CN204086539U - A kind of device based on video camera and laser range sensor co-located blast hole - Google Patents

Abstract

Based on a device for video camera and laser range sensor co-located blast hole, device comprises mechanical arm, is provided with video camera and laser range sensor on a robotic arm, and video camera is connected with computing machine by image pick-up card and vision module; Laser range sensor and mechanical arm are connected with computing machine by control module, utilize this device, by the particular location data of blast hole search, step the obtains cliff blast hole such as space line obtains, target hole is found range, three-dimensional coordinate obtains, reach the object of blast hole being carried out three-dimensional localization, utilize mechanical arm can complete explosive and implant operation.The accuracy that the utility model has explosive implantation is high, and the feature that neglected loading rate is low, reduces the labour intensity of operator.

Description

A kind of device based on video camera and laser range sensor co-located blast hole

Technical field

The utility model relates to observation and control technology field, is specifically related to a kind of device based on video camera and laser range sensor co-located blast hole.

Background technology

Usually need to carry out explosion to massif in large scale civil engineering, generally first hole on cliff, then load explosive.But, because cliff in field environment is very high, large and the surface topography irregular of surface area, not only labour intensity is large to adopt Artificial Intervention explosive, efficiency is low, and danger is very high, explosive is implanted according to automation equipment, again because the operator on most of hole and equipment is apart from too far away, aperture pattern irregular easily and finger stone the reason such as to obscure and make the frequent neglected loading of equipment operator or the many holes of misloading, thus the automatic detection & localization device in exploitation blasting hole is needed, for operator provides the spatial positional information of blast hole, improve the accuracy that explosive is implanted, reduce the labour intensity of neglected loading rate and operator.

Utility model content

The utility model provides a kind of device based on video camera and laser range sensor co-located blast hole, and this device can provide the spatial positional information of blast hole for operator, improves the accuracy that explosive is implanted, reduces the labour intensity of neglected loading rate and operator.

The purpose of this utility model is achieved in that a kind of device based on video camera and laser range sensor co-located blast hole, comprise mechanical arm, be provided with video camera and laser range sensor on a robotic arm, video camera is connected with computing machine by image pick-up card and vision module; Laser range sensor and mechanical arm are connected with computing machine by control module.

Described mechanical arm is also provided with displacement and speed pickup.

Described displacement and the signal transmission of speed pickup are to computing machine.

The device based on video camera and laser range sensor co-located blast hole that the utility model provides, by video camera, blast hole is located, range information is obtained again by laser range sensor, reach the object of blast hole being carried out three-dimensional localization, utilize mechanical arm can complete explosive and implant operation.The accuracy that the utility model has explosive implantation is high, and the feature that neglected loading rate is low, reduces the labour intensity of operator.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the utility model is described in further detail.

Fig. 1 is structural representation of the present utility model.

Fig. 2 is systematic schematic diagram of the present utility model.

Fig. 3 is the blast hole image that the utility model obtains.

Embodiment

Structure of the present utility model is as shown in Figure 1: a kind of device based on video camera and laser range sensor co-located cliff blast hole, comprise mechanical arm 7, mechanical arm 7 is provided with video camera 1 and laser range sensor 8, and video camera 1 is connected with computing machine 3 by image pick-up card 2 and vision module 4; Laser range sensor 8 and mechanical arm 7 are connected with computing machine 3 by control module 5.

Principle of work of the present utility model is as follows: utilize the hole on video camera 1 pair of cliff to search for, if vision module 4 judges in shooting area porose in search procedure, then splits in the ken, locks each hole; If occur with when photographing multiple hole in piece image, then locking a certain hole is that explosive is implanted in order to mechanical arm in current goal hole.

Processed by the image of the image processing software in vision module 4 to hole, obtain the two-dimensional image coordinate in hole, again in conjunction with the camera system parameter matrix of on-site proving before life's work, can in the hope of being pointed to the space line at target hole center by camera coordinates initial point;

The control module 5 adjustment laser range sensor 8 that sends instructions is aimed at space line direction and is found range, the data obtained are the distance between target hole and laser range sensor 8, be converted in mechanical arm fixed reference frame further, resulting in the 3 d space coordinate of target hole, machinery can be guided to plant personally into explosive.

