CN113083497B - Shaking table ore receiving actuator offset distance calculation method based on small-hole camera triangular imaging principle - Google Patents
Shaking table ore receiving actuator offset distance calculation method based on small-hole camera triangular imaging principle Download PDFInfo
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- CN113083497B CN113083497B CN201911334989.9A CN201911334989A CN113083497B CN 113083497 B CN113083497 B CN 113083497B CN 201911334989 A CN201911334989 A CN 201911334989A CN 113083497 B CN113083497 B CN 113083497B
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- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03B—SEPARATING SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS
- B03B13/00—Control arrangements specially adapted for wet-separating apparatus or for dressing plant, using physical effects
- B03B13/02—Control arrangements specially adapted for wet-separating apparatus or for dressing plant, using physical effects using optical effects
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Abstract
The invention relates to a method for calculating the offset distance of a shaking table ore receiving actuator based on a small-hole camera triangular imaging principle. The method comprises the following steps: s1: collecting images of the ore belt of the shaking table; s2: acquiring the pixel position of an indicator of a shaking bed ore receiving actuator; s3: and calculating the offset distance of the shaking bed ore receiving actuator. The method is simple in calculation, and the precision meets the requirement of industrial production.
Description
Technical Field
The invention relates to the technical field of mineral separation, in particular to a method for calculating the offset distance of a shaking table mineral receiving actuator based on a small-hole camera triangular imaging principle.
Background
At present, the table concentrator is the most important gravity separation equipment in the tin ore beneficiation process. The ore pulp of different grades such as the ore concentrate, the secondary ore concentrate and the like is finally separated by a physical ore dressing mode, and the method has the advantages of high enrichment ratio, capability of obtaining the final ore concentrate by one-time separation, wide application range and the like. Besides tin ore, the table concentrator gravity separation is also suitable for separating various refractory ores such as tungsten ore, tantalum-niobium ore, bismuth ore, antimony ore, lean iron ore and the like and other powder materials with corresponding density difference. The position detection and offset distance calculation of the shaking bed ore receiving actuator are important components in an automatic shaking table control system, the precision of the shaking bed ore receiving actuator directly influences the quality of ore dressing indexes and the recovery rate of minerals, the distance measurement of a monocular camera is traditionally carried out by a Zhang Zhengyou calibration method and the like, however, because a shaking table serving as a photographed object in a project is always vibrated, when the camera is calibrated, the shaking bed ore receiving actuator and the ore discharging edge of the shaking table are difficult to be placed on the same calibration plate for calibration, and hundreds of shaking tables are arranged on the project site, each shaking table needs to be calibrated, and the workload is very large.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for calculating the offset distance of a shaking table ore receiving actuator based on the small-hole camera triangular imaging principle, which is simple in calculation and can meet the requirement of industrial production in precision.
Technical objects that can be achieved by the present invention are not limited to what has been particularly described above, and other technical objects that are not described herein will be more clearly understood by those skilled in the art from the following detailed description.
The technical scheme for solving the technical problems is as follows:
according to one aspect of the disclosure, the invention provides a method for calculating the offset distance of a shaking table ore receiving actuator based on a small-hole camera triangular imaging principle, which is characterized by comprising the following steps of:
s1: collecting images of the ore belt of the shaking table; and (3) taking a picture of the shaking table ore belt by using an industrial camera, inputting an acquired image signal into a computer, wherein the color space of each pixel of the image is an RGB space.
S2: acquiring the pixel position of an indicator of a shaking bed ore receiving actuator; the object of the indicator of the ore receiving actuator of the table is red, the color of the indicator due to reflection and the like is sometimes red and sometimes yellow, and the pixel position of the indicator of the actuator is detected according to the characteristic.
S3: and calculating the offset distance of the swinging bed ore receiving actuator. In an automatic control system of a shaking table, an operator can set the offset of an actuator relative to a rough concentrate belt dividing line according to own experience so as to achieve an ideal ore receiving grade, and the actual distance traveled by the actuator is calculated according to the detected pixel position of an indicator of the ore receiving actuator, the known pixel position of the rough concentrate belt dividing line and the offset set by the operator and transmitted to a servo motor to work.
Alternatively, in the method as described above, in S1, the shaking table mine belt is photographed by an industrial camera, and the collected image is input to a computer, wherein the color space of the image is RGB space.
