摘要
矿石自动筛选是提高矿产资源加工效率的关键环节之一。针对矿石开采现场光照复杂多变,传送带矿石难以实时自动检测等问题,提出了一种基于红外线结构光的现场矿石3D视觉实时筛选方法。为了解决复杂光照条件下太阳辐射对矿石表面结构光成像干扰的问题,提出采用800 nm附近红外线结构光作为成像主动光源,在各种光照条件下获取稳定的矿石表面结构光图像;提出邻域累积差分特征分析方法,通过快速定位光条边界点来提取结构光光条中心,实时获取矿石3D坐标数据。对复杂光照条件下的大量现场矿石表面结构光图像采用多线程进行处理,实验结果表明,与现有方法相比,文中方法速度更快,稳定性更强,能适应线结构光形态和方向变化。对每幅矿石结构光图像筛选的时间为13.2 ms,满足现场矿石3D实时筛选需求。
Automatic ore screening is one of the key links to improve the efficiency of mineral resources processing.Aiming at the complex and changeable illumination in the ore mining site,it is difficult to detect the ore in the conveyor belt automatically in real time,and so on,a real-time 3D vision screening method based on infrared structure light was proposed.In order to solve the interference of solar radiation on the surface structure light imaging of ore under complex illumination,the infrared structure light near 800 nm was used as the active light source to obtain stable structural light images of ore surface under various illumination conditions.The method of neighborhood cumulative difference feature analysis was proposed.The center of structured light strip was extracted by locating the boundary point of strip quickly,and then 3D coordinate data of ore could be obtained in real time.The results show that the proposed method can better adapt to the changes of the shape and direction of the line structure light and the stability of the method.The time for screening of light images of each ore structure is 13.2 ms,which meets the 3D real-time screening requirements of the ore on site.
作者
章秀华
洪汉玉
徐洋洋
张天序
Zhang Xiuhua;Hong Hanyu;Xu Yangyang;Zhang Tianxu(Hubei Key Laboratory of Optical Information and Pattern Recognition,Wuhan 430205,China;Hubei Engineering Technology Research Center of Video Image and HD Projection,Wuhan 430205,China;School of Mechanical&Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Institute for Pattern Recognition and Artificial Intelligence,Huazhong University of Science and Technology,Wuhan 430074,China)
出处
《红外与激光工程》
EI
CSCD
北大核心
2021年第11期384-394,共11页
Infrared and Laser Engineering
基金
国家自然科学基金(61671337)
湖北省教育厅科学研究计划重点项目(D20181508)。
关键词
复杂光照条件
矿石三维视觉实时筛选
红外线结构光中心提取
邻域累积差分
多线程处理
complex illumination condition
real time 3D vision screening of ore
infrared structured light center extraction
neighborhood cumulative difference
multithreading
