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

Abstract

The invention discloses an ore volume detection device and method for mine dump trucks based on linear laser scanning. Vertical support beams, industrial computers and optical scales, the driveway is arranged horizontally and horizontally on the ground, the vertical beams are arranged on both sides of the driveway along the vertical direction, and the beams are arranged on the top of the vertical beams along the horizontal and vertical directions, and the vertical beams and beams form a light curtain door , one end of the beam is equipped with a black light-absorbing plate, the bottom of the middle position of the beam is equipped with an in-line green laser, and the bottom of the horizontal support beam is equipped with a camera. The method of linear laser scanning auxiliary imaging and image recognition of the ore contour of the carriage is adopted. Through image acquisition, Image extraction, image correction, area calculation and volume calculation, and finally obtain the ore cubic meter of the carriage, which is novel in structure, reliable and practical, and economical.

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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