Mine dump truck ore volume detection device and method based on linear laser scanning

Abstract

The invention discloses a mine dump truck ore volume detection device and method based on linear laser scanning. The device comprises a traffic lane, a camera, a horizontal support beam, vertical beams, a black light absorption plate, a cross beam, a linear green laser, a vertical support beam, an industrial personal computer and an optical scale. The traffic lane is horizontally and transverselyarranged on the ground. The vertical beams are arranged on the two sides of the traffic lane in the vertical direction. The cross beam is horizontally and longitudinally arranged at the top ends of the vertical beams. The vertical beams and the cross beam form a light curtain door. The black light absorption plate is arranged at one end of the cross beam. The linear green laser is arranged at thebottom of the middle position of the cross beam. The camera is arranged at the bottom of the horizontal support beam. The carriage ore volume is finally obtained through image acquisition, image extraction, image correction, area calculation and volume calculation by adopting a method of linear laser scanning assisted imaging and carriage ore contour image recognition. The mine dump truck ore volume detection device is novel in structure, reliable, practical and good in economy.

Description

technical field [0001] The invention relates to a mine dump truck ore volume detection device and method, in particular to a mining dump truck ore volume detection device and method based on linear laser scanning suitable for open-pit mine truck transportation. Background technique [0002] Mining dump trucks are the main equipment for vehicle transportation in large-scale open-pit mining areas at home and abroad, and are responsible for the important task of transporting ore and rock and soil. Mining dump trucks are mainly composed of the front, frame, compartment, wheels and attached power, braking, shock absorbing and buffering devices, etc. It has the characteristics of heavy weight, heavy load, and large volume, and is responsible for transporting ore and rock and soil. important task. [0003] Ore volume is an important parameter to measure the efficiency of mining dump trucks, the main basis for enterprises to formulate reasonable production and soil discharge tasks,...

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Problems solved by technology

[0004] However, the existing research still has the following problems: first, the method of estimating the ore volume by manual inspection obviously has a large error; The width and height of the vehicle are designed to limit the height and width of the vehicle, lack of resolution of the details of the vehicle outline, and the accuracy of the estimated ore volume is poor; third, the laser radar scan mainly uses a point light source to emit a laser beam. Detecting the reflected laser beam for ranging is limited by the working principle. The incident angle of the laser beam and the reflection characteristics of the target have a great influence on the result of the laser radar ranging. Therefore, the laser ranging is performing a single point on the target. The accuracy of distance measurement is high, but when scanning three-dimensional targets, especially for targets with obvious diffuse reflection characteristics such as car ore, it is difficult to guarantee the angular resolution in three-dimensional space, so it is difficult to detect ore in space. The accuracy of measurement is limited, and if multiple lidars are used to form a high-density radar array or a large-scale high-angle resolution three-dimensional lidar is used to scan mining trucks, it will lead to poor economics; fourth, the use of laser ranging and The combination of binocular vision distance measurement and the fusion of the point clouds obtained by the two can improve the recognition accuracy of the outer surface of the vehicle, which is essentially a redundant distance measurement, with high hardware investment and complex fusion algorithms. The economy and real-time performance of the application are not high

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