CN105526993A - Machine vision material level meter and method adopting same for material level measurement - Google Patents
Machine vision material level meter and method adopting same for material level measurement Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
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Abstract
The invention relates to the field of material level measurement and discloses a machine vision material level meter and a method adopting the same for material level measurement. The method comprises steps as follows: at least two beams of parallel light and at least one beam of oblique light forming a preset included angle with the parallel light are projected on the surface of a to-be-measured material by a light emitting assembly; an image collecting assembly is used for collecting images of parallel light spots and oblique light spots formed after the parallel light and the oblique light irradiate the surface of the to-be-measured material and sending the images to an arithmetic processor, the arithmetic processor performs arithmetic processing on the images according to known necessary information, and material level information is obtained. The influence of the imaging principle and factors such as zooming and the like of the image collecting assembly on image collection and calculation can be greatly eliminated, the calculation amount of the measurement is simplified, a large amount of calibration is not required, continuous material measurement of machine vision is truly realized, fixed-point monitoring of a measurement point can be realized, an inclination angle and the temperature of the material surface are acquired, real-time images of measurement space are acquired, the measurement is accurate, reliable and concise, and an algorithm is simple and efficient.
Description
Technical field
The present invention relates to level gauging field, particularly a kind of method of machine vision level-sensing device and measurement material level thereof.
Background technology
Along with the fast development of technology, the idea relying on Machine Vision Recognition and calculating to carry out level gauging and supervision is all the time extensively concerned, because Machine Vision Recognition not only can show height or the distance of material (object) in real time, the image of measuring object can be shown to user simultaneously, allow user can the monitoring supervision environment of " seeing is believing ".
But, machine vision level monitoring equipment for many years, in actual production and life, not by real a large amount of use and universal main cause, or because existing machine vision level monitoring apparatus and method for, the real situation in production scene cannot be met or measuring method cannot really realize in actual measurement.
Existing machine vision material level identification equipment and method are mainly divided into the following two kinds:
1, Direct Analysis judgement is carried out to measured material image, judge level of filler material.This kind of method directly gathers the image in material and measurement space, adopts the image prestored in realtime graphic and measuring equipment to contrast, and judges that image that realtime graphic is shown meets that image in height indicator, makes material level judgement.This kind of method, needs the material image prerecording and store each differing heights, and is stored in equipment.Height and the demarcation of image will be carried out in advance.
As Chinese Patent Application No. 01107328.4, publication date 2002.11.6, discloses a kind of digital video frequency level indicator,
This digital video frequency level indicator is interconnected by video input unit, image pick-up card, microprocessor and display screen and forms.Adopt
Machine vision technique detects solid-material level, its detect material level step be material level image acquisition, Digital Image Processing and point
Analyse, store display.Video input unit is aimed at tested material, and video input unit is connected to again the video of image pick-up card
Input end, Microprocessor S3C44B0X image pick-up card gathers material level image by the sampling period of user's setting, and enters this image
Row relax, compares the material level coordinate figure analyzed with the calibration gauge of demarcation and calculates material level actual value, simultaneously by material level figure
The variation tendency display of picture, material level actual value and this value on a display screen.Its Main Means measuring material level utilizes material
Reading on the calibration gauge that coordinate points place, position is demarcated obtains material level actual value.
Chinese Patent Application No. 99100675.5, publication date 2000.8.16, discloses a kind of defocus-focus distance measuring side
Method, espespecially a kind of object distance utilizing the method for image processing to do extensive angle measures, and namely utilizes a pair a certain specific range
For the camera lens of focal length, after obtaining the fuzzy image of actual scenery, recycle different inverse functions (defocusing the inverse function of function)
Convolution convert, be divided into some blocks, and the contrast of situation defocused to its block, by comparing result with pre-
The value of first trying to achieve compares obtains distance value, obtains with the estimated value of each point distance in the camera lens center of circle.
2, using a single point light source irradiation material, by judging the characteristics of image of single hot spot, judging level of filler material.This kind of method is by measuring the characteristics of image of single hot spot, indirect inspection level of filler material.
As: Chinese Patent Application No. 200710038493.8, publication date 2008.9.24, discloses a kind of based on machine vision
Material level measuring method and device, this device is made up of particular point light source, image acquisition machine, machine vision module etc.Adopt
Detect solid-material level with machine vision technique, its detection material level step is: by the special point being arranged on feed bin top
The light beam that light source is launched, is incident upon material surface, is the taper of isosceles from the vertical section of feed bin.High in difference
The level cross-sectionn of degree obtains the high-luminance light circular image of different-diameter, adopt checking type light circle by machine vision module
Detection algorithm carries out treatment and analysis, calculates the diameter of light source or size and then obtains material level value.Meanwhile, truly
The device of the on-the-spot real scene image of display material level.
China Patent No. 201010509916.1, a kind of contactless coal bin coal position photoelectric measurement method and device, provide a kind of contactless, based on the pixel count in image between laser facula imaging point and image center, obtain photoelectric measurement method and the device of material depth value in feed bin, belong to level gauging technical field.Be specially adapted to the depth survey of coal bin coal position.Apparatus of the present invention, at tubular coal bunker spindle top stationary digital camera and generating laser, make camera light path perpendicular to material surface, generating laser are arranged in the position from the horizontal by θ angle, guarantee to swash
The imaging region of light hot spot can be incident upon material within the scope of viewing field of camera on the surface.Camera adopts the segmentation of N shelves to focus, and all can absorb image clearly to meet at the different coal position place of coal bunker.Adopt DSP as processor cores, by calculating the pixel count between laser facula imaging point and image center, inquiring about the depthmeter of the corresponding different pixels number average of demarcating in advance, completing depth detection.
Existing machine vision recognition method above, cannot be by the reason really used, and have ignored video and vision facilities image-forming principle characteristic: even if the image of same area, under same imaging focal length parameter, from image acquisition equipment, more long-term plan picture is less; If consider that obtaining picture rich in detail needs zoom again, same area-graph picture image size in image acquisition equipment is more complicated and changeable.Therefore prior art, no matter by directly obtaining image or by image and pre-stored image comparative approach or the direct method calculating projected spot area or depart from pixel, all have ignored the more complicated Parameters variation that the basic image-forming principle of image acquisition equipment and image acquisition equipment zoom bring, all really cannot implement, also just cannot obtain material accurate water level.
Summary of the invention
Goal of the invention: for problems of the prior art, the invention provides a kind of method of machine vision level-sensing device and measurement material level thereof, can the impact that image is calculated of the factor such as removal of images obtaining widget image-forming principle and zoom, namely the continuous coverage to level of filler material can be realized, also can realize monitoring the fixed point of measurement point, also can measure the angle of inclination on material surface, measure accurate, reliable, method is succinct, and algorithm is simple and efficient.
Technical scheme: the invention provides a kind of machine vision level-sensing device, comprise light emitting members, image acquisition component, arithmetic processor and signal output component, described light emitting members and described image acquisition component are all arranged in the measurement space of material place to be measured, and described arithmetic processor connects described image acquisition component and described signal output component respectively, described light emitting members is for the oblique light in default angle to described material surface projection at least two bundle directional lights to be measured and at least a branch of and each described directional light, described image acquisition component is irradiated to the image of directional light hot spot that described material surface to be measured formed afterwards and oblique light hot spot for gathering each described directional light and each described oblique light, and described image is sent to described arithmetic processor, described arithmetic processor is used for according to the image pitch in described image and the image pitch between each described oblique light hot spot and each described directional light hot spot in described image between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, each described default angle, each described directional light hot spot, calculation process obtains the material level information of the material described to be measured at the facula position place of each described oblique light, and gives described signal output component by described material level information signal transmittal, and/or, when described arithmetic processor is used for arriving preset height according to the material level of described material to be measured, image pitch between each described directional light hot spot in described image, image pitch between each described directional light hot spot and each described inclination hot spot in described image, and described image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each described directional light hot spot and each described oblique light hot spot, calculation process Logic judgment goes out described material to be measured and whether arrives described preset height, and the consequential signal of described Logic judgment is transferred to described signal output component, described signal output component is used for the consequential signal of described material level information and/or described Logic judgment to export.
Preferably, in each described directional light hot spot and each described oblique light hot spot, two described directional light hot spots and a described oblique light hot spot is had at least to be positioned at same straight line.
Preferably, two that are located along the same line described in described directional light hot spots and described oblique light hot spot are all positioned at the same controlling level of described material to be measured.
Further, if described light emitting members is restrainted with each described directional light in the oblique light presetting angle to the directional light and at least two of described material surface projection at least two bundle to be measured; Then described arithmetic processor is according to the image pitch between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, each described default angle, each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured, and gives described signal output component by described surface slope information signal transmittal; The result of described material level information, described Logic judgment and/or described surface slope information signal export by described signal output component.
Preferably, in at least two described directional light hot spots and at least two described oblique light hot spots, at least two described directional light hot spots and at least two described oblique light hot spots are positioned at same straight line and vergence direction along the same inclined surface of described material to be measured is arranged in order.
