CN110033436A - It is a kind of that diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion - Google Patents
It is a kind of that diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion Download PDFInfo
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- CN110033436A CN110033436A CN201910174859.7A CN201910174859A CN110033436A CN 110033436 A CN110033436 A CN 110033436A CN 201910174859 A CN201910174859 A CN 201910174859A CN 110033436 A CN110033436 A CN 110033436A
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- cage guide
- diagnosis
- laser
- positioning system
- mine
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30168—Image quality inspection
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
Diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion the present invention provides a kind of, the program includes that the deformation diagnosis of laser emitter, fluorescent screen, CCD camera, cage guide, cage, bracket, LabVIEW software and PC composition and its positioning system acquire light spot image on fluorescent screen in real time.The technical issues of solution, is: the deformation real-time monitoring and orientation problem of cage guide.The beneficial effects of the present invention are: providing a kind of based on the mine rigid cage guide of machine vision and laser fusion deformation diagnosis and its positioning system, the characteristics of image of the LASER SPECKLE on fluorescent screen is extracted using CCD camera, by image procossing and pixel centroid calculation, obtain deformation and its corresponding position of cage guide cross section, the multi-direction deformation diagnosis of mine rigid cage guide great depth and its positioning problem are efficiently solved, provides reliable reference for the security maintenance of mine.
Description
Technical field
Diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion the present invention relates to a kind of
System, belongs to mine hoisting health monitoring field.
Background technique
Cage guide has important application in mine, and cage guide plays a part of limit and guiding to cage.The deformation of mine
It is mainly shown as that the deformation for being secured to cage guide together, the deformation of cage guide will cause the increase for promoting resistance, cage shoe abrasion
Increase, and this deformation is not easy to be aware of.When this development of deformation is to certain degree, it is possible to card tank occur or fall tank
Accident.Therefore, it is necessary for grasping the position of deformation and the deformation of cage guide at any time.The side of traditional cage guide deformation and deformation
Method has the detection of reversed pendulum method, draws wirerope as reference line method detection etc..These measurement method measurement process are complicated, error is big,
It is big to Personnel Dependence degree.Inconvenience is brought to the working service of mine.To efficiently solve mine rigid cage guide great depth
Multi-direction deformation diagnosis and its positioning problem, the invention proposes a kind of great depth based on machine vision and laser fusion is multi-party
Diagnosis and its location technology are deformed to mine rigid cage guide, the image for extracting the LASER SPECKLE on fluorescent screen using CCD camera is special
Sign, by image procossing and pixel centroid calculation, while obtaining deformation and its corresponding position of cage guide cross section, and pass through experiment
Carry out the accuracy and real-time of verifying this method.
Summary of the invention
The technical problem to be solved by the present invention is overcoming the deficiencies of the prior art and provide a kind of based on machine vision and sharp
The mine rigid cage guide deformation diagnosis of light fusion and its positioning system, provide reliable reference for the security maintenance of mine.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of mine based on machine vision and laser fusion
Well rigid cage guide deformation diagnosis and its positioning system, including laser emitter, fluorescent screen, CCD camera, cage guide, cage, bracket,
The deformation diagnosis of LabVIEW software and PC composition and its positioning system acquire the light spot image on fluorescent screen in real time, wherein described
CCD camera is to extract the characteristics of image of the LASER SPECKLE on fluorescent screen and obtaining tank by image procossing and pixel centroid calculation
The deformation of road cross section and its corresponding position.
