Ore three-dimensional coordinate obtaining method and device based on mining process
A technology of three-dimensional coordinates and acquisition methods, which is applied in ground mining, underground mining, special mining, etc., can solve the problems of large labor consumption, low operation efficiency, and inaccurate position recognition, and achieve the effect of improving mining efficiency
Active Publication Date: 2020-01-17
WUYI UNIV
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[0002] At present, in the mining industry, most underground mine construction areas are not suitable for large-scale mining machines due to the narrow environmental space and rugged tunnel ground. If manual mining is used, it will consume a lot of labor and the operation efficiency is not high.
Therefore, a small mining robot has appeared on the market, which can realize automatic identification, movement and mining operations, but the mining robot on the market is not accurate enough to recognize the position of the ore, which will affect its mining operations
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[0032] This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.
[0033] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
[0034] I...
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The invention discloses an ore three-dimensional coordinate collection method and device based on a mining process. The method comprises the following steps: acquiring an ore picture; processing the ore picture by adopting a YOLACT algorithm and an NMS algorithm to obtain a prediction mask picture; drawing a rectangular frame according to the prediction mask graph, and obtaining two-dimensional coordinates of the ore through the rectangular frame; obtaining a color image and an infrared depth image; transmitting the color image to a pre-training model for recognition to obtain the contour of the object; selecting the contour of the target object, calculating the sum of the coordinates of the X axis and the Y axis of all points on the contour, and dividing the sum of the coordinates by thenumber of the points on the contour to obtain the gravity center of the target object; calculating the distance between the gravity center of the target object and the original point to obtain polar coordinates, and performing alignment through affine transformation to obtain the zoom scale of the color image in the infrared depth image; multiplying the length of the polar coordinates by the scaling to obtain points in the infrared depth map corresponding to the points in the color map so as to obtain depth information; and combining the two-dimensional coordinates and the depth information toobtain three-dimensional coordinates of the ore.
Description
technical field [0001] The invention relates to the technical field of mining, in particular to a mining process-based method for acquiring ore three-dimensional coordinates and a device thereof. Background technique [0002] At present, in the mining industry, most underground mine construction areas are not suitable for large-scale mining machines due to the narrow environmental space and rugged tunnel ground. If manual mining is used, it will consume a lot of labor and the operation efficiency is not high. . Therefore, a small mining robot has appeared on the market, which can realize automatic identification, movement and mining operations, but the mining robot on the market is not accurate enough for the position recognition of ore, which will affect its mining operations. Contents of the invention [0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and provide a mining process-based ore three-di...
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IPC IPC(8): G06T7/50G06T7/66G06V10/25G06V10/44G06V10/56
CPCG06T7/50G06T7/66G06T2207/20081G06T2207/10024G06T2207/10048E21C39/00E21C41/22G06V20/647G06V10/25G06V10/44G06V10/56G06V2201/07G06V10/82G06F18/2148G01V8/02
Inventor 曾军英李旭华秦传波韦凯天王璠姜晓伟何伟钊何俊华
Owner WUYI UNIV