A slag slice image segmentation method based on laser three-dimensional camera

Abstract

The invention provides a slag slice image segmentation method based on a laser three-dimensional camera. The method comprises the following steps: a feature extraction unit of the slag slice spatial information is composed of a plurality of scanning lines generated by the laser three-dimensional camera; the properties of slag slices are judged comprehensively by comprehensive height gradient, height mean and height gradient mean, and the binary image of slag slices is established according to the properties of slag slices. The binary images of slag slices are eroded and dilated respectively, and the non-slag slice regions are filtered based on the morphological characteristics of slag slices. The morphological features between the filtered connected domains are obtained, the blocked slag slices are filtered, and the segmented images of the unblocked surface slag slices are obtained. As that slag slice distribution spatial information obtain by the laser three-dimensional camera can avoid the influence of the uneven illumination on the image segmentation result, the slag slice image segmentation is realize by judging the slag slice shielding area based on the spatial height information, the slag slices shielded are eliminated, and the surface slag slices segmentation and the statistical accuracy of feature extraction are improved.

Description

technical field [0001] The invention relates to the technical field of tunnel excavation equipment construction, in particular to a method for segmenting slag slice images based on a laser three-dimensional camera, which is used for segmentation and feature extraction of slag slice information generated during the excavation process of a hard rock TBM. Background technique [0002] Hard rock tunnel boring machine (hereinafter referred to as hard rock TBM) is a large-scale high-tech construction equipment specially used for excavating rock tunnels and underground passages. The slag slice is the product of the direct action of the cutter head cutting the rock, so it contains a lot of rock mass information. The Chinese patent application with application number CN201621061653.1 proposes a slag film shooting device, but does not introduce how to extract information from the obtained slag film. The Chinese patent application with the application number CN201710222227.4 proposes ...

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Problems solved by technology

[0003] Aiming at the problems of uneven illumination and mutual stacking and blocking of slag images acquired by traditional CCD cameras, it brings great technical difficulty to the segmentation of slag images and subsequent feature extraction, and affects the technical problems of accuracy. The present invention proposes A slag image segmentation method based on a laser three-dimensional camera. The laser three-dimensional camera is used to obtain the spatial information of the slag, which is used to overcome the influence of light on the traditional CCD camera. Unhandled debris occlusion problem

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