CN105526993B

Movatterモバイル変換

Info

Publication number: CN105526993B
Application number: CN201610062643.8A
Authority: CN
Inventors: 胡桂标
Original assignee: SHANGHAI YUNYU INTELLIGENT TECHNOLOGY Co Ltd
Current assignee: SHANGHAI YUNYU INTELLIGENT TECHNOLOGY Co Ltd
Priority date: 2016-01-29
Filing date: 2016-01-29
Publication date: 2019-01-04
Anticipated expiration: 2036-01-29
Also published as: CN105526993A

Abstract

The present invention relates to level measurement field, a kind of method for disclosing machine vision level-sensing device and its measuring material position, light emitting members to surface of material to be measured project at least two beam directional lights and it is at least a branch of with each directional light be in default angle oblique light；Image acquisition component acquires each directional light and each oblique light is irradiated to the image of the directional light hot spot and oblique light hot spot that are formed after surface of material to be measured, and sends an image to arithmetic processor；Arithmetic processor carries out calculation process to above-mentioned image according to known necessary information and obtains material position information；The present invention can greatly eliminate the influence that the factors such as image acquisition component image-forming principle and zoom obtain image and calculate, simplify survey calculation amount, without largely demarcating, really realize machine vision to material continuously measure, can also be achieved to measurement point fixed point monitoring, obtain surface of material tilt angle, obtain material surface temperature, obtain measurement space realtime graphic, measurement is accurate, reliable, succinct, and algorithm is simple and efficient.

Description

Machine vision level-sensing device and its method for measuring material position

Technical field

The present invention relates to level measurement field, in particular to a kind of machine vision level-sensing device and its method for measuring material position.

Background technique

With the fast development of technology, the idea of level measurement and monitoring is carried out always by Machine Vision Recognition and calculatingSince be widely noticed, while can because Machine Vision Recognition not only can be with the height or distance of real-time display material (object)With to user show measurement object image, allow user can " seeing is believing " to monitoring environment be monitored.

But machine vision level monitoring equipment is not made largely really in actual production and life for many yearsWith with it is universal the main reason for, or because of existing machine vision level monitoring apparatus and method for, be unable to meet production sceneReal situation or measurement method can not be realized really in actual measurement.

Existing machine vision material position identification apparatus and method for is broadly divided into the following two kinds:

1, measured material image is directly analyzed and determined, judges level of filler material.This kind of method directly acquires materialImage in measurement space, is compared using the image prestored in realtime graphic and measuring device, judges realtime graphic instituteThe image of displaying meets that image in altimeter, makes material position judgement.This kind of method needs to prerecord and store eachThe material image of different height, and be stored in equipment.The calibration of height with image is carried out in advance.

Such as Chinese Patent Application No. 01107328.4, publication date 2002.11.6 discloses a kind of digital video frequency level indicator,

The digital video frequency level indicator is connected with each other by video input unit, image pick-up card, microprocessor and display screen.Using

Machine vision technique detects solid-material level, and detection material position step is material position Image Acquisition, at digital pictureIt manages and divides

Analysis, storage display.Video input unit is directed at tested material, video input unit is connected to the view of image pick-up cardFrequently

Input terminal, microprocessor control image pick-up card and acquire material position image by the sampling period set by user, and to thisImage into

Row processing, calculates material position true value for the material position coordinate value analyzed compared with the calibration gauge of calibration, simultaneously willMaterial position figure

The variation tendency of picture, material position true value and the value is shown on a display screen.Its measure material position main means beUtilize material

The reading on calibration gauge demarcated at the coordinate points of position is to obtain material position true value.

Chinese Patent Application No. 99100675.5, publication date 2000.8.16 disclose a kind of defocus-focus distance measuring side

Method, espespecially a kind of method using image processing do the object distance measurement of extensive angle, that is, utilize a pair of a certain spySet a distance

For the camera lens of focal length, after the fuzzy image for obtaining practical scenery, different inverse functions is recycled (to defocus functionInverse function)

Convolution conversion, several blocks are divided into, and defocus to its block the comparison of situation, by comparing resultWith it is pre-

The value first acquired relatively finds out distance value, obtains with the estimated value of each point distance in the camera lens center of circle.