Further, if described light emitting members is restrainted with each described directional light in the oblique light presetting angle to described material surface projection at least four bundle directional light to be measured and at least two, then described arithmetic processor is according to the actual pitch between each described directional light, actual pitch between each plane formed between described directional light between two, difference in height between the light source of described oblique light between two, actual pitch between the light source of each described oblique light and each described directional light, each described default angle, image pitch between each described directional light hot spot in described image and the image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured, and give described signal output component by described surface slope information signal transmittal, the result of described material level information, described Logic judgment and/or described surface slope information signal export by described signal output component.
Preferably, in at least four described directional light hot spots and at least two described oblique light hot spots, at least four described directional light hot spots and at least two described oblique light hot spots are all positioned at the same inclined surface of described material to be measured, and at least two described directional light hot spots and oblique light hot spot described at least one are positioned at the first straight line, on first controlling level, at least two described directional light hot spots and oblique light hot spot described at least one is also had to be positioned at the second straight line in addition, on second controlling level, the light being positioned at two described directional light hot spots on described first straight line forms the first plane, the light being positioned at two described directional light hot spots on described second straight line forms the second plane, described first plane is parallel with described second plane.
Further, described machine vision level-sensing device also comprises damping stabilizing means, and described damping stabilizing means effectively contacts with described light emitting members and/or described image acquisition component.
Preferably, described damping stabilizing means is mechanical passive type or gyroscope active control type.
Further, described machine vision level-sensing device also comprises dust-proof ash disposal parts, and described dust-proof ash disposal parts to be positioned near described image acquisition component and/or described light emitting members and to be connected with described arithmetic processor.
Preferably, described dust-proof ash disposal parts are gas purging mechanism or brusher motivation structure.
Further, described machine vision level-sensing device also comprises illuminace component, and described illuminace component is fixed on described material place internal tank to be measured and is connected with described arithmetic processor.
Preferably, described illuminace component is visible illumination equipment or infrared ray non-visible light light fixture.
Further, described machine vision level-sensing device also comprises temperature-measuring part that is infrared or Principles of Laser, for the temperature information on telemeasurement material surface, described temperature-measuring part is connected with described arithmetic processor, described temperature information is sent to described arithmetic processor by described temperature-measuring part, and described temperature information is exported by described signal output component by described arithmetic processor again.
Further, described light emitting members is also for projecting the fill-in light perpendicular to described directional light.
Further, described three-dimensional image also for carrying out the three-dimensional image that calculation process obtains described material to be measured to described image, and exports through described signal output component by described arithmetic processor.
Further, described image acquisition component is also for gathering flame or burning image, and flame or burning image are sent to described arithmetic processor, described arithmetic processor is also for controlling external alarm equipment alarm when receiving described flame or burning image, or described flame or burning image export through described signal output component by described arithmetic processor.
Described image acquisition component is also for gathering the ambient image in described measurement space further, and described ambient image is sent to described arithmetic processor, and described ambient image is exported by described signal output component by described arithmetic processor again.
Present invention also offers a kind of method that material level measured by machine vision level-sensing device, comprise following steps: S1: the oblique light in default angle to described material surface projection at least two bundle directional light to be measured and at least a branch of and each described directional light, each described directional light and each described oblique light are corresponding after being irradiated to described material surface to be measured forms directional light hot spot and oblique light hot spot; S2: the actual pitch between the light source of the actual pitch between each described directional light that prestores, each described oblique light and each described directional light and the actual angle between each described oblique light and each described directional light; Or, when the material level of the described material to be measured that prestores arrives preset height, the image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image; S3: the image gathering each described directional light hot spot and each described oblique light hot spot; S4: carry out calculation process to described image, obtains the image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image; S5: according to the image pitch between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light and the actual angle between each described oblique light and each described directional light, each described directional light hot spot and the image pitch between each described oblique light hot spot and each described directional light hot spot, calculation process obtains the material level information of the material described to be measured at the facula position place of each described oblique light; And/or, when arriving preset height according to the material level of described material to be measured, image pitch between each described directional light hot spot in described image, image pitch between each described directional light hot spot and each described inclination hot spot in described image, and described image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each described directional light hot spot and each described oblique light hot spot, calculation process Logic judgment goes out described material to be measured and whether arrives described preset height; S6: the consequential signal of described material level information and/or described Logic judgment is exported.
Preferably, in described S1, select at least two described directional light hot spots being wherein located along the same line and oblique light hot spot described at least one as with reference to directional light hot spot and reference tilt light hot spot, and define arbitrary described reference tilt light hot spot be the first reference tilt light hot spot, any two be describedly respectively first with reference to directional light hot spot and second with reference to directional light hot spot with reference to directional light hot spots; Then in described S2, the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, the light source of described first reference tilt light hot spot and described first are with reference to the actual angle theta between actual pitch T1, described first reference tilt light and the described first reference directional light between the light of directional light hot spot or the light of described second reference directional light hot spot or described second reference directional light; In described S3: the image of the first reference directional light hot spot, described second reference directional light hot spot and described first reference tilt light hot spot described in Real-time Collection; In described S4: calculation process is carried out to described image, obtain described first with reference to directional light hot spot and described second with reference to the image pitch D2 ' between the image pitch D1 ' between directional light hot spot in described image, described first reference tilt light hot spot and described first reference directional light hot spot or described second reference directional light hot spot in described image; In described S5: the material level information obtaining the material described to be measured at described first reference tilt light facula position place according to described D1, described T1, described θ, described D1 ' and described D2 ' calculation process.
Preferably, in described S1, at least two described directional light hot spots that selection is wherein located along the same line and oblique light hot spot described at least one are as reference directional light hot spot and reference tilt light hot spot; And define arbitrary described reference tilt light hot spot be the first reference tilt light hot spot, any two be describedly respectively first with reference to directional light hot spot and second with reference to directional light hot spot with reference to directional light hot spots; In described S2: when the material level of the described material to be measured that prestores arrives preset height h, the image pitch D1 between the light of described first reference directional light hot spot and the light of the second reference directional light hot spot, described first reference tilt light hot spot and described first are with reference to the image pitch D2 between directional light hot spot or described second reference directional light hot spot; In described S3: the image of the first reference directional light hot spot, described second reference directional light hot spot and described first reference tilt light hot spot described in Real-time Collection; In described S4: carry out calculation process to described image, the image pitch obtained between described first reference directional light hot spot and described second reference directional light hot spot is D1 ', described first reference tilt light hot spot and described first is D2 ' with reference to the image pitch between directional light hot spot or described second reference directional light hot spot; In described S5, if at a time, D1 '/D2 ' is equal to or greater than described D1/D2, then the material level that calculation process Logic judgment goes out described material to be measured this moment arrives described h.
Preferably, described first reference tilt light hot spot, described first is all positioned at the same controlling level of described material to be measured with reference to directional light hot spot and described second with reference to directional light hot spot.
Preferably, if in described S1, restraint with each described directional light in the oblique light presetting angle to described material surface projection at least two bundle directional light to be measured and at least two; Then in described S5, according to the image pitch in described image, the image pitch between each described oblique light hot spot and each described directional light hot spot in described image between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, the actual angle between each described oblique light and each described directional light, each described directional light hot spot, calculation process obtains the surface slope information of described material to be measured; In described S6, the result of described material level information, described Logic judgment and/or described surface slope information signal are exported.
Preferably, in described S1, select wherein to be positioned at same straight line and at least two the described directional light hot spots be arranged in order along the vergence direction of the same inclined surface of described material to be measured and at least two described oblique light hot spots as with reference to directional light hot spot and reference tilt light hot spot, and define any two and be describedly respectively first with reference to directional light hot spots and be respectively the first reference tilt light hot spot and the second reference tilt light hot spot with reference to directional light hot spot and the second reference directional light hot spot, any two described reference tilt light hot spots, in described S2: the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, the light source of described first reference tilt light hot spot and described first is with reference to the actual pitch T1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light source of described second reference tilt light hot spot and described first is with reference to the actual pitch T2 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described first reference tilt light hot spot and described first is with reference to the actual angle theta 1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described second reference tilt light hot spot and described first is with reference to the actual angle theta 2 between the light of directional light hot spot or the light of described second reference directional light hot spot, in described S3: the image gathering described first reference directional light hot spot, the second reference directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot, in described S4: calculation process is carried out to described image and obtains described first with reference to directional light hot spot and described second with reference to directional light hot spot image pitch D1 ' on the image, described first reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D2 ' on the image, described second reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D3 ' on the image, in described S5: the surface slope information obtaining described material to be measured according to described D1, described T1, described T2, described θ 1, described θ 2, described D1 ', described D2 ' and described D3 ' calculation process.
