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

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...

AI Technical Summary

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 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 device for blast holes. Provide the operator with empty position information, improve the accuracy of explosive implantation, reduce the missing loading rate and the labor intensity of the operator

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