2, material is irradiated using single point light source, is judged by the characteristics of image to single hot spot, judges level of filler material.It shouldKind method measures level of filler material by the characteristics of image of the single hot spot of measurement indirectly.

Such as: Chinese Patent Application No. 200710038493.8, publication date 2008.9.24 are disclosed a kind of based on machine viewFeel

Material level measuring method and device, the device is by groups such as special point light source, Image Acquisition machine, machine vision modulesAt.It adopts

Solid-material level is detected with machine vision technique, detects material position step are as follows: by the spy being mounted at the top of feed binDifferent point

The light beam that light source is launched, is incident upon surface of material, is the taper of isosceles from the vertical section of feed bin.NotWith high

The high-luminance light circular image that different-diameter is obtained on the level cross-sectionn of degree, by machine vision module using verifyingType light circle

Detection algorithm is analyzed and is handled, and the diameter or size for calculating light source obtain material position value in turn.MeanwhileReally

Display material position scene real scene image device.

China Patent No. 201010509916.1, a kind of contactless coal bin coal position photoelectric measurement method and device, provideIt is a kind of contactless, based on pixel number in image between laser facula imaging point and image center, obtain material in feed binThe photoelectric measurement method and device of depth value belong to level gauging technical field.Depth measurement especially suitable for coal bin coal position.ThisInvention device makes camera optical path perpendicular to surface of material in tubular coal bunker spindle top stationary digital camera and laser emitter,Laser emitter is arranged in the position to form an angle θ with the horizontal direction, it is ensured that swash

The imaging region of light hot spot can be incident upon in the surface of material within the scope of viewing field of camera.Camera is using N grades of segmentationsFixed-focus can absorb clearly image to meet at the different coal positions of coal bunker.Using DSP as processor cores, pass through meterThe pixel number between laser facula imaging point and image center is calculated, the depth for the correspondence different pixels number mean value demarcated in advance is inquiredTable completes depth detection.

The above existing machine vision recognition method, the reason of can not really being used, are, have ignored video and imageEquipment image-forming principle characteristic: even if the image of same area gets over long-term plan from image acquisition equipment under same imaging focal length parameterAs smaller；Zoom is needed if considering further that and obtaining clear image, and image size is more in image acquisition equipment for same area imageAdd complicated and changeable.Therefore the prior art, no matter by directly acquire image or pass through image and pre-stored image comparative approach orPerson directly calculate projected spot area or deviate pixel method, have ignored the basic image-forming principle of image acquisition equipment andThe more complicated Parameters variation of image acquisition equipment zoom bring, can not really implement, and it is accurate also can not just to obtain materialMaterial position.

Summary of the invention

Goal of the invention: aiming at the problems existing in the prior art, the present invention provides a kind of machine vision level-sensing device and its surveyThe method for measuring material position, can eliminate the influence that the factors such as image acquisition component image-forming principle and zoom calculate imageTo realize the continuous measurement to level of filler material, it can also realize the fixed point monitoring to measurement point, also can measure inclining for surface of materialRake angle, measurement is accurate, reliable, and method is succinct, and algorithm is simple and efficient.

Technical solution: the present invention provides a kind of machine vision level-sensing device, including light emitting members, image acquisition component,Arithmetic processor and signal output component, the light emitting members and described image acquisition component are arranged at where material to be measuredIt measures in space, the arithmetic processor is separately connected described image acquisition component and the signal output component；The light hairComponent is penetrated for being in pre- to the surface of material projection at least two beam directional lights to be measured and at least a branch of and each directional lightIf the oblique light of angle；Described image acquisition component for acquire each directional light and each oblique light be irradiated to it is describedThe image of the directional light hot spot and oblique light hot spot that are formed after surface of material to be measured, and described image is sent at the operationManage device；The arithmetic processor is used for according to the light source of practical spacing, each oblique light between each directional light and eachFigure between practical spacing, each default angle, each directional light hot spot between the directional light in described imageAs the image spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, at operationReason obtains the material position information of the material to be measured at the facula position of each oblique light, and the material position information signal is passedIt is defeated by the signal output component；And/or the arithmetic processor is used to reach default height according to the material position of the material to be measuredImage spacing, each directional light hot spot and each inclination when spending, between each directional light hot spot in described imageIt is each parallel in image spacing and the real-time acquired image of described image acquisition component between hot spot in described imageImage spacing, each directional light hot spot between light hot spot and the image spacing between each oblique light hot spot, at operationReason logic judgment goes out whether the material to be measured reaches the preset height, and the consequential signal of the logic judgment is transferred toThe signal output component；The signal output component is used to believe the material position information and/or the result of the logic judgmentNumber output.