Preferably, if in described S1, restraint with each described directional light in the oblique light presetting angle to described material surface projection at least four bundle directional light to be measured and at least two, then in described S5, according to the actual pitch between each described directional light, actual pitch between the light source of each described oblique light and each described directional light, actual angle between each described oblique light and each described directional light, actual pitch between each plane formed between described directional light between two, difference in height between the light source of described oblique light between two, image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured, in described S6, the result of described material level information, described Logic judgment and/or described surface slope information signal are exported.
Preferably, in described S1, select wherein to be positioned at the first straight line, at least two on first controlling level described directional light hot spots and oblique light hot spot described at least one and be positioned at the second straight line, at least two on second controlling level described directional light hot spots and oblique light hot spot described at least one are as reference directional light hot spot and reference tilt light hot spot, and described first straight line and described second straight line parallel, and any two described reference directional light hot spots that definition is positioned on described first straight line are respectively first with reference to directional light hot spot and second with reference to directional light hot spot, reference tilt light hot spot described in any one is the first reference tilt light hot spot, any two described reference directional light hot spots that definition is positioned on described second straight line are respectively the 3rd with reference to directional light hot spot and the 4th with reference to directional light hot spot, reference tilt light hot spot described in any one is the second reference tilt light hot spot, described first reference directional light hot spot, described second is all positioned on the same inclined surface of described material to be measured with reference to directional light hot spot, described 3rd reference directional light hot spot, the described 4th with reference to directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot, and the first plane that the light of described first reference directional light hot spot and the light of described second reference directional light hot spot are formed is parallel to the described 3rd the second plane formed with reference to the light of directional light hot spot and the light of described 4th reference directional light hot spot, in described S2: the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, actual pitch D2 between the light of described 3rd reference directional light hot spot and the light of described 4th reference directional light hot spot, the light source of described first reference tilt light hot spot and described first is with reference to the actual pitch T1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light source of described second reference tilt light hot spot and the described 3rd is with reference to the actual pitch T2 between the light of directional light hot spot or the light of described 4th reference directional light hot spot, the light of described first reference tilt light hot spot and described first is with reference to the actual angle theta 1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described second reference tilt light hot spot and the described 3rd is with reference to the actual angle theta 2 between the light of directional light hot spot or the light of described 4th reference directional light hot spot, actual pitch K between described first plane and described second plane, difference in height Δ H between the light source of described first reference tilt light hot spot and the light source of described second reference tilt light hot spot, in described S3: the image gathering described first reference directional light hot spot, described second reference directional light hot spot, described 3rd reference directional light hot spot, described 4th reference directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot, in described S4: calculation process is carried out to described image and obtains described first with reference to directional light hot spot and described second with reference to directional light hot spot image pitch D1 ' on the image, described 3rd with reference to directional light hot spot and described 4th reference directional light hot spot image pitch D2 ' on the image, described first reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D3 ' on the image, described second reference tilt light hot spot and the described 3rd is with reference to directional light hot spot or described 4th reference directional light hot spot image pitch D4 ' on the image, in described S5: the surface slope information obtaining described material to be measured according to described D1, described D2, described T1, described T2, described θ 1, described θ 2, described K, described Δ H, described D1 ', described D2 ', described D3 ' and described D4 ' calculation process.
Beneficial effect: the directional light that in the present invention, light emitting members is launched, be equivalent to a scale, and the change of this scale on material surface with level of filler material remains unchanged substantially, oblique light hot spot simultaneously due to responsible measurement material level is collected in the light spot image of rear formation with the parallel hot spot as scale by image acquisition component, the both image change characteristics caused because of the factor such as image-forming principle and zoom be also basically identical, so after bringing this scale parameter in algorithm into, can the factor such as removal of images acquisition component image-forming principle and zoom having a strong impact on that image is calculated, by the cursor chi of this projection, the zoom of image acquisition component or other factors are eliminated substantially for the damaging influence of the measuring method in the present invention.
This level-sensing device has with the beneficial effect of measuring method:
1, the Measurement accuracy of machine vision to level of filler material is really realized;
2, without the need to carrying out a large amount of staking-out works such as scaling board demarcation;
3, the test constantly to level of filler material is really realized;
4, measuring accuracy is far above existing machine vision metrology method;
5, realize the measurement to material table face tilt situation, for application such as automatic blendings, there is very active influence;
6, presenting of material surface three-dimensional image can be realized;
7, the monitoring of material surface temperature, combustion case, real-time condition can be provided;
8, algorithm is succinctly efficient.
Accompanying drawing explanation
Fig. 1 is that the signal of machine vision level-sensing device in embodiment 1 flows to schematic diagram;
Fig. 2 is the generation type schematic diagram of directional light and oblique light in embodiment 1;
Fig. 3 is the generation type schematic diagram of directional light and oblique light in embodiment 1;
Schematic diagram when Fig. 4 is fill-in light and directional light and oblique light cross action in embodiment 6;
Fig. 5 is the method schematic diagram (material surfacing) calculating material level in embodiment 8;
Fig. 6 is the method schematic diagram (material table mask has degree of tilt) calculating material level in embodiment 8;
Fig. 7 is the method schematic diagram calculating material level in embodiment 8;
Fig. 8 is the method schematic diagram calculating material level in embodiment 9;
Fig. 9 is the method schematic diagram calculating material level in embodiment 10;
Figure 10 is the method schematic diagram calculating material level in embodiment 11;
Figure 11 is the method schematic diagram calculating material level in embodiment 12;
Figure 12 is the method schematic diagram calculating material level in embodiment 12;
Figure 13 is the method schematic diagram calculating material level in embodiment 13;
Figure 14 is the method schematic diagram calculating material level in embodiment 13.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Embodiment 1:
Present embodiments provide for a kind of machine vision level-sensing device, as shown in Figure 1, comprise light emitting members, image acquisition component, arithmetic processor and signal output component, light emitting members and image acquisition component are all arranged in the measurement space of material place to be measured, and arithmetic processor connects image acquisition component and signal output component respectively;
Light emitting members to be used for material to be measured surface projection at least two bundle perpendicular to the directional light of a certain xsect of material to be measured and at least a branch of and each directional light in the oblique light presetting angle;
Image acquisition component is irradiated to the image of directional light hot spot that material surface to be measured formed afterwards and oblique light hot spot for gathering each directional light and each oblique light, and image is sent to arithmetic processor;
Arithmetic processor is used for according to image pitch in the picture between the actual pitch between the light source of the actual pitch between each directional light, each oblique light and each directional light, each default angle, each directional light hot spot and image pitch in the picture between each oblique light hot spot and each directional light hot spot, calculation process obtains the material level information of the material to be measured at the facula position place of each oblique light, and by material level information signal transmittal to signal output component;
And/or, when arithmetic processor arrives preset height according to the material level of material to be measured, image pitch in the picture between each directional light hot spot, image pitch in the picture between each directional light hot spot and each inclination hot spot, and image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each directional light hot spot and each oblique light hot spot, calculation process Logic judgment goes out material to be measured and whether arrives preset height, and the consequential signal of Logic judgment is transferred to signal output component;
Signal output component is used for the consequential signal of material level information and/or Logic judgment to export.
In the present embodiment, shake due to work under bad environment in the course of the work to prevent light emitting members and/or image acquisition component, can be the two configuration damping stabilizing means, preferably use the damping part of mechanical passive type or gyroscope active control type; In addition, environment residing for material to be measured is usually more severe, dust is larger, the directional light launched in order to avoid the larger obstruction light emitting members of dust and oblique light, and hoodwink cannot gather image due to dust in order to avoid image acquisition component, near image acquisition component and/or light emitting members, dust-proof ash disposal parts are also provided with in present embodiment, this dust-proof ash disposal parts dextrorotation uses gas purging mechanism or brusher motivation structure, and these dust-proof ash disposal parts can be controlled automatically to open or close to run by arithmetic processor; Because image acquisition component has image real-time acquisition and supervisory function bit, and ambient light residing for material to be measured is general more dim, the easy image acquisition component that affects collects image clearly, so illuminace component can also be installed in space, material place to be measured in the present embodiment, visible illumination equipment or infrared ray non-visible light light fixture can be used.
Preferably, in the present embodiment, increase temperature-measuring part can also to machine vision level-sensing device, preferably use infrared or laser temperature-measuring parts, being arranged in space, material place to be measured, for measuring the temperature information on material surface; The temperature information measured can be sent to arithmetic processor by temperature-measuring part, and temperature information is exported by signal output component by arithmetic processor again.
Preferably, in the present embodiment, if light emitting members launch a lot of bundle directional light and much restraint oblique light, image acquisition component just can collect the image comprising some directional light hot spots and oblique light hot spot, after arithmetic processor carries out calculation process by the existing image processing techniques means of use to the image that these have some hot spots, just can obtain the three-dimensional image of determinand material, with more direct, material information be showed user.Arithmetic processor also can according to the material level information at multiple inclination hot spot place, multiple surficial inclination information, generates more than one comprehensive material level information or more than one comprehensive angle of inclination information or mean value through comprehensive calculation process.
