Method for testing storage quantity of coal through stereoscopic vision

A technology of stereo vision and pan coal, applied in the field of stereo vision pan coal, can solve the problems of high equipment cost and long measurement time

Inactive Publication Date: 2005-10-26
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method can realize the automatic measurement of the coal yard, but this method needs to use large-scale equipment such as gantry cranes, and the equipment cost is high. At

Method used

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  • Method for testing storage quantity of coal through stereoscopic vision
  • Method for testing storage quantity of coal through stereoscopic vision
  • Method for testing storage quantity of coal through stereoscopic vision

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] A stereoscopic vision coal pan method for measuring coal storage in coal yards:

[0033] (1) Install a pair of cameras above the coal pile, adjust the cameras so that the optical axis of the cameras is perpendicular to the optical platform, and measure the distance Z between the optical center of the camera and the optical platform, take the point on the optical platform as a reference point, and use the camera to align It shoots and gets a set of points ((u 1 , v 1 ), (u 2 , v 2 ),......,(u n , v n )); then, move the camera for a distance d along the optical axis, and then shoot the optical platform to obtain the second set of points ((u 1 ’, v 1 ’), (u 2 ’, v 2 ’), ......, (u n ’, v n ’)), using the formula

[0034] Q ( u 1 ′ + k 1 ( u 1 ...

Embodiment 2

[0055] This embodiment adopts the following steps:

[0056] (1) Camera calibration: determine the relationship between the world coordinate system, camera coordinate system, and image coordinate system

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Abstract

The invention discloses a cubic visual method for detecting the storage of the coal field: first, equip the paired camera above the coal pile and measure the distance between the focal center and the photic platform; the camera moves along the photic axis and screens the coal piles referring to the center connecting line of the camera and the photic axis to get the pictures of the coal piles; get the theoretical pixel according to the pixel commutation of the coal pile pictures; calculate to obtain the coal pile pictures with the malformation removed and implement edge detecting; abstract the edge information; the area 9 of the edge point of the camera is the matching stencil; calculate the relative coefficient of the suited stencil and the sub-pictures covered by the stencil; select the conjugate point; fit the space curve face of the coal pile and calculate the size and the weight of the coal pile. The invention has high precision and low cost.

Description

technical field [0001] The invention adopts the principle of computer stereo vision to measure the coal storage amount of large coal field, and in particular relates to a method of coal panning with stereo vision. Background technique [0002] At present, coal in coal-fired power plants generally adopts manual measurement method, that is, bulldozers are used to shape the coal stored in the coal yard to make its appearance and shape approximate to a trapezoid, and then manual measurement is performed with theodolite and meter ruler, and simple calculation or estimation is based on experience. This method not only consumes a lot of working hours and manpower, but also the measurement is not accurate, which seriously restricts the modern management of enterprises. In recent years, for coal storage in large coal yards, some thermal power plants have used laser triangulation to measure coal yards. The laser triangulation distance measuring sensor is in...

Claims

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Application Information

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IPC IPC(8): G01B11/03
Inventor 孔明王式民汤强劲
Owner SOUTHEAST UNIV
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