Preferably, in each directional light hot spot and each oblique light hot spot, at least there are two the directional light lightSpot and an oblique light hot spot are located at same straight line.

Preferably, two to be located along the same line the directional light hot spot and an equal position of oblique light hot spotIn the same controlling level of the material to be measured.

Further, if the light emitting members are to the surface of material projection to be measured at least directional light of two beams and extremelyFew two beams and each directional light are in the oblique light of default angle；Then the arithmetic processor is according between each directional lightPractical spacing, each oblique light light source and each directional light between practical spacing, each default angle, each describedBetween directional light hot spot between image spacing, each oblique light hot spot and each directional light hot spot in described imageImage spacing in described image, calculation process obtains the surface slope information of the material to be measured, and the surface is inclinedSlope information signal is transferred to the signal output component；The signal output component sentences the material position information, the logicDisconnected result and/or surface slope information signal output.

Preferably, in at least two directional light hot spots and at least two oblique light hot spots, at least two institutesIt states directional light hot spot and at least two oblique light hot spots is located at same straight line and along the same inclined surface of material to be measuredInclined direction be arranged successively.

Further, if the light emitting members are to the surface of material projection at least four beam directional lights to be measured and at leastTwo beams and each directional light are in the oblique light of default angle；Then the arithmetic processor is according to the reality between each directional lightPractical spacing between border spacing, each plane formed between the directional light two-by-two, two-by-two between the light source of the oblique lightDifference in height, each oblique light light source and each directional light between practical spacing, each default angle, each describedImage spacing and each oblique light hot spot between directional light hot spot in described image and each directional light hot spot itBetween image spacing in described image, calculation process obtains the surface slope information of the material to be measured, and by the tablePlane inclination information signal is transferred to the signal output component；The signal output component by the material position information, described patrolCollect the result and/or surface slope information signal output of judgement.

Preferably, in at least four directional light hot spots and at least two oblique light hot spots, at least four institutesIt states directional light hot spot and at least two oblique light hot spots is respectively positioned on the same inclined surface of material to be measured, and at least twoThe directional light hot spot and at least one described oblique light hot spot are located at first straight line, on the first controlling level, in addition also extremelyFew two directional light hot spots and at least one described oblique light hot spot are located at second straight line, on the second controlling level, are located atLight the first plane of composition of two directional light hot spots in the first straight line, two in the second straight lineThe light of the directional light hot spot constitutes the second plane, and first plane is parallel with second plane.

Further, the machine vision level-sensing device further includes that component is stablized in damping, and component and institute are stablized in the dampingIt states light emitting members and/or described image acquisition component effectively contacts.

Preferably, it is mechanical passive type or gyroscope active control type that component is stablized in the damping.

Further, the machine vision level-sensing device further includes dust-proof ash disposal component, and the dust-proof ash disposal component is located atDescribed image acquisition component and/or the light emitting members nearby and with the arithmetic processor are connected.

Preferably, the dust-proof ash disposal component is gas blowing mechanism or brusher motivation structure.

Further, the machine vision level-sensing device further includes illuminace component, the illuminace component be fixed on it is described toIt is connect where surveying material inside container and with the arithmetic processor.

Preferably, the illuminace component is visible illumination equipment or infrared ray non-visible light lighting apparatus.

Further, the machine vision level-sensing device further includes infrared or Principles of Laser temperature-measuring parts, for remoteThe temperature information of range measurement surface of material, the temperature-measuring part are connect with the arithmetic processor, and the temperature-measuring part is by instituteIt states temperature information and is sent to the arithmetic processor, the arithmetic processor is again exported the temperature information by the signalComponent output.

Further, the light emitting members are also used to project the fill-in light perpendicular to the directional light.

Further, the arithmetic processor is also used to carry out calculation process to described image to obtain the material to be measuredThree-dimensional image, and the three-dimensional image is exported through the signal output component.