Preferably, image acquisition component in present embodiment can also gather flame or burning image, and these images are sent to arithmetic processor, arithmetic processor just can judge after receiving these images again that in space, material place to be measured, material to be measured has caught fire, just can control alarm equipment alarm in real time or image is exported to user by signal output component, enable user learn field conditions in time, take measures in time; In addition, image acquisition component in present embodiment is except can collecting the image of directional light hot spot and oblique light hot spot, can also material condition environment real scene image to be measured in Real-time Collection measurement space, and by these image transmittings to arithmetic processor, to be exported through signal output component by arithmetic processor and understand material situation in measurement space more intuitively for user.
In addition, namely the directional light in present embodiment can be parallel light (as Fig. 2), also can be the parallel edges in light beam or parallel surface (as Fig. 3); Oblique light is but an oblique light ray (as Fig. 2), also can be an inclined side or dip plane (as Fig. 3) in light beam.
It is emphasized that in addition: directional light is truly difficult to real realization in reality, the directional light in present embodiment also includes within the scope of measurement space that it disperses the negligible light close to directional light of impact for this measuring method close to the light of real directional light or in measurement range.
Embodiment 2:
Present embodiment is a specific embodiment of embodiment 1, in the present embodiment, light emitting members and image acquisition component are all arranged on material place to be measured container top, light emitting members to be used for material to be measured surface projection two bundle perpendicular to the directional light of a certain xsect of material to be measured and a branch of and any a branch of directional light in the oblique light presetting angle, and two bundle directional lights and a branch of oblique light be irradiated to material to be measured on the surface after, two corresponding directional light hot spots and an oblique light hot spot are located along the same line;
Arithmetic processor be used for according to the light source of the actual pitch between two directional lights, oblique light and and its in the actual pitch between the directional light presetting angle, to preset between angle, two directional light hot spots image pitch in the picture and oblique light hot spot and and it is in image pitch in the picture between the directional light hot spot presetting angle, calculation process obtains the material level information of the material to be measured at the facula position place of oblique light, and by material level information signal transmittal to signal output component.
And/or, when arithmetic processor is used for arriving preset height according to the material level of material to be measured, image pitch in the picture between two directional light hot spots, image pitch in the picture between two directional light hot spots and inclination hot spot, and image acquisition component Real-time Collection to image in, image pitch between each two directional light hot spots, the image pitch between two directional light hot spots and oblique light hot spot, calculation process Logic judgment goes out material to be measured and whether arrives preset height, and the consequential signal of Logic judgment is transferred to signal output component.
In addition, present embodiment is identical with embodiment 1, does not repeat herein.
Embodiment 3:
Present embodiment is the further improvement of embodiment 2, main improvements are, in embodiment 2, two directional light hot spots and an oblique light hot spot are located along the same line, but when material surface has the gradient not to be plane, the very possible residing level of filler material height of three hot spots be located along the same line is different, when gathering the image of three in this case from top to bottom, when being easy to cause because the position of three hot spot range image acquisition component is different gathering image, the focal length of three hot spots is different, and then cause the image pitch of three in the image that collects can not be completely corresponding with actual pitch, and then the material level information out of true causing the process of subsequent arithmetic processor calculating to obtain, so in the present embodiment, can select to be positioned at same straight line and two the directional light hot spots be positioned on same controlling level and oblique light hot spot as the acquisition target of image acquisition component, this makes it possible to ensure that the height of three's range image acquisition component is identical, and then focal length is identical during collection image, the image collected can not distortion, the actual positional relationship between three can be reflected more exactly, final arithmetic processor to this accurately image procossing obtain accurate material level information and/or Logic judgment result.
In addition, present embodiment is identical with embodiment 2, does not repeat herein.
Embodiment 4:
Present embodiment is roughly the same with embodiment 1, the key distinction is: in embodiment 1, light emitting members launches at least two bundle directional light and at least a branch of oblique light, by projecting the collection of the light spot image on material to be measured to directional light and oblique light, and the controlling level information of the material to be measured at oblique light facula position place after calculation process is carried out to image, can be obtained, and/or, when preset height is arrived to material and carries out Logic judgment; But at the scene in environment, generally there is certain slope on the surface of material, the height of different gradient place material level is different, and the height only measuring some points on material to be measured also far away can not the overall material level feature of reflection material, can not carry out omnibearing monitoring to the material level of material to be measured; And can not only monitor any controlling level of material table face to be measured in the present embodiment, and can the surface slope of material to be measured be monitored, to monitor the material level information of material to be measured more comprehensively intuitively.
Specifically, in the present embodiment, light emitting members can be restrainted with each directional light in the oblique light presetting angle to material surface projection at least two bundle to be measured perpendicular to the directional light and at least two of material xsect to be measured, the surface that above-mentioned directional light and oblique light are irradiated to material to be measured is formed after hot spot, and at least two directional light hot spots and at least one oblique light hot spot are located along the same line and vergence direction along the same inclined surface of material to be measured is arranged in order, image acquisition component gathers above-mentioned being located along the same line and the image of at least two the directional light hot spots be arranged in order along the vergence direction of the same inclined surface of material to be measured and at least one oblique light hot spot, and send to arithmetic processor, arithmetic processor is again according to the actual pitch between each directional light, actual pitch between the light source of each oblique light and each directional light, each default angle, image pitch in the picture and image pitch in the picture between each oblique light hot spot and each directional light hot spot between each directional light hot spot, calculation process obtains the surface slope information of material to be measured, obviously, while acquisition surface slope information, the Logic judgment result that the material level information at each oblique light facula position place and material level reach a certain preset height also can be obtained.
In addition, present embodiment is identical with embodiment 1, does not repeat herein.
Embodiment 5:
Present embodiment is roughly the same with embodiment 4, the key distinction is that the mode obtaining material table plane inclination is different, and the precision of the material table plane inclination got in present embodiment is higher, because when there is a gradient on material surface, be positioned at the level of filler material height residing for each hot spot that the same inclined surface of same straight line is arranged in order from top to bottom different, when gathering the image of each hot spot in this case from top to bottom, when being easy to cause because the position of each hot spot range image acquisition component is different gathering image, the focal length of each hot spot is different, and then cause the image pitch of each hot spot in the image that collects can not be completely corresponding with actual pitch, and then the material level information out of true causing the process of subsequent arithmetic processor calculating to obtain, and above-mentioned error can be avoided in the present embodiment.
Specifically, in the present embodiment, light emitting members can be restrainted with each directional light in the oblique light presetting angle to material surface projection at least four bundle to be measured perpendicular to the directional light and at least two of material xsect to be measured, after above-mentioned directional light and oblique light are irradiated to the surface formation hot spot of material to be measured, at least four directional light hot spots and at least two oblique light hot spots are all positioned on the same inclined surface of material to be measured, and wherein at least two directional light hot spots and at least one oblique light hot spot are positioned at the first straight line, on first controlling level, at least two directional light hot spots and at least one oblique light hot spot is also had to be positioned at the second straight line in addition, on second controlling level, and the light being positioned at two directional light hot spots on the first straight line forms the first plane, the light being positioned at two directional light hot spots on the second straight line forms the second plane, image acquisition component gathers above-mentioned first straight line, on first controlling level and the second straight line, the image of six hot spots on the second controlling level also sends to arithmetic processor, arithmetic processor is again according to the actual pitch between each directional light, actual pitch between the light source of each oblique light and each directional light, each default angle, actual pitch between each plane formed between directional light between two, difference in height between the light source of oblique light between two, image pitch in the picture and image pitch in the picture between each oblique light hot spot and each directional light hot spot between each directional light hot spot, calculation process obtains the surface slope information of material to be measured, obviously, while acquisition surface slope information, the Logic judgment result that the material level information at each oblique light facula position place and material level reach a certain preset height also can be obtained.
Visible, can ensure that the height of each hot spot range image acquisition component for calculation process be located along the same line is identical in these cases, and then focal length is identical during collection image, the image collected can not distortion, the actual positional relationship between each hot spot can be reflected more exactly, finally obtain material level information more accurately.
Embodiment 6:
Present embodiment is the further improvement of embodiment 1, main improvements are, in the present embodiment, light emitting members is not only for projecting directional light and oblique light, also for projecting the fill-in light perpendicular to directional light, the effect of this fill-in light is in order to assistant images acquisition component collects light spot image, because the dust in space, usual material place to be measured is larger, dust has scattering process to directional light and oblique light, after directional light and oblique light arrive material surface, may be very unintelligible due to the cause hot spot that dust is larger, if now directly use image acquisition component to gather light spot image, the image collected can be smudgy, follow-up operation result error finally can be caused larger, level of filler material degree of accuracy is lower,
For these reasons, the function of launching fill-in light is provided with in the present embodiment to light emitting members, fill-in light is perpendicular to directional light, and fill-in light can produce point of crossing with directional light and oblique light, as Fig. 4, its benefit is: 1, the light at this point of crossing place is compared to not having point of crossing place strong, thus this point of crossing project material surface to be measured after hot spot brightness can strengthen, thus can ensure that image acquisition component collects light spot image more clearly; As long as 2, arithmetic processor gathers two or more spot on fill-in light hot spot, directional light hot spot and/or oblique light hot spot place straight line, just can calculate place straight line, further arithmetic processor can calculate the point of crossing of fill-in light and directional light and oblique light thus obtain the key feature information needed for calculating, and then the material level information obtaining accurate material to be measured for subsequent arithmetic process has done preparation.