Optionally, in the method as described above, in S2, first, extraction is performed on the lower region of the shaker mine belt image, and then pixel-by-pixel search is performed on the entire lower region, where the pixel position where the value of the red channel is large, the value of the red channel is greater than or equal to the value of the green channel, and the value of the red channel is greater than a certain multiple of the value of the green channel is set to 0, and the other pixel positions are set to 255, a grayscale image is obtained, and the maximum connected region where the grayscale value in the grayscale image is 0 to 20 is obtained, and the center of the minimum bounding rectangle of the connected region is the pixel position of the mine-receiving actuator indicator.
Alternatively, in the method as described above, in S3, a straight edge exceeding the visual field of the camera is placed on the upper edge of the table for photographing to calibrate the pixel ratio of the straight line on which the upper edge of the table is located, and the deviation Δ of the corresponding position X' of the indicator from the physical position X of the indicator is obtained by the following formula:
where w is the image width, d' is the distance of the actuator from the line on which the upper edge of the table lies, d is the distance of the camera from the line on which the upper edge of the table lies, P is the index position,
and (3) setting the pixel position of the detected rough concentrate belt dividing line as T, calculating the offset distance Shift of the rock bed ore receiving actuator by the following formula:
Shift＝(T-Offset-P)*PixRatio-Δ。
alternatively, in the method as described above, the physical distance tociner from the feeder to the apex of the upper edge of the shaker is calculated by the following equation:
ToCorner＝|(L-P)*PixRatio-Δ|
where L is the pixel location of the top edge vertex of the table.
The above-described embodiments are only some of the embodiments of the present invention, and those skilled in the art can derive and understand various embodiments including technical features of the present invention from the following detailed description of the present invention.
It will be appreciated by persons skilled in the art that the effects that can be achieved by the present invention are not limited to what has been particularly described hereinabove and other advantages of the present invention will be more clearly understood from the following detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the principle of the invention.
Fig. 1 is a flowchart of a method for calculating an offset distance of a table concentrator receiving actuator based on a small-aperture camera triangulation principle according to an embodiment of the present invention.
Fig. 2 is a top view of a shooting scene provided in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. The detailed description, which will be given below with reference to the accompanying drawings, is intended to explain exemplary embodiments of the present invention, rather than to show the only embodiments that can be implemented according to the present invention. The following detailed description includes specific details in order to provide a thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these specific details.
In some instances, well-known structures and devices are omitted or shown in block diagram form, focusing on important features of the structures and devices so as not to obscure the concept of the present invention. The same reference numbers will be used throughout the specification to refer to the same or like parts.
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "center", "inner", "outer", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 shows a flowchart of a method for calculating an offset distance of a table concentrator picking actuator based on a small-aperture camera triangulation principle according to an embodiment of the present invention. It includes:
the first step is as follows: collecting the image of the shaking table ore belt, photographing the shaking table ore belt by using an industrial camera, and inputting the collected image signal into a computer, wherein the color space of the image is an RGB space.
The second step is that: the pixel position of the indicator of the shaking table ore receiving actuator is obtained, the indicator material object of the shaking table ore receiving actuator is red, the color of the indicator material object is red and yellow due to reflection and the like, and the pixel position of the indicator of the actuator is detected according to the characteristic. In this embodiment, the lower area of the table mine belt image is first extracted, and then the entire lower area is searched one by one, and pixels of the green channel that satisfy that the red channel is large enough, the value of the red channel is greater than or equal to the value of the green channel, and the red channel is greater than a certain multiple are set to be 0, and other pixels are set to be 255, so as to obtain a gray image. And acquiring a maximum connected region with the gray value of [0, 20] in the image, wherein the center of a minimum circumscribed rectangle of the connected region is the center of the red arrow mark, namely the pixel position of the indicator of the ore-receiving actuator.
The third step: calculating the offset distance of the swinging bed ore receiving actuator: in an automatic control system of a shaking table, an operator can set the offset of an actuator relative to a rough concentrate belt dividing line according to own experience so as to achieve an ideal ore receiving grade, and the actual distance traveled by the actuator is calculated according to the detected pixel position of an indicator of the ore receiving actuator, the known pixel position of the rough concentrate belt dividing line and the offset set by the operator and transmitted to a servo motor to work. As shown in FIG. 2, assuming that the straight line of the upper edge of the pan in the ore receiving direction is parallel to the plane of the camera photosensitive device, the straight ruler exceeding the camera vision range is placed on the upper edge of the pan to photograph and the pixel ratio PixRatio of the straight line of the upper edge of the pan is calibrated. M is the physical position of the indicator, the imaging position is P, the physical position obtained according to P and the calibrated pixel ratio is actually X, the offset delta of the corresponding position X' relative to X needs to be obtained, and the offset delta can be obtained through triangular imaging of the pinhole camera
Where w is the image width, d' is the distance from the actuator to the line on which the upper edge of the shaker lies, and d is the distance from the camera to the line on which the upper edge of the shaker lies.