Further, described image acquisition component is also used to acquire flame or burning image, and by flame or burning imageIt is sent to the arithmetic processor, the arithmetic processor is also used to control when receiving the flame or burning image externalAlarm equipment alarm or the arithmetic processor export the flame or burning image through the signal output component.

Further described image obtaining widget is also used to acquire the ambient image in the measurement space, and by the ringBorder image is sent to the arithmetic processor, and the ambient image is passed through the signal output component again by the arithmetic processorOutput.

Preferably, the first reference tilt light hot spot, described first are with reference to directional light hot spot and second referenceDirectional light hot spot is respectively positioned on the same controlling level of the material to be measured.

Preferably, if in the S1, to the surface of material projection at least two beam directional lights to be measured and at least two beamsIt is in the oblique light of default angle with each directional light；Then in the S5, according between each directional light practical spacing,Practical spacing, each oblique light between the light source of each oblique light and each directional light and between each directional lightPractical angle, the image spacing between each directional light hot spot in described image, each oblique light hot spot and each instituteThe image spacing between directional light hot spot in described image is stated, calculation process obtains the surface slope letter of the material to be measuredBreath；It is in the S6, the material position information, the result of the logic judgment and/or the surface slope information signal is defeatedOut.

Preferably, if in the S1, to the surface of material projection at least four beam directional lights to be measured and at least two beamsIt is in the oblique light of default angle with each directional light；Then in the S5, according between each directional light practical spacing,Practical spacing, each oblique light between the light source of each oblique light and each directional light and between each directional lightPractical angle, the practical spacing between each plane for forming between the directional light two-by-two, the oblique light two-by-two light sourceBetween difference in height, the image spacing between each directional light hot spot in described image, each oblique light hot spot and eachImage spacing between the directional light hot spot in described image, calculation process obtain the surface slope of the material to be measuredInformation；In the S6, by the material position information, the result of the logic judgment and/or the surface slope information signalOutput.

The utility model has the advantages that the directional light that light emitting members emit in the present invention, is equivalent to a scale, and this scale is in objectMaterial surface is held essentially constant with the variation of level of filler material, simultaneously because being responsible for the oblique light hot spot of measurement material position and as scaleParallel hot spot collected by image acquisition component after in the light spot image that is formed, caused by the factors such as image-forming principle and zoomIt is both image change characteristics and almost the same, so Image Acquisition can be eliminated after bringing this scale parameter in algorithm intoThe factors such as component image-forming principle and zoom are seriously affected for what image calculated；Pass through the optical scale that this is projected, Image AcquisitionThe zoom or other factors of component are basically eliminated the damaging influence of the measurement method in the present invention.

The beneficial effect of this level-sensing device and measurement method has:

1, accurate measurement of the machine vision to level of filler material is really realized；

2, without carrying out a large amount of staking-out works such as scaling board calibration；

3, the test constantly to level of filler material is really realized；

4, measurement accuracy is much higher than existing machine vision metrology method；

5, it realizes the measurement to surface of material tilt condition, there is very active influence for the application such as automatic blending；

6, the presentation of surface of material three-dimensional image may be implemented；

7, the monitoring of material surface temperature, combustion case, real-time condition can be provided；

8, algorithm is succinct and efficient.

Detailed description of the invention

Fig. 1 is the signal flow schematic diagram of machine vision level-sensing device in embodiment 1；

Fig. 2 is the generation type schematic diagram of directional light and oblique light in embodiment 1；

Fig. 3 is the generation type schematic diagram of directional light and oblique light in embodiment 1；

Fig. 4 is fill-in light and schematic diagram when directional light and oblique light cross action in embodiment 6；

Fig. 5 is the method schematic diagram that material position is calculated in embodiment 8 (surface of material is smooth)；

Fig. 6 is the method schematic diagram that material position is calculated in embodiment 8 (surface of material has gradient)；

Fig. 7 is the method schematic diagram that material position is calculated in embodiment 8；

Fig. 8 is the method schematic diagram that material position is calculated in embodiment 9；

Fig. 9 is the method schematic diagram that material position is calculated in embodiment 10；

Figure 10 is the method schematic diagram that material position is calculated in embodiment 11；

Figure 11 is the method schematic diagram that material position is calculated in embodiment 12；

Figure 12 is the method schematic diagram that material position is calculated in embodiment 12；

Figure 13 is the method schematic diagram that material position is calculated in embodiment 13；

Figure 14 is the method schematic diagram that material position is calculated in embodiment 13.