Specific technical solution is: fixing an Imaging Source company upwards in the top plate of cage
DMK33G618CCD camera is placing a fluorescent screen above CCD camera camera lens at H, same right above mine cage guide
Two laser emitters are symmetrically installed in vertical plane at a certain angle, the direction of the launch is downward, spacing L1And vertical direction angle
It is all θ；It is demarcated to CCD camera, obtains the actual physical message of image；Two laser transmitter projects go out two beams
Laser leaves two spots on fluorescent screen, and the distance between two LASER SPECKLEs are l, when cage moves up and down, the number of l
Value can change therewith；The moving image for acquiring two spots in real time by CCD camera, using IMAQ Vision kit to adopting
The light spot image of collection carries out the processing such as image enhancement, Threshold segmentation, images match tracking and pixel centroid calculation, on cage guide top
It holds the original image of two LASER SPECKLEs of shooting as reference, calculates the pixel mass center of two LASER SPECKLEs relative to original graph
The pixel mass center of two LASER SPECKLEs, displacement △ x and △ y in the x and y direction have corresponded to cage guide in the x and y direction as in
Deformation；The pixel mass center for extracting two LASER SPECKLEs is calculated, and two spot pixels centroid distance l variations are obtained
Numerical value, and then the position that cage guide deforms, depth are calculated by trigonometric function
D=0.5 (L1-l)tanθ (1)
The present invention has the advantage that
Device of the present invention for measuring rigid cage guide deformation and positioning, particular technique are that one kind is regarded based on machine
Feel and deform diagnosis and its positioning system with the mine rigid cage guide of laser fusion, CCD camera is used to extract the laser on fluorescent screen
The characteristics of image of spot obtains deformation and its corresponding position of cage guide cross section, has by image procossing and pixel centroid calculation
Effect ground solves the multi-direction deformation of mine rigid cage guide great depth and diagnoses and its position problem, and for the security maintenance of mine, provide can
The reference leaned on.
Detailed description of the invention
Fig. 1 is whole assembling schematic diagram of the invention.
Fig. 2 is overall schematic of the invention.
Fig. 3 is the top view of the whole installation diagram of the present invention.
Fig. 4 is rolling cage shoe assembly schematic diagram of the invention.
Fig. 5 is cage shoe assembly schematic diagram.
Fig. 6 image procossing and recognizer figure.
Fig. 7 is original image.
Fig. 8 is gray level image.
Fig. 9 is matching template.
Figure 10 is matching result.
Figure 11 is observation interface.
In figure: 1 cage shoe pedestal, 2 cage shoe brackets, 3 pin shafts 6 × 60,4 buffers, 5 pin shafts 3 × 45,6 pin shafts 6 × 50,7 pin
Axis 10 × 60,8 idler wheels, 9 brackets, 10CCD camera, 11 fluorescent screens, 12 cage top plates, 13 laser emitters, 14 laser emitters
Bracket, 15 buntonses, 16 cages, 17 cage shoes, 18 cage brackets.
Specific embodiment
Specific embodiment is described further technical solution of the present invention below in conjunction with attached drawing.
Fig. 1 is whole assembling schematic diagram of the invention.
Fig. 2 is overall schematic of the invention.
Fig. 3 is the top view of the whole installation diagram of the present invention.
Fig. 4 is rolling cage shoe assembly schematic diagram of the invention.
Fig. 5 is cage shoe assembly schematic diagram.
Fig. 6 image procossing and recognizer figure.
Fig. 7 is original image.
Fig. 8 is gray level image.
Fig. 9 is matching template.
Figure 10 is matching result.
Figure 11 is observation interface.
As shown in Figure 1, measurement cage guide deformation of the invention and positioning device include 1 cage shoe pedestal, 2 cage shoe brackets, 3 pins
It is axis 6 × 60,4 buffers, 5 pin shafts 3 × 45,6 pin shafts 6 × 50,7 pin shafts 10 × 60,8 idler wheels, 9 brackets, 10 CCD cameras, 11 glimmering
Optical screen, 12 fluorescence platen brackets, 13 laser emitters, 14 laser emitter brackets, 15 buntonses, 16 cages, 17 cage shoes, 18 cages
Bracket.