Setting the pixel position of the detected rough concentrate belt dividing line as T, the distance Shift that the actuator should move is,
Shift＝|(T-Offset-P)*PixRatio-Δ|
in practice, because the straight line of the upper edge of the shaking table in the ore receiving direction is not parallel to the plane of the camera light sensing device, in practice, the physical distances ToCorner and the pixel distance L-P from a plurality of groups of actuators to the vertex of the upper edge of the shaking table are required to be acquired to correct d', d and PixRatio
ToCorner＝|(L-P)*PixRatio-Δ|。
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and of course, can also be implemented by hardware. Based on such understanding, the technical solutions of the present application or portions thereof contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
As mentioned above, a detailed description of the preferred embodiments of the invention has been given to enable those skilled in the art to make and practice the invention. Although the present invention has been described with reference to exemplary embodiments, those skilled in the art will appreciate that various modifications and changes can be made in the present invention without departing from the spirit or scope of the invention described in the appended claims. Thus, the present invention is not intended to be limited to the particular embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A shaking table ore receiving actuator offset distance calculation method based on a small-hole camera triangular imaging principle is characterized by comprising the following steps of:
s1: collecting images of the ore belt of the shaking table;
s2: acquiring the pixel position of an indicator of a shaking bed ore receiving actuator;
s3: calculating the offset distance of the shaking bed ore receiving actuator;
specifically, a ruler exceeding the visual field range of the camera is placed on the upper edge of the shaking table for photographing, so that the pixel ratio of a straight line where the upper edge of the shaking table is located is calibrated, and the deviation delta of the corresponding position X' of the indicator relative to the physical position X of the indicator is calculated through the following formula:
wherein w is the image width, d' is the distance from the actuator to the straight line of the upper edge of the table, d is the distance from the camera to the straight line of the upper edge of the table, P is the imaging position of the indicator, and PixRatio is the pixel ratio of the straight line of the upper edge of the table; and (3) setting the pixel position of the detected rough concentrate belt dividing line as T, calculating the offset distance Shift of the rock bed ore receiving actuator by the following formula:
Shift＝|(T-Offset-P)*PixRatio-Δ|
wherein Offset is the Offset of the operator-set actuator relative to the rough concentrate strip dividing line.
2. The method of claim 1,
in S1, the table mine belt is photographed by an industrial camera, and the collected image is input to a computer, wherein the color space of the image is RGB space.
3. The method of claim 1,
in S2, first, extraction is performed in the lower area of the shaker mine belt image, and then pixel-by-pixel search is performed on the entire lower area, where the pixel value of the red channel is set to 0, the other pixel values are set to 255, a grayscale image is obtained, a maximum connected region where the grayscale value in the grayscale image is 0 to 20 is obtained, and the center of the minimum bounding rectangle of the connected region is the pixel position of the mine-receiving actuator indicator.
4. The method of claim 1,
calculating the physical distance ToCorner from the table catcher to the top of the table upper edge by the following formula:
ToCorner＝|(L-P)*PixRatio-Δ|
where L is the pixel location of the top edge vertex of the table.
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| CN116595810B (en) * | 2023-07-18 | 2023-09-26 | 北矿机电科技有限责任公司 | Method, system, equipment and medium for predicting offset distance of shaking table ore receiving actuator |
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| CN102553702A (en) * | 2012-01-16 | 2012-07-11 | 昆明理工大学 | Device for dynamic separation and ore receiving of multi-ore belt by using shaking table |
| US9199245B1 (en) * | 2014-09-29 | 2015-12-01 | Sumitomo Metal Mining Co., Ltd. | Water supply launder of table gravity concentrator |
| JP6252449B2 (en) * | 2014-11-28 | 2017-12-27 | 住友金属鉱山株式会社 | Gold density area image processing apparatus, gold color area image processing method, and gold density area image processing apparatus provided with gold density area image processing apparatus |
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| CN105903557A (en) * | 2016-06-21 | 2016-08-31 | 赣州有色冶金研究所 | Ore zone recognition and ore receiving plate automatic regulating device of concentrating table |
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