Specific embodiment

The present invention is described in detail with reference to the accompanying drawing.

Embodiment 1:

Present embodiments provide for a kind of machine vision level-sensing devices, as shown in Figure 1, including light emitting members, Image AcquisitionComponent, arithmetic processor and signal output component, light emitting members and image acquisition component are surveyed where being arranged at material to be measuredIn quantity space, arithmetic processor is separately connected image acquisition component and signal output component；

Light emitting members are used to project at least two beams perpendicular to the flat of a certain cross section of material to be measured to surface of material to be measuredRow light and at least a branch of and each directional light are in the oblique light of default angle；

Image acquisition component for acquire formed after each directional light is irradiated to surface of material to be measured with each oblique light it is parallelThe image of light hot spot and oblique light hot spot, and send an image to arithmetic processor；

Arithmetic processor is between the light source and each directional light according to practical spacing, each oblique light between each directional lightPractical spacing, each default angle, the image spacing between each directional light hot spot in the picture and each oblique light hot spot and eachImage spacing between directional light hot spot in the picture, calculation process obtain the material to be measured at the facula position of each oblique lightMaterial position information, and material position information signal is transferred to signal output component；

And/or arithmetic processor is being schemed between each directional light hot spot when reaching preset height according to the material position of material to be measuredImage spacing and image acquisition part between image spacing, each directional light hot spot and each inclination hot spot as in the pictureIn the real-time acquired image of part, image spacing, each directional light hot spot between each directional light hot spot and each oblique light hot spot itBetween image spacing, calculation process logic judgment goes out material to be measured and whether reaches preset height, and the result of logic judgment is believedNumber it is transferred to signal output component；

Signal output component is used to export the consequential signal of material position information and/or logic judgment.

In the present embodiment, in order to prevent light emitting members and/or image acquisition component during the work time due to workMake bad environments and shake, component can be stablized for the two configuration damping, it is preferable to use mechanical passive type or gyroscope masterThe damping part of dynamic control formula；In addition, the environment as locating for material to be measured is usually relatively more severe, dust is larger, in order to avoidThe larger directional light and oblique light for interfering light emitting members transmitting of dust, and in order to avoid image acquisition component since dust coversImage can not be acquired by covering, and dust-proof ash disposal is additionally provided near image acquisition component and/or light emitting members in present embodimentComponent, the dust-proof ash disposal component dextrorotation using gas blowing mechanism or brusher motivation structure, which can be by transportingIt calculates processor control and automatically turns on or close operation；Since image acquisition component has image real-time acquisition and supervisory function bit, andMaterial local environment light to be measured is generally more dim, and being easy, which influences image acquisition component, collects clearly image, soIlluminace component can also be installed in space where material to be measured in present embodiment, visible illumination equipment or red can be usedOutside line non-visible light lighting apparatus.

Preferably, in the present embodiment, temperature-measuring part can also be increased to machine vision level-sensing device, it is preferable to use infraredOr laser temperature-measuring component, where being mounted on material to be measured in space, for measuring the temperature information of surface of material；Temperature-measuring part energyEnough that the temperature information measured is sent to arithmetic processor, arithmetic processor is defeated by signal output component by temperature information againOut.

Preferably, in the present embodiment, if many beam directional lights of light emitting members transmitting and many beam oblique lights,Image acquisition component can collect the image comprising several directional light hot spots and oblique light hot spot, and arithmetic processor is by makingAfter carrying out calculation process to these images with several hot spots with existing image processing techniques means, it will be able to obtain to be measuredThe three-dimensional image of material, material information is more directly showed user.Arithmetic processor can also be according to multipleMaterial position information, the multiple surficial inclination information at hot spot are tilted, generates more than one synthesis by comprehensive calculation processMaterial position information or more than one comprehensive tilt angle information either average value.