Embodiment 7:
Present embodiments provide for a kind of method using the machine vision level-sensing device in embodiment 1 to measure material level, the method comprises the following steps:
S1: to material to be measured surface projection at least two bundle perpendicular to the directional light of a certain xsect of material to be measured and at least a branch of and each directional light in the oblique light presetting angle, each directional light and each oblique light are corresponding after being irradiated to material surface to be measured forms directional light hot spot and oblique light hot spot;
S2: the actual pitch between the light source of the actual pitch between each directional light that prestores, each oblique light and each directional light and the actual angle between each oblique light and xsect;
Or, prestore material to be measured material level arrive preset height time, image pitch in the picture between each directional light hot spot, image pitch in the picture between each directional light hot spot and each inclination hot spot, and image acquisition component Real-time Collection to image in, the image pitch between each directional light hot spot, image pitch between each directional light hot spot and each oblique light hot spot;
S3: the image gathering each directional light hot spot and each oblique light hot spot;
S4: carry out calculation process to image, to obtain between each directional light hot spot image pitch in the picture, image pitch in the picture between each oblique light hot spot and each directional light hot spot;
S5: according to the image pitch between the actual pitch between the light source of the actual pitch between each directional light, each oblique light and each directional light and the actual angle between each oblique light and each directional light, each directional light hot spot, image pitch between each oblique light hot spot and each directional light hot spot, calculation process obtains the material level information of the material to be measured at the facula position place of each oblique light;
And/or, according to image pitch in the picture between each directional light hot spot, image pitch in the picture between each directional light hot spot and each inclination hot spot, and image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each directional light hot spot and each oblique light hot spot, calculation process Logic judgment goes out material to be measured and whether arrives preset height;
S6: the consequential signal of material level information and/or Logic judgment is exported.
Embodiment 8:
Present embodiment is a specific embodiment of embodiment 7, and the present embodiment comprises following steps:
S1, to material to be measured surface projection at least two bundle perpendicular to the directional light of a certain xsect of material to be measured and at least a branch of and each directional light in the oblique light presetting angle, each directional light and each oblique light are corresponding after being irradiated to material surface to be measured forms directional light hot spot and oblique light hot spot; At least two directional light hot spots that selection is wherein located along the same line and at least one oblique light hot spot are as reference directional light hot spot and reference tilt light hot spot;
As shown in Fig. 5,6 and 7, the reference tilt light hot spot A that definition is located along the same line is the first reference tilt light hot spot, two references directional light hot spot (B and C) are respectively first with reference to directional light hot spot and second with reference to directional light hot spot (now A, B and C tri-hot spots are arranged in order); Wherein S1, S2 and S3 are respectively the light source, first of the first reference tilt light hot spot A with reference to the light source of directional light hot spot B and the light source of the second reference directional light hot spot B.
S2, prestore first with reference to directional light hot spot B light S2B and second with reference to directional light hot spot C light S3C between actual pitch D1, the first reference tilt light hot spot A light source and second with reference to directional light hot spot C light between actual pitch T1, the first reference tilt light S1A and second with reference to the actual angle theta between directional light S3C; (note: actual pitch mentioned here is not the vertical range of the point on ordinary meaning to line, but the interplanar spacing seen from top to bottom, because each light source in Fig. 2 and image acquisition component are all positioned at above material to be measured, so above-mentioned D1 and T1 is from the downward observable plan range of image acquisition component, about the explanation of actual pitch in below describing, if no special instructions, equivalent in meaning with here)
S3: Real-time Collection first is with reference to the image of directional light hot spot B, the second reference directional light hot spot C and the first reference tilt light hot spot A;
S4: calculation process is carried out to epigraph, obtain first with reference to directional light hot spot B and second with reference to image pitch D1 ', the first reference tilt light hot spot A in the picture between directional light hot spot C and second with reference to image pitch D2 ' in the picture between directional light hot spot C;
S5: the material level information obtaining the material to be measured of the first reference tilt light hot spot A position according to D1, T1, θ, D1 ' and D2 ' calculation process.
The material level information of material to be measured represents with the spacing HA between the light source S1 of the first reference tilt light hot spot A to the first reference tilt light hot spot A herein, then HA=(D2 ' * D1/D1 '-T1)/tan θ;
As Fig. 7, if T1 be the first reference tilt light hot spot A light source and first with reference to directional light hot spot B light between actual pitch, θ be the first reference tilt light S1A and first with reference to the actual angle between directional light S2B, D2 ' be the first reference tilt light hot spot A and first with reference to image pitch in the picture between directional light hot spot B, then HA=(T1-D2 ' * D1/D1 ')/tan θ;
So the formula calculating HA can be summarized as HA=|D2 ' * D1/D1 '-T1|/tan θ;
S6: above-mentioned HA signal is exported.
Embodiment 9:
Present embodiment is the further improvement of embodiment 8, main improvements are, in embodiment 8, first reference tilt light hot spot A, first is only located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second, this straight line may be the straight line gone down along the gradient in material surface to be measured, now A, B and C 3 is located in different controlling level places, as Fig. 6 or 7, when gathering the image of three in this case from top to bottom, when being easy to cause because the position of three hot spot range image acquisition component is different gathering image, the focal length of three hot spots is different, and then cause the image pitch of three in the image that collects can not be completely corresponding with actual pitch, and then the material level information out of true causing the process of subsequent arithmetic processor calculating to obtain.And the first reference tilt light hot spot A, first in present embodiment is not only located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second, and be positioned at the same controlling level of material to be measured, as shown in Figure 8, just can ensure that the height of three's range image acquisition component is identical in this case, and then focal length is identical during collection image, the image collected can not distortion, can reflect the actual positional relationship between three more exactly.
In addition, because the formula and other technical characteristic calculating HA in present embodiment is identical with embodiment 8, so do not repeat herein.
Embodiment 10:
Present embodiment is also a specific embodiment of embodiment 7, and the present embodiment comprises following steps:
S1, to material to be measured surface projection at least two bundle perpendicular to the directional light of a certain xsect of material to be measured and at least a branch of and each directional light in the oblique light presetting angle, each directional light and each oblique light are corresponding after being irradiated to material surface to be measured forms directional light hot spot and oblique light hot spot; At least two directional light hot spots that selection is wherein located along the same line and at least one oblique light hot spot are as reference directional light hot spot and reference tilt light hot spot;
As shown in Figure 9, the reference tilt light hot spot A that definition is located along the same line is the first reference tilt light hot spot, two references directional light hot spot (B and C) are respectively first with reference to directional light hot spot and second with reference to directional light hot spot; Wherein S1, S2 and S3 are respectively the light source, first of the first reference tilt light hot spot A with reference to the light source of directional light hot spot B and the light source of the second reference directional light hot spot B;
Image pitch D1, the first reference tilt light hot spot A and first between the light S3C of light S2B and the second reference directional light hot spot C of S2: when the material level of the material to be measured that prestores arrives preset height h, the first reference directional light hot spot B are with reference to the image pitch D2 between directional light hot spot B;
S3: Real-time Collection first is with reference to the image of directional light hot spot B, the second reference directional light hot spot C and the first reference tilt light hot spot A;
S4: calculation process is carried out to above-mentioned image, the image pitch obtained between the first reference directional light hot spot B and second reference directional light hot spot C is D1 ', the first reference tilt light hot spot A and first is D2 ' with reference to the image pitch between directional light hot spot B;
S5, if at a time, D1 '/D2 ' is equal to or greater than D1/D2, then calculation process Logic judgment goes out the material level arrival h of material to be measured this moment.
S6: the consequential signal of above-mentioned Logic judgment is exported.
Embodiment 11:
Present embodiment is the further improvement of embodiment 10, main improvements are, in embodiment 10, first reference tilt light hot spot A, first is only located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second, this straight line may be the straight line gone down along the vergence direction on material surface to be measured, now A, B and C 3 is located in different controlling level places, as Fig. 9, when gathering the image of three in this case from top to bottom, when being easy to cause because the position of three hot spot range image acquisition component is different gathering image, the focal length of three hot spots is different, and then cause the image pitch of three in the image that collects can not be completely corresponding with actual pitch, and then the D1 '/D2 ' causing the process of subsequent arithmetic processor calculating to obtain can not be completely corresponding with D1/D2.And the first reference tilt light hot spot A, first in present embodiment is not only located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second, and be positioned at the same controlling level of material to be measured, as shown in Figure 10, just can ensure that the height of three's range image acquisition component is identical in this case, and then focal length is identical during collection image, the image collected can not distortion, can reflect the actual positional relationship between three more exactly.