Move in above process move and coordinate data all with mechanical arm base for reference coordinate system, need before life's work to demarcate video camera at the scene; By installation displacement on a robotic arm, speed pickup Real-time Obtaining video camera, laser range sensor and the arm end topworks locus relative to this reference frame in the course of work, and then calculate the other desired relative coordinate date of acquisition by control software design, obtain the relative distance between arm end effector and target hole in all directions simultaneously.

The process obtaining blast hole two dimension and three-dimensional coordinate in the utility model is as follows:

Hole in the image in the hole obtained is split, and to lock a hole be current goal hole, to Given Graph picture, known target hole two-dimensional coordinate I (u, v) in the picture, being first translated into video camera is the coordinate system C (X of reference, Y, Z) in, result is:

$\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=k\left[\begin{array}{cccc}{h}_{11}& h_{12}& h_{13}& h_{14}\\ h_{21}& h_{22}& h_{23}& h_{24}\\ h_{31}& h_{32}& h_{33}& h_{33}\end{array}\right]\left[\begin{array}{c}X\\ Y\\ Z\\ 1\end{array}\right]---\left(1\right)$

Wherein h ₁₁~ h ₃₄for known camera chain parameter, (1) formula is launched to obtain:

$\left\{\begin{array}{c}(u{h}_{31}-h_{11})X+(u{h}_{32}-h_{12})Y+(u{h}_{33}-h_{13})Z=h_{14}-u{h}_{34}\\ (v{h}_{31}-h_{21})X+(v{h}_{32}-h_{22})Y+(v{h}_{33}-h_{23})Z=h_{21}-v{h}_{31}\end{array}\right.---\left(2\right)$

Through type (2) can determine the space line being pointed to target hole center by camera coordinates initial point, but straight length and the unknown of the distance between camera and hole, this distance can be measured by laser sensor and obtain, and namely obtains the three-dimensional coordinate of target hole in camera coordinate system C thus;

Further, camera coordinate system C (X, Y, Z) and mechanical arm base coordinate system O (X is supposed ₀, Y ₀, Z ₀) between space conversion matrix be P, each parameter wherein in P is recorded in real time by the displacement transducer being arranged on manipulator joint position, then camera coordinate system C can be converted in robot coordinate system O:

After this, after obtaining arbitrary target hole, system can automatically by above calculation procedure, and by target hole space coordinate conversion in mechanical arm base coordinate system, realize target hole is relative to the space orientation of mechanical arm base coordinate system.

Be below an application example of the present utility model:

As shown in Figure 3: target hole 1 diameter in shown in known Fig. 3 is 100mm, and its central point is (-180.32,720.60,1584.50) at the coordinate of mechanical arm base coordinate system, and unit is mm.

The two-dimensional coordinate of central point in image coordinate system recording blast hole 1 through the utility model detection system is I (297.67,1552.45), can be calculated the space line of hole 1 central point in camera coordinate system according to formula (2) is X=-0.4227Z, Y=-0.1005Z; Further, the distance L=856.17mm between video camera and center, hole 1 is obtained, according to Z by laser sensor measurement ²=L ²-X ²-Y ²can Z=785.32mm be obtained, and then known X=-331.98mm, Y=-78.95mm, namely obtaining the coordinate of blast hole 1 central point in camera coordinate system is C (-331.98 ,-78.95,785.32).

Now, camera coordinates is P (150.00,800.00 relative to robot base transition matrix, 800.00), the coordinate of center in mechanical arm base coordinate system that (3) formula of substitution can obtain blast hole 1 is O (-181.98,721.05,1585.32).

To when result:

Contrasted from the actual coordinate at above blast hole 1 center and surving coordinate, maximum error between Two coordinate is 1.66mm (X-direction), therefore the utility model has higher measuring accuracy (especially for larger-diameter hole) and good realizability.

Claims (3)

1. the device based on video camera and laser range sensor co-located blast hole, it is characterized in that: comprise mechanical arm (7), mechanical arm (7) is provided with video camera (1) and laser range sensor (8), and video camera (1) is connected with computing machine (3) by image pick-up card (2) and vision module (4); Laser range sensor (8) and mechanical arm (7) are connected with computing machine (3) by control module (5).

2. a kind of device based on video camera and laser range sensor co-located blast hole according to claim 1, is characterized in that: described mechanical arm (7) is also provided with displacement and speed pickup.

3. a kind of device based on video camera and laser range sensor co-located blast hole according to claim 2, is characterized in that: described displacement and the signal transmission of speed pickup are to computing machine (3).