Study On Ore Volume Measurement Based On Binocular Vision

With the development of binocular stereo vision theory and the improvement of the computing power of computer hardware and the accuracy of image acquisition equipment,binocular stereo vision technology is more and more widely used in the fields of 3D measurement,target localization and 3D scene reconstruction.In underground mines with complex environment,the realization of accurate and stable ore production measurement is a practical problem that mining enterprises must consider in production management.In order to solve the problem of ore carrying capacity measurement of ore bucket,taking the tungsten ore with irregular shape as the research object,a non-contact volume measurement method based on binocular stereo vision is proposed,and the volume measurement experiment is carried out on the ore with irregular shape.The main process of volume measurement in binocular vision system is as follows:calibrating binocular camera to obtain camera parameters,pre-processing to improve image quality,stereo correction to align binocular image,stereo matching to calculate disparity map,and extracting target three-dimensional coordinates to calculate volume.In the camera calibration stage,Zhang Z.Y.checkerboard calibration method is selected,and the internal and external parameter matrix of the camera is accurately obtained with the help of the calibration toolbox in MATLAB;then,the image preprocessing process is composed of graying processing,adaptive threshold segmentation,Gaussian filtering and Sobel operator detection;then,the Bouguet correction method is used for stereo correction of the left and right images to eliminate the influence of system distortion.In the part of stereo matching,a more practical semi-global matching algorithm is selected to calculate the parallax map;finally,according to the internal and external parameter matrix of the camera,the parallax information is restored to the coordinate information in the three-dimensional scene,and the differential method is used to calculate the volume of the target object in the scene.In this paper,a set of test platform of binocular vision system is built with binocular camera,personal computer and camera fixture.On the spot,the light center of the left camera is used as the origin,the vertical direction is taken as the Z axis to construct a three-dimensional coordinate system,and the software processing platform is written with the help of Visual Studio 2019 and Open CV visual library.The experimental results show that the measurement error of binocular system is about 2% in depth and 5% in volume measurement of objects with regular shape.The error in measuring the volume of tungsten ore with irregular shape is about 8%.To sum up,the volume measurement method based on binocular vision for tungsten ore with irregular shape proposed in this paper has a certain reference significance for the actual production practice and the future intelligent mine construction.