In addition, present embodiment is identical with embodiment 10, so do not repeat herein.
Embodiment 12:
Present embodiment is also a specific embodiment of embodiment 7, and the present embodiment comprises following steps:
S1, restraint with each directional light in the oblique light presetting angle to material surface projection at least two bundle to be measured perpendicular to the directional light and at least two of a certain xsect of material to be measured, each directional light and each oblique light be corresponding formation directional light hot spot and oblique light hot spot after being irradiated to material surface to be measured; Select wherein to be positioned at same straight line and at least two the directional light hot spots be arranged in order along the vergence direction of the same inclined surface of material to be measured and at least two oblique light hot spots as reference directional light hot spot and reference tilt light hot spot;
As shown in figure 11, definition be positioned at same straight line and two that are arranged in order along the vergence direction of the same inclined surface of material to be measured with reference to directional light hot spots be respectively first with reference to directional light hot spot C and second with reference to directional light hot spot D, two reference tilt light hot spots be respectively the first reference tilt light hot spot A and the second reference tilt light hot spot B(now C, A, D and B tetra-hot spots be arranged in order); Wherein S1, S2, S3 and S4 be respectively the light source of the first reference tilt light hot spot A, the second reference tilt light hot spot B light source, first with reference to the light source and second of directional light hot spot C with reference to the light source of directional light hot spot D;
S2: the actual pitch D1 between the light S4D of light S3C and the second reference directional light hot spot D of the first reference directional light hot spot C that prestores, actual pitch T1 between the light S3C of the light source S1 of the first reference tilt light hot spot A and first reference directional light hot spot C, actual pitch T2 between the light S4D of the light source S2 of the second reference tilt light hot spot B and second reference directional light hot spot D, actual angle theta 1 between the light S3C of the light S1A of the first reference tilt light hot spot A and first reference directional light hot spot C, actual angle theta 2 between the light S4D of the light S2B of the second reference tilt light hot spot B and second reference directional light hot spot D,
S3: the image gathering the first reference directional light hot spot C, the second reference directional light hot spot D, the first reference tilt light hot spot A and the second reference tilt light hot spot B;
S4: calculation process is carried out to above-mentioned image and obtains first with reference to directional light hot spot C and second with reference to the image pitch D1 ' of directional light hot spot D on image, the first reference tilt light hot spot A and the first image pitch D2 ' of reference directional light hot spot C on image, the image pitch D3 ' of the second reference tilt light hot spot B and second reference directional light hot spot D on image;
S5: namely calculation process can obtain the surface slope information of material to be measured by simple trigonometric function algorithm according to D1, T1, T2, θ 1, θ 2, D1 ', D2 ' and D3 ';
Suppose that the inclination angle between the dip plane of material to be measured and bottom surface is f, then
tanf=((D3′*D1/D1′-T2)/tanθ2-(D2′*D1/D1′-T1)/tanθ1)/(D3′*D1/D1′-D2′*D1/D1′)
If A, C, D and B tetra-hot spots are arranged in order, as Figure 12, then
tanf=((D3′*D1/D1′-T2)/tanθ2-(D2′*D1/D1′-T1)/tanθ1)/(D3′*D1/D1′+D2′*D1/D1′)
So the formula calculating tanf can be summarized as:
tanf=((D3′*D1/D1′-T2)/tanθ2-(D2′*D1/D1′-T1)/tanθ1)/(D3′*D1/D1′±D2′*D1/D1′)
That is: being subtraction when two oblique light are positioned at the two same directions of directional light, when two oblique light are positioned at two directional light reverse directions, is addition.
Embodiment 13:
Present embodiment is also a specific embodiment of embodiment 7, also be the further improvement of embodiment 12, in embodiment 12, first reference tilt light hot spot A, second reference tilt light hot spot B, first is positioned at same straight line with reference to directional light hot spot C and second with reference to directional light hot spot D, on same inclined surface, above-mentioned same straight line goes down along the vergence direction of the inclined surface of material to be measured, now four hot spots just lay respectively at different controlling level places, as Figure 11 or 12, when gathering four light spot images on this straight line in this case from top to bottom, when being easy to cause gathering image because the distance of four hot spot range image acquisition component on this straight line is different, the focal length of four hot spots is different, and then cause the image pitch of four hot spots in the image that collects on this straight line can not be completely corresponding with actual pitch, and then image pitch between each hot spot causing the process of subsequent arithmetic processor calculating to obtain with can not be completely corresponding between actual pitch, cause measurement result out of true.And to material surface projection at least four bundle directional light to be measured and at least two bundle oblique light, more accurate material table plane inclination can be obtained by least four bundle directional lights and at least two bundle oblique light computings in present embodiment.Specifically, the present embodiment comprises following steps:
S1, restraint with each directional light in the oblique light presetting angle to material surface projection at least four bundle to be measured perpendicular to the directional light and at least two of a certain xsect of material to be measured, each directional light and each oblique light be corresponding formation directional light hot spot and oblique light hot spot after being irradiated to material surface to be measured; Select wherein to be positioned at the same inclined surface of material to be measured, the first straight line and at least two directional light hot spots on the first controlling level and at least one oblique light hot spot as with reference to directional light hot spot and reference tilt light hot spot, and select to be positioned at above-mentioned same inclined surface, the second straight line and other at least two directional light hot spots on the second controlling level and at least one oblique light hot spot as other reference directional light hot spot and reference tilt light hot spot;
As shown in Figs. 13 and 14, it is the first reference tilt light hot spot A that definition two the reference directional light hot spots be positioned on the first straight line, the first controlling level are respectively first with reference to directional light hot spot C and second reference directional light hot spot D, a reference tilt light hot spot, and it is the second reference tilt light hot spot B that two of being positioned on the second straight line, the second controlling level are respectively the 3rd with reference to directional light hot spot E and the 4th reference directional light hot spot F, a reference tilt light hot spot with reference to directional light hot spots; (now A, C and D are positioned at same straight line, and B, E and F are arranged in order); Wherein, the first plane that the light of the first reference directional light hot spot C and the light of the second reference directional light hot spot D are formed is parallel to light and the 4th second plane formed with reference to the light of directional light hot spot F of the 3rd reference directional light hot spot E, and S1, S2, S3, S4, S5 and S6 are respectively light source, the light source of the second reference tilt light hot spot B, the light source of the first reference directional light hot spot C, the light source of the second reference directional light hot spot D, the light source of the 3rd reference directional light hot spot E, the light source of the 4th reference directional light hot spot F of the first reference tilt light hot spot A;
S2: the actual pitch D1 between the light S4D of light S3C and the second reference directional light hot spot D of the first reference directional light hot spot C that prestores, actual pitch D2 between the light S6F of light S5E and the 4th reference directional light hot spot F of the 3rd reference directional light hot spot E, actual pitch T1 between the light S3C of the light source S1 of the first reference tilt light hot spot A and first reference directional light hot spot C, actual pitch T2 between the light S5E of the light source S2 of the second reference tilt light hot spot B and the 3rd reference directional light hot spot E, actual angle theta 1 between the light S3C of the light S1A of the first reference tilt light hot spot A and first reference directional light hot spot C, actual angle theta 2 between the light S5E of the light S2B of the second reference tilt light hot spot B and the 3rd reference directional light hot spot E, actual pitch K between first plane and the second plane, difference in height Δ H between the light source S1 of the first reference tilt light hot spot A and the light source S2 of the second reference tilt light hot spot B,
S3: the image gathering the first reference directional light hot spot C, the second reference directional light hot spot D, the 3rd reference directional light hot spot E, the 4th reference directional light hot spot F, the first reference tilt light hot spot A and the second reference tilt light hot spot B;
S4: calculation process is carried out to above-mentioned image and obtains first with reference to the image pitch D1 ' of directional light hot spot C and second reference directional light hot spot D on image, the 3rd image pitch D2 ' of reference directional light hot spot E and the 4th reference directional light hot spot F on image, the image pitch D3 ' of the first reference tilt light hot spot A and first reference directional light hot spot C on image, the second reference tilt light hot spot B and the 3rd with reference to the image pitch D4 ' of directional light hot spot E on image;
S5: according to D1, D2, T1, T2, θ 1, θ 2, K, Δ H, D1 ', D2 ', D3 ' and D4 ' namely calculation process can obtain the surface slope information of material to be measured by simple trigonometric function algorithm;
Suppose that the inclination angle between the dip plane of material to be measured and bottom surface is f, then
tanf=(|(D4′*D2/D2′-T2)/tanθ2-(D3′*D1/D1′-T1)/tanθ1|-ΔH)/K
Visible by above-mentioned discussion, the first reference tilt light hot spot A in present embodiment, first is not only positioned at same inclined surface with reference to directional light hot spot C and second with reference to directional light hot spot D, on first straight line, and be all positioned at first controlling level (namely the first straight line is positioned at the position of the first controlling level) of material to be measured, second reference tilt light hot spot B, 3rd is not only positioned at above-mentioned same inclined surface with reference to directional light hot spot E and the 4th with reference to directional light hot spot F, on second straight line, and be all positioned at second controlling level (namely the second straight line is positioned at the position of the second controlling level) of material to be measured, just can ensure that the height of three hot spot range image acquisition component on the first straight line is identical in this case, the height of three hot spot range image acquisition component on the second straight line is also identical, and then focal length is identical during collection image, the image collected can not distortion, the actual positional relationship between each hot spot can be reflected more exactly, and then make final measurement result more accurate.
