle is called and combined with a target hole image obtained before to conduct binocular calibration, coordinates obtained through calibration are converted to a coordinate system of a base of the manipulator, 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 detection and positioning device and positioning method for blast holes in rock walls based on virtual binocular vision. 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, the shape of the hole is irregular and easily confused with small stones, etc., so that the equipment operators often miss or install many holes by mistake, so it is necessary to develop an automatic detection and positioning de...

Claims

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Application Information

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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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