On-line detection device and method of mineral flotation froth flow velocity on the basis of three-dimensional visual information

Abstract

The invention discloses an on-line detection device and method of mineral flotation froth flow velocity on the basis of three-dimensional visual information. Kinect is adopted to obtain the color image and the depth information of forth to form the three-dimensional visual information of the forth. A current frame of image and a previous frame of image are subjected to characteristic point extraction and matching in an embedded heterogeneous multi-core processor, and a three-dimensional space coordinate of the image characteristic point is calculated by the pixel coordinate information and the depth information of the characteristic point and a pinhole projection imaging model. The three-dimensional space coordinate and the image acquisition rates of the matched characteristic points of two frames of images are used for calculating a movement rate, i.e., the froth flow velocity of the froth on three dimensionalities. The real-time on-line non-contact detection of the flotation cell froth flow velocity is realized, and the on-line detection device has the characteristics of being small in volume, high in mobility, low in power consumption, low in cost, high in detection speed and high in reliability, is especially suitable for the real-time on-line measurement of the field froth flow velocity index of mineral flotation, and is favorable for realizing the automatic monitoring of a flotation process so as to improve mineral separation efficiency.

Description

technical field [0001] The invention relates to the field of machine vision of foam images in the foam flotation process, in particular to an embedded device and method for online detection of foam flow velocity based on three-dimensional visual information. Background technique [0002] Foam flotation is the most widely used mineral processing method in the process of mineral production and processing. It uses the hydrophobic characteristics of the mineral itself or the hydrophobic characteristics obtained after the complex physical and chemical reactions of the flotation reagents to make the ore slurry have good buoyancy. Mineral particles adhere to air bubbles to form a mineralized foam layer consisting of gas, solid and liquid phases. The foam in the mineralized foam layer has strong fluidity and is easy to break. Its flow velocity in three dimensions of space can directly reflect the state of flotation foam, and the state of flotation foam directly determines the recove...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a method for measuring foam three-dimensional flow velocity based on three-dimensional visual information, which solves the problem that traditional flowmeters are difficult to measure foam flow velocity in a non-contact manner, cannot measure foam settling velocity, and can only measure the moving velocity of foam pixel points on a two-dimensional image plane. At the same time, it is proposed to build a flow rate measurement device based on an embedded platform, which has good mobility and reliability, and solves the problem that traditional PC-based machine vision systems are difficult to use in flotation plants with harsh working environments

Images