The respective embodiments described above, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformations of doing according to Spirit Essence of the present invention or modification, all should be encompassed within protection scope of the present invention.
Claims (26)
1. a machine vision level-sensing device, it is characterized in that, comprise light emitting members, image acquisition component, arithmetic processor and signal output component, described light emitting members and described image acquisition component are all arranged in the measurement space of material place to be measured, and described arithmetic processor connects described image acquisition component and described signal output component respectively;
Described light emitting members is for the oblique light in default angle to described material surface projection at least two bundle directional lights to be measured and at least a branch of and each described directional light;
Described image acquisition component is irradiated to the image of directional light hot spot that described material surface to be measured formed afterwards and oblique light hot spot for gathering each described directional light and each described oblique light, and described image is sent to described arithmetic processor;
Described arithmetic processor is used for according to the image pitch in described image and the image pitch between each described oblique light hot spot and each described directional light hot spot in described image between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, each described default angle, each described directional light hot spot, calculation process obtains the material level information of the material described to be measured at the facula position place of each described oblique light, and gives described signal output component by described material level information signal transmittal;
And/or, when described arithmetic processor is used for arriving preset height according to the material level of described material to be measured, image pitch between each described directional light hot spot in described image, image pitch between each described directional light hot spot and each described inclination hot spot in described image, and described image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each described directional light hot spot and each described oblique light hot spot, calculation process Logic judgment goes out described material to be measured and whether arrives described preset height, and the consequential signal of described Logic judgment is transferred to described signal output component,
Described signal output component is used for the consequential signal of described material level information and/or described Logic judgment to export.
2. machine vision level-sensing device according to claim 1, is characterized in that, in each described directional light hot spot and each described oblique light hot spot, has at least two described directional light hot spots and a described oblique light hot spot to be positioned at same straight line.
3. machine vision level-sensing device according to claim 2, is characterized in that, described in two described directional light hot spots being located along the same line and described oblique light hot spot be all positioned at the same controlling level of described material to be measured.
4. machine vision level-sensing device according to claim 1, is characterized in that,
If described light emitting members is restrainted with each described directional light in the oblique light presetting angle to the directional light and at least two of described material surface projection at least two bundle to be measured;
Then described arithmetic processor is according to the image pitch between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, each described default angle, each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured, and gives described signal output component by described surface slope information signal transmittal;
The result of described material level information, described Logic judgment and/or described surface slope information signal export by described signal output component.
5. machine vision level-sensing device according to claim 4, it is characterized in that, in at least two described directional light hot spots and at least two described oblique light hot spots, at least two described directional light hot spots and at least two described oblique light hot spots are positioned at same straight line and vergence direction along the same inclined surface of described material to be measured is arranged in order.
6. machine vision level-sensing device according to claim 1, is characterized in that,
If described light emitting members is restrainted with each described directional light in the oblique light presetting angle to described material surface projection at least four bundle directional light to be measured and at least two;
Then described arithmetic processor is according to the actual pitch between each described directional light, actual pitch between the light source of each described oblique light and each described directional light, each described default angle, actual pitch between each plane formed between described directional light between two, difference in height between the light source of described oblique light between two, image pitch between each described directional light hot spot in described image and the image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured, and give described signal output component by described surface slope information signal transmittal,
The result of described material level information, described Logic judgment and/or described surface slope information signal export by described signal output component.
7. machine vision level-sensing device according to claim 6, it is characterized in that, in at least four described directional light hot spots and at least two described oblique light hot spots, at least four described directional light hot spots and at least two described oblique light hot spots are all positioned at the same inclined surface of described material to be measured, and at least two described directional light hot spots and oblique light hot spot described at least one are positioned on the first straight line, the first controlling level, also have at least two described directional light hot spots to be positioned on the second straight line, the second controlling level with oblique light hot spot described at least one in addition; The light being positioned at two described directional light hot spots on described first straight line forms the first plane, and the light being positioned at two described directional light hot spots on described second straight line forms the second plane, and described first plane is parallel with described second plane.
8. the machine vision level-sensing device according to any one of claim 1 ~ 7, is characterized in that, also comprises damping stabilizing means, and described damping stabilizing means effectively contacts with described light emitting members and/or described image acquisition component.
9. machine vision level-sensing device according to claim 8, is characterized in that, described damping stabilizing means is mechanical passive type or gyroscope active control type.
10. the machine vision level-sensing device according to any one of claim 1 ~ 7, it is characterized in that, also comprise dust-proof ash disposal parts, described dust-proof ash disposal parts to be positioned near described image acquisition component and/or described light emitting members and to be connected with described arithmetic processor.
11. machine vision level-sensing devices according to claim 10, is characterized in that, described dust-proof ash disposal parts are gas purging mechanism or brusher motivation structure.
12. machine vision level-sensing devices according to any one of claim 1 ~ 7, it is characterized in that, also comprise illuminace component, described illuminace component is fixed on described material place internal tank to be measured and is connected with described arithmetic processor.
13. machine vision level-sensing devices according to claim 12, is characterized in that, described illuminace component is visible illumination equipment or infrared ray non-visible light light fixture.
14. machine vision level-sensing devices according to any one of claim 1 ~ 7,9,11 or 13, it is characterized in that, also comprise temperature-measuring part that is infrared or Principles of Laser, for the temperature information on telemeasurement material surface, described temperature-measuring part is connected with described arithmetic processor, described temperature information is sent to described arithmetic processor by described temperature-measuring part, and described temperature information is exported by described signal output component by described arithmetic processor again.
15. machine vision level-sensing devices according to any one of claim 1 ~ 7,9,11 or 13, it is characterized in that, described light emitting members is also for projecting the fill-in light perpendicular to described directional light.
16. machine vision level-sensing devices according to any one of claim 1 ~ 7,9,11 or 13, it is characterized in that, described three-dimensional image also for carrying out the three-dimensional image that calculation process obtains described material to be measured to described image, and exports through described signal output component by described arithmetic processor.
17. machine vision level-sensing devices according to any one of claim 1 ~ 7,9,11 or 13, it is characterized in that, described image acquisition component is also for gathering flame or burning image, and flame or burning image are sent to described arithmetic processor, described arithmetic processor is also for controlling external alarm equipment alarm when receiving described flame or burning image, or described flame or burning image export through described signal output component by described arithmetic processor.
18. machine vision level-sensing devices according to any one of claim 1 ~ 7,9,11 or 13, it is characterized in that, described image acquisition component is also for gathering the ambient image in described measurement space, and described ambient image is sent to described arithmetic processor, described ambient image is exported by described signal output component by described arithmetic processor again.
The method of material level measured by 19. 1 kinds of machine vision level-sensing devices as claimed in claim 1, it is characterized in that, comprises following steps:
S1: the oblique light in default angle to described material surface projection at least two bundle directional light to be measured and at least a branch of and each described directional light, each described directional light and each described oblique light are corresponding after being irradiated to described material surface to be measured forms directional light hot spot and oblique light hot spot;
S2: the actual pitch between the light source of the actual pitch between each described directional light that prestores, each described oblique light and each described directional light and the actual angle between each described oblique light and each described directional light;
Or, when the material level of the described material to be measured that prestores arrives preset height, the image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image;
S3: the image gathering each described directional light hot spot and each described oblique light hot spot;
S4: carry out calculation process to described image, obtains the image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image;
S5: according to the image pitch between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light and the actual angle between each described oblique light and each described directional light, each described directional light hot spot and the image pitch between each described oblique light hot spot and each described directional light hot spot, calculation process obtains the material level information of the material described to be measured at the facula position place of each described oblique light;
And/or, when arriving preset height according to the material level of described material to be measured, image pitch between each described directional light hot spot in described image, image pitch between each described directional light hot spot and each described inclination hot spot in described image, and described image acquisition component Real-time Collection to image in, image pitch between each directional light hot spot, image pitch between each described directional light hot spot and each described oblique light hot spot, calculation process Logic judgment goes out described material to be measured and whether arrives described preset height;
S6: the consequential signal of described material level information and/or described Logic judgment is exported.