Actuating unit of the invention is rolling cage shoe, including 1 cage shoe pedestal, 2 cage shoe brackets, 3 pin shafts 6 ×
60,4 buffers, 5 pin shafts 3 × 45,6 pin shafts 6 × 50,7 pin shafts 10 × 60,8 idler wheels；Power device is entire dress by idler wheel 8
Offer power is set, idler wheel is connected by pin shaft 3 with buffer 4 by cage shoe bracket, and the effect of buffer is to reduce transmission
The unnecessary damage of mechanism is caused because of vibration in the process, is for protective device, the other end of buffer 4 is by pin shaft 5 and tank
Eardrum seat 1 is connected, and cage shoe pedestal 1 is connected with cage top plate, and cage shoe pedestal 1 is connected with pin shaft 6 with cage shoe bracket 2；Power
Connection of the device by idler wheel 8 and thereon transmits power on the cage 16 being connected with cage shoe pedestal 1, completes cage 16 in tank
Moving up and down on cage bracket 18.
Measuring device of the invention include 9 brackets, 10CCD camera, 11 fluorescent screens, 12 cage top plates, 13 laser emitters,
14 laser emitter brackets, 15 buntonses；16 top plate of cage is arranged in a CCD camera 10 is fixed upwards, the purpose is to realities
When acquire two spots moving image, the bracket 9 being assemblied on 16 top plate of cage, thereon arrange one piece of fluorescent screen 11, fluorescence
The purpose of screen is the movement for the spot that two laser transmitter projects come out more easily being presented, CCD camera being facilitated to acquire two spots
Image, two angled laser emitters 13 are arranged on laser emitter bracket 14, wherein laser emitter bracket
14 are mounted on buntons 15；During cage moves up and down, two are captured by CCD camera 10 and angled is swashed
Optical sender is presented on the moving image of the spot on fluorescent screen 11, using IMAQ Vision kit to the hot spot figure of acquisition
As carrying out image enhancement, Threshold segmentation, images match tracking and the processing such as pixel centroid calculation, with shot on cage guide top two
As reference, the pixel mass center for calculating two LASER SPECKLEs swashs the original image of a LASER SPECKLE relative to two in original image
The pixel mass center of hot spot point, displacement △ x and △ y in the x and y direction, has corresponded to the deformation of cage guide in the x and y direction；
The pixel mass center for extracting two LASER SPECKLEs is calculated, and the numerical value of two spot pixels centroid distance l variation, Jin Ertong are obtained
The position that trigonometric function calculates cage guide deformation is crossed, thus the specific location of the size and deformation that are deformed.
Image processing method of the invention is to finish program chart foundation at the interface LabVIEW first, program therein
Including the debugging to CCD camera and the monitoring to x, y-coordinate at deformation, program chart is as shown in Figure 6；Followed by pixel level
On to original image shown in Fig. 7 handled to obtain it is subsequent calculate useful image information, the cromogram captured with camera
Picture is converted into the gray level image convenient for computer disposal, will be color by choosing Color plane in NI Vision Assistant
Chromatic graph picture is converted into RGB gray level image, as shown in Figure 8；The shape for choosing a LASER SPECKLE in image is carried out as image
The template of real-time matching carries out shape matching, as shown in figure 9, the pixel size of template is 142 × 118, matching result such as Figure 10
Shown, vision measurement system can real-time and accurately recognize two LASER SPECKLEs, and export the pixel matter of two LASER SPECKLEs
Heart coordinate；When cage is run in rigid cage guide, the deformation size of rigid cage guide and corresponding position are real-time in observation interface
It has been shown that, as a result as shown in figure 11, content therein includes the deformation in the direction x, the deformation in the direction y and descending depth
The above, preferable specific embodiment only of the invention, but the scope of protection of the present invention is not limited thereto,
It is all within spiritual principles of the invention, any modification, equivalent replacement, improvement and so on are accordingly to be regarded as invading guarantor of the invention
Range is protected, therefore the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (6)
1. a kind of deform diagnosis and its positioning system, including laser hair based on the mine rigid cage guide of machine vision and laser fusion
The deformation diagnosis and its positioning system of emitter, fluorescent screen, CCD camera, cage guide, cage, bracket, LabVIEW software and PC composition
Light spot image on acquisition fluorescent screen in real time, it is characterised in that: the deformation diagnose and its positioning system the bottom end of cage to
On fix a CCD camera, one fluorescent screen of the place H placement, two laser right above mine cage guide above CCD camera camera lens
Two downward beam laser of transmitter transmitting, are incident upon on fluorescent screen, the figure of the LASER SPECKLE on fluorescent screen are extracted by CCD camera
As feature obtains deformation and its corresponding position of cage guide cross section, efficiently solve by image procossing and pixel centroid calculation
The multi-direction deformation diagnosis of mine rigid cage guide great depth and its positioning problem.
