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Mobile crushing line material level intelligent measurement and control device and method based on binocular vision

An intelligent measurement and control device and binocular vision technology, applied in character and pattern recognition, image analysis, image enhancement, etc., can solve the problems of low material level measurement accuracy and high cost, and achieve fast processing speed, high accuracy and reliability and high practical effect

Pending Publication Date: 2022-08-05
XUZHOU XCMG MINING MACHINERY CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems existing in the above-mentioned prior art, the present invention provides a binocular vision-based intelligent measurement and control device and method for the material level of a mobile crushing line, which integrates machine vision technology, image processing algorithms and automatic control, and can solve the problem of low accuracy of existing material level measurement. , high cost and other issues, and has high real-time performance, easy to deploy, and can also adjust the feeding belt speed according to the material level information, realize automatic control, and improve production efficiency

Method used

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  • Mobile crushing line material level intelligent measurement and control device and method based on binocular vision
  • Mobile crushing line material level intelligent measurement and control device and method based on binocular vision
  • Mobile crushing line material level intelligent measurement and control device and method based on binocular vision

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Embodiment 1

[0066] like Figure 1-Figure 6 As shown in the figure, a mobile crushing line material level intelligent monitoring and control device based on binocular vision includes a crushing cavity 9 and a feeding belt 11 for conveying stones to the crushing cavity 9, and also includes a detection device bracket 1, a U-bolt 2, a binocular Visual inspection device 3, photosensitive chip 4, strip light source 5 and folding casing 6;

[0067] The fixing rod is installed on the crushing chamber 9 by welding, and is used to fix the detection device bracket 1; the detection device bracket 1 is fixed on the fixing rod through a plurality of U-shaped bolts 2 and nuts, and a sliding guide rail 1-1 is symmetrically installed on it; The bar-shaped light source 5 is fixed on the inner wall of the folding shell 6, and four bar-shaped light sources 5 are placed in total, which are used to illuminate the binocular vision system at night; To protect the binocular vision detection device 3; the photose...

Embodiment 2

[0072] like Figure 8 As shown in the figure, an intelligent measurement and control method for the material level of a mobile crushing line based on binocular vision includes the following steps:

[0073] The first step, material level depth detection based on binocular parallax principle

[0074] Step S1, calibration of internal and external parameters of the binocular camera:

[0075] Step S101, turn on the binocular camera to collect about 20 checkerboard images for calibration;

[0076] Step S102, based on Zhang Zhengyou's binocular camera stereo calibration algorithm, obtain the internal parameter matrix A of the binocular camera, the external parameters include the rotation matrix R and the translation matrix T of the right camera relative to the left camera, and the distortion parameters of the binocular camera (k1, k2,p1,p2,k3);

[0077] Step S2, the binocular camera is fixed on the top of the crushing chamber of the mobile crushing line to vertically and downwardl...

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Abstract

The invention discloses an intelligent measurement and control device and method for the material level of a mobile crushing line based on binocular vision, and the method comprises the steps: installing a binocular camera above a crushing cavity, and collecting a crushing cavity image pair through the binocular camera; distortion correction and stereo correction are carried out on the binocular image, then image preprocessing is carried out, and then a disparity map is obtained through an sgbm global matching stereo matching algorithm; solving three-dimensional information of each pixel by utilizing the parallax image, then drawing an ROI (Region of Interest), and solving a weighted average value of depth values in the ROI as material level information; finally, the material level of the crushing cavity is classified into a high material level, a normal material level and a low material level; and performing graded speed regulation control on the feeding belt according to the material level. The system is longer in service life, is not liable to break down, is better in flexibility and adaptability, and is high in reliability and practicality.

Description

technical field [0001] The invention relates to an intelligent measurement and control device and method for the material level of a mobile crushing line based on binocular vision, belonging to the fields of machine vision, stereo vision measurement and automatic control. Background technique [0002] Mineral resources are an important material basis for the survival of human society and an important guarantee for national security and economic development. As an important equipment of mining machinery, mobile crushing line is widely used in mining, cement, sand and gravel and many other industries to crush various mine rocks with medium and fine crushing pressure, such as iron ore, non-ferrous metal ore, sandstone, etc. The measurement of the material level in the crushing cavity of the mobile crushing line is directly related to the production efficiency of the whole machine. If there is too little material in the crushing cavity, the crushing efficiency of the crushing l...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/55G06T5/00G06T7/00G06T7/73G06V10/25G06V10/50
CPCG06T7/85G06T7/55G06T7/73G06T7/0004G06V10/25G06V10/507G06T2207/10028G06T2207/30108G06T2207/30208G06T2207/20228G06T5/80
Inventor 周公博冯敏樊学勇唐超权王东旭周坪李猛钢齐行森史仍笃
Owner XUZHOU XCMG MINING MACHINERY CO LTD