The method of material level measured by 20. machine vision level-sensing devices according to claim 19, it is characterized in that,
In described S1, select at least two described directional light hot spots being wherein located along the same line and oblique light hot spot described at least one as with reference to directional light hot spot and reference tilt light hot spot, and define arbitrary described reference tilt light hot spot be the first reference tilt light hot spot, any two be describedly respectively first with reference to directional light hot spot and second with reference to directional light hot spot with reference to directional light hot spots;
Then in described S2, the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, the light source of described first reference tilt light hot spot and described first are with reference to the actual angle theta between actual pitch T1, described first reference tilt light and the described first reference directional light between the light of directional light hot spot or the light of described second reference directional light hot spot or described second reference directional light;
In described S3: the image of the first reference directional light hot spot, described second reference directional light hot spot and described first reference tilt light hot spot described in Real-time Collection;
In described S4: calculation process is carried out to described image, obtain described first with reference to directional light hot spot and described second with reference to the image pitch D2 ' between the image pitch D1 ' between directional light hot spot in described image, described first reference tilt light hot spot and described first reference directional light hot spot or described second reference directional light hot spot in described image;
In described S5: the material level information obtaining the material described to be measured at described first reference tilt light facula position place according to described D1, described T1, described θ, described D1 ' and described D2 ' calculation process.
The method of material level measured by 21. machine vision level-sensing devices according to claim 19, it is characterized in that,
In described S1, at least two described directional light hot spots that selection is wherein located along the same line and oblique light hot spot described at least one are as reference directional light hot spot and reference tilt light hot spot; And define arbitrary described reference tilt light hot spot be the first reference tilt light hot spot, any two be describedly respectively first with reference to directional light hot spot and second with reference to directional light hot spot with reference to directional light hot spots;
In described S2: when the material level of the described material to be measured that prestores arrives preset height h, the image pitch D1 between the light of described first reference directional light hot spot and the light of the second reference directional light hot spot, described first reference tilt light hot spot and described first are with reference to the image pitch D2 between directional light hot spot or described second reference directional light hot spot;
In described S3: the image of the first reference directional light hot spot, described second reference directional light hot spot and described first reference tilt light hot spot described in Real-time Collection;
In described S4: carry out calculation process to described image, the image pitch obtained between described first reference directional light hot spot and described second reference directional light hot spot is D1 ', described first reference tilt light hot spot and described first is D2 ' with reference to the image pitch between directional light hot spot or described second reference directional light hot spot;
In described S5, if at a time, D1 '/D2 ' is equal to or greater than described D1/D2, then the material level that calculation process Logic judgment goes out described material to be measured this moment arrives described h.
The method of material level measured by 22. machine vision level-sensing devices according to claim 20 or 21, it is characterized in that, described first reference tilt light hot spot, described first is all positioned at the same controlling level of described material to be measured with reference to directional light hot spot and described second with reference to directional light hot spot.
The method of material level measured by 23. machine vision level-sensing devices according to claim 19, it is characterized in that, if in described S1, restraints with each described directional light in the oblique light presetting angle to described material surface projection at least two bundle directional light to be measured and at least two;
Then in described S5, according to the image pitch in described image, the image pitch between each described oblique light hot spot and each described directional light hot spot in described image between the actual pitch between the light source of the actual pitch between each described directional light, each described oblique light and each described directional light, the actual angle between each described oblique light and each described directional light, each described directional light hot spot, calculation process obtains the surface slope information of described material to be measured;
In described S6, the result of described material level information, described Logic judgment and/or described surface slope information signal are exported.
The method of material level measured by 24. machine vision level-sensing devices according to claim 23, it is characterized in that,
In described S1, select wherein to be positioned at same straight line and at least two the described directional light hot spots be arranged in order along the vergence direction of the same inclined surface of described material to be measured and at least two described oblique light hot spots as with reference to directional light hot spot and reference tilt light hot spot, and define any two and be describedly respectively first with reference to directional light hot spots and be respectively the first reference tilt light hot spot and the second reference tilt light hot spot with reference to directional light hot spot and the second reference directional light hot spot, any two described reference tilt light hot spots;
In described S2: the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, the light source of described first reference tilt light hot spot and described first is with reference to the actual pitch T1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light source of described second reference tilt light hot spot and described first is with reference to the actual pitch T2 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described first reference tilt light hot spot and described first is with reference to the actual angle theta 1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described second reference tilt light hot spot and described first is with reference to the actual angle theta 2 between the light of directional light hot spot or the light of described second reference directional light hot spot,
In described S3: the image gathering described first reference directional light hot spot, the second reference directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot;
In described S4: calculation process is carried out to described image and obtains described first with reference to directional light hot spot and described second with reference to directional light hot spot image pitch D1 ' on the image, described first reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D2 ' on the image, described second reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D3 ' on the image,
In described S5: the surface slope information obtaining described material to be measured according to described D1, described T1, described T2, described θ 1, described θ 2, described D1 ', described D2 ' and described D3 ' calculation process.
The method of material level measured by 25. machine vision level-sensing devices according to claim 19, it is characterized in that, if in described S1, restraints with each described directional light in the oblique light presetting angle to described material surface projection at least four bundle directional light to be measured and at least two;
Then in described S5, according to the actual pitch between each described directional light, actual pitch between the light source of each described oblique light and each described directional light, actual angle between each described oblique light and each described directional light, actual pitch between each plane formed between described directional light between two, difference in height between the light source of described oblique light between two, image pitch between each described directional light hot spot in described image, image pitch between each described oblique light hot spot and each described directional light hot spot in described image, calculation process obtains the surface slope information of described material to be measured,
In described S6, the result of described material level information, described Logic judgment and/or described surface slope information signal are exported.
The method of material level measured by 26. machine vision level-sensing devices according to claim 25, it is characterized in that,
In described S1, select wherein to be positioned at the first straight line, at least two on first controlling level described directional light hot spots and oblique light hot spot described at least one and be positioned at the second straight line, at least two on second controlling level described directional light hot spots and oblique light hot spot described at least one are as reference directional light hot spot and reference tilt light hot spot, and described first straight line and described second straight line parallel, and any two described reference directional light hot spots that definition is positioned on described first straight line are respectively first with reference to directional light hot spot and second with reference to directional light hot spot, reference tilt light hot spot described in any one is the first reference tilt light hot spot, any two described reference directional light hot spots that definition is positioned on described second straight line are respectively the 3rd with reference to directional light hot spot and the 4th with reference to directional light hot spot, reference tilt light hot spot described in any one is the second reference tilt light hot spot, described first reference directional light hot spot, described second is all positioned on the same inclined surface of described material to be measured with reference to directional light hot spot, described 3rd reference directional light hot spot, the described 4th with reference to directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot, and the first plane that the light of described first reference directional light hot spot and the light of described second reference directional light hot spot are formed is parallel to the described 3rd the second plane formed with reference to the light of directional light hot spot and the light of described 4th reference directional light hot spot,
In described S2: the actual pitch D1 between the light of the described first reference directional light hot spot that prestores and the light of described second reference directional light hot spot, actual pitch D2 between the light of described 3rd reference directional light hot spot and the light of described 4th reference directional light hot spot, the light source of described first reference tilt light hot spot and described first is with reference to the actual pitch T1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light source of described second reference tilt light hot spot and the described 3rd is with reference to the actual pitch T2 between the light of directional light hot spot or the light of described 4th reference directional light hot spot, the light of described first reference tilt light hot spot and described first is with reference to the actual angle theta 1 between the light of directional light hot spot or the light of described second reference directional light hot spot, the light of described second reference tilt light hot spot and the described 3rd is with reference to the actual angle theta 2 between the light of directional light hot spot or the light of described 4th reference directional light hot spot, actual pitch K between described first plane and described second plane, difference in height Δ H between the light source of described first reference tilt light hot spot and the light source of described second reference tilt light hot spot,
In described S3: the image gathering described first reference directional light hot spot, described second reference directional light hot spot, described 3rd reference directional light hot spot, described 4th reference directional light hot spot, described first reference tilt light hot spot and described second reference tilt light hot spot;
In described S4: calculation process is carried out to described image and obtains described first with reference to directional light hot spot and described second with reference to directional light hot spot image pitch D1 ' on the image, described 3rd with reference to directional light hot spot and described 4th reference directional light hot spot image pitch D2 ' on the image, described first reference tilt light hot spot and described first is with reference to directional light hot spot or described second reference directional light hot spot image pitch D3 ' on the image, described second reference tilt light hot spot and the described 3rd is with reference to directional light hot spot or described 4th reference directional light hot spot image pitch D4 ' on the image,
In described S5: the surface slope information obtaining described material to be measured according to described D1, described D2, described T1, described T2, described θ 1, described θ 2, described K, described Δ H, described D1 ', described D2 ', described D3 ' and described D4 ' calculation process.
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| CN201653497U (en) * | 2009-12-22 | 2010-11-24 | 中国矿业大学(北京) | Coal bunker material position measuring device based on laser and monocular vision |
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| CN110057425A (en) * | 2018-01-19 | 2019-07-26 | 友达晶材股份有限公司 | Liquid level detection system and method for detecting liquid level |
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