2. according to claim (1) it is a kind of based on the mine rigid cage guide of machine vision and laser fusion deform diagnosis and
Its positioning system, it is characterised in that: the CCD camera is the DMK33G618 CCD camera of Imaging Source company, camera
Camera lens is parallel with fluorescent flat, and CCD camera is fixed using advance rower, to obtain the actual physical message of image.
3. according to claim (1) it is a kind of based on the mine rigid cage guide of machine vision and laser fusion deform diagnosis and
Its positioning system, it is characterised in that: the laser emitter be it is same it is vertical in be symmetrically installed at a certain angle.
4. according to claim (1) it is a kind of based on the mine rigid cage guide of machine vision and laser fusion deform diagnosis and
Its positioning system, it is characterised in that: the fluorescent screen should select the material for easily penetrating laser, facilitate CCD camera to capture image special
Sign.
5. according to claim (1) it is a kind of based on the mine rigid cage guide of machine vision and laser fusion deform diagnosis and
Its positioning system, it is characterised in that: the light spot image on the real-time acquisition fluorescent screen is using IMAQ Vision kit to adopting
The light spot image of collection carries out the processing such as image enhancement, Threshold segmentation, images match tracking and pixel centroid calculation.
6. according to claim (1) it is a kind of based on the mine rigid cage guide of machine vision and laser fusion deform diagnosis and
Its positioning system, it is characterised in that: rolling cage shoe arranges buffer in the cage, reduces in transmission process and makes because of vibration
At the unnecessary damage of mechanism.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174859.7A CN110033436A (en) | 2019-03-08 | 2019-03-08 | It is a kind of that diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion |
| CN201910832350.7A CN110490873B (en) | 2019-03-08 | 2019-09-04 | Mine rigid cage guide deformation diagnosis device based on vision and laser fusion and positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174859.7A CN110033436A (en) | 2019-03-08 | 2019-03-08 | It is a kind of that diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion |
Publications (1)
| Publication Number | Publication Date |
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| CN110033436A true CN110033436A (en) | 2019-07-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910174859.7A Withdrawn CN110033436A (en) | 2019-03-08 | 2019-03-08 | It is a kind of that diagnosis and its positioning system are deformed based on the mine rigid cage guide of machine vision and laser fusion |
| CN201910832350.7A Active CN110490873B (en) | 2019-03-08 | 2019-09-04 | Mine rigid cage guide deformation diagnosis device based on vision and laser fusion and positioning method thereof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910832350.7A Active CN110490873B (en) | 2019-03-08 | 2019-09-04 | Mine rigid cage guide deformation diagnosis device based on vision and laser fusion and positioning method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111056404A (en) * | 2019-12-24 | 2020-04-24 | 安徽理工大学 | Mine shaft guide fault positioning system based on binocular vision and laser information fusion |
| CN111091598A (en) * | 2019-12-20 | 2020-05-01 | 武汉华工激光工程有限责任公司 | Multi-light-spot synchronous measurement and analysis method and device |
| CN111595809A (en) * | 2020-06-08 | 2020-08-28 | 霍州煤电集团有限责任公司辛置煤矿 | Terahertz scanning-based coal mine vertical shaft cage guide detection system and method |
| CN111609803A (en) * | 2020-06-08 | 2020-09-01 | 霍州煤电集团有限责任公司辛置煤矿 | Coal mine vertical shaft cage guide distance detection device and method capable of extracting textures and colors |
| CN113096186A (en) * | 2021-04-27 | 2021-07-09 | 中冶南方（武汉）自动化有限公司 | Steel ladle position measuring method based on machine vision |
Families Citing this family (1)
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| CN115200550B (en) * | 2022-09-16 | 2022-12-06 | 济宁鲁威液压科技股份有限公司 | Cage guide inclination measuring device and using method thereof |
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| US5845707A (en) * | 1997-02-13 | 1998-12-08 | Halliburton Energy Services, Inc. | Method of completing a subterranean well |
| CN101377412B (en) * | 2008-10-06 | 2011-08-10 | 山东科技大学 | Cage conductor shape laser detector based on double-steel wire rope orientation and detecting method thereof |
| CN101949721A (en) * | 2009-12-22 | 2011-01-19 | 中国矿业大学(北京) | Method for measuring coal bunker material level based on laser and binocular vision and device thereof |
| CA2815204C (en) * | 2010-10-19 | 2017-04-04 | Weatherford/Lamb, Inc. | Monitoring using distributed acoustic sensing (das) technology |
| CN104649092B (en) * | 2015-01-27 | 2017-05-10 | 中国矿业大学 | Flatness defect early-detection method for rigid cage guide |
| CN104897067A (en) * | 2015-06-19 | 2015-09-09 | 天津大学 | Laser image real time monitoring method measuring relative displacement |
| CN107085853B (en) * | 2017-05-04 | 2019-08-27 | 中国矿业大学 | Guide rail single eye stereo vision mining area derrick deformation monitoring method |
| CN107203993B (en) * | 2017-06-07 | 2018-09-21 | 广东安邦建设监理有限公司 | A kind of downhole monitoring system based on computer vision |
| CN107572329A (en) * | 2017-08-27 | 2018-01-12 | 李芳� | A kind of mine hoist card tank and sipping fault detection method |
| CN108678752B (en) * | 2018-05-04 | 2019-10-11 | 江苏省矿业工程集团有限公司 | Shaft equipment rapid installation process |
-
2019
- 2019-03-08 CN CN201910174859.7A patent/CN110033436A/en not_active Withdrawn
- 2019-09-04 CN CN201910832350.7A patent/CN110490873B/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111091598A (en) * | 2019-12-20 | 2020-05-01 | 武汉华工激光工程有限责任公司 | Multi-light-spot synchronous measurement and analysis method and device |
| CN111091598B (en) * | 2019-12-20 | 2023-08-25 | 武汉华工激光工程有限责任公司 | Multi-light spot synchronous measurement and analysis method and device |
| CN111056404A (en) * | 2019-12-24 | 2020-04-24 | 安徽理工大学 | Mine shaft guide fault positioning system based on binocular vision and laser information fusion |
| CN111595809A (en) * | 2020-06-08 | 2020-08-28 | 霍州煤电集团有限责任公司辛置煤矿 | Terahertz scanning-based coal mine vertical shaft cage guide detection system and method |
| CN111609803A (en) * | 2020-06-08 | 2020-09-01 | 霍州煤电集团有限责任公司辛置煤矿 | Coal mine vertical shaft cage guide distance detection device and method capable of extracting textures and colors |
| CN113096186A (en) * | 2021-04-27 | 2021-07-09 | 中冶南方（武汉）自动化有限公司 | Steel ladle position measuring method based on machine vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110490873B (en) | 2021-05-18 |
| CN110490873A (en) | 2019-11-22 |
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