Preferably, the image acquisition component in present embodiment can also acquire flame or burning image, and by these figuresAs being sent to arithmetic processor, arithmetic processor can judge in the space of material place to be measured after receiving these images againMaterial to be measured catches fire, it will be able to which real-time control alarm equipment alarm exports image to user by signal output component, makesUser can learn field conditions in time, take timely measure；In addition, image acquisition component in present embodiment is in addition to canOutside the image for collecting directional light hot spot and oblique light hot spot, additionally it is possible to the material situation ring to be measured in the space of acquisition measurement in real timeBorder real scene image, and by these image transmittings to arithmetic processor, it is exported through signal output component for user by arithmetic processorMore intuitively understand the material situation in measurement space.

In addition, the directional light in present embodiment can be parallel light (such as Fig. 2), it can also be the parallel edges in light beamOr parallel surface (such as Fig. 3)；Oblique light i.e. but an oblique light ray (such as Fig. 2), can also for an inclined side in light beam orInclined surface (such as Fig. 3).

Additionally need it is emphasised that: directional light truly is difficult really to realize in reality, in present embodimentDirectional light also include in measurement spatial dimension close to the light of real directional light or in measurement range its dissipate forThe negligible light close to directional light of influence of this measurement method.

Embodiment 2:

Present embodiment is a specific embodiment of embodiment 1, in the present embodiment, light emitting members and imageAcquisition component is arranged at container top where material to be measured, and light emitting members are used to project two beams to surface of material to be measured verticalIn a certain cross section of material to be measured directional light and it is a branch of with any a branch of directional light be in default angle oblique light, and two beamsAfter directional light and a branch of oblique light are irradiated in surface of material to be measured, corresponding two directional lights hot spot and an oblique light hot spot are located atOn same straight line；

Arithmetic processor is used for according to the light source of practical spacing, oblique light between two directional lights and is in default angle with itDirectional light between practical spacing, default angle, image spacing and oblique light between two directional light hot spots in the pictureHot spot and the image spacing between its directional light hot spot in default angle in the picture, calculation process obtain the light of oblique lightThe material position information of material to be measured at spot position, and material position information signal is transferred to signal output component.

And/or arithmetic processor is when being used to reach preset height according to the material position of material to be measured, between two directional light hot spotsImage spacing and Image Acquisition between image spacing in the picture, two directional light hot spots and inclination hot spot in the pictureImage spacing, two directional light hot spots and oblique light hot spot in the real-time acquired image of component, between each two directional lights hot spotBetween image spacing, calculation process logic judgment goes out material to be measured and whether reaches preset height, and by the result of logic judgmentSignal is transferred to signal output component.

In addition to this, present embodiment is identical with embodiment 1, is not repeated herein.

Embodiment 3:

Present embodiment is the further improvement of embodiment 2, is mainly theed improvement is that, in embodiment 2, two is flatRow light hot spot is located along the same line with an oblique light hot spot, but when it is plane that surface of material, which has the gradient not, is located at sameThe very possible locating level of filler material height of three hot spots on straight line is different, acquires three from top to bottom in this caseImage when, it is easy to because the position of three hot spot range image acquisition components is different and three hot spots when causing to acquire imageFocal length it is different, and then cause the image spacing of three in acquired image cannot be completely corresponding with practical spacing, and then leadThe material position information for causing subsequent arithmetic processor calculation process to obtain is inaccurate；So in the present embodiment, can select to be located at sameOne straight line and be located at same controlling level on two directional light hot spots and an oblique light hot spot as image acquisition componentAcquisition target, this makes it possible to the height for guaranteeing three's range image acquisition component is identical, and then when acquiring image, focal length is identical,Acquired image will not be distorted, and can relatively accurately reflect the actual positional relationship between three, final arithmetic processorAccurate material position information and/or logic judgment result are obtained to the accurate image procossing.

In addition to this, present embodiment is identical with embodiment 2, is not repeated herein.

Embodiment 4:

Present embodiment is roughly the same with embodiment 1, and the main distinction is: in the embodiment 1, light emitting members hairIt is incident upon few two beam directional lights and at least a branch of oblique light, by projecting the hot spot figure on material to be measured to directional light and oblique lightThe acquisition of picture, and the controlling level that the material to be measured at oblique light facula position can be obtained after image progress calculation process is believedBreath, and/or, logic judgment is carried out to when material reaches preset height；But at the scene in environment, the surface of material is usuallyThere is certain slope, the height of material position is different at different gradient, only measures the height of some point on material to be measured also muchCannot reflect the whole material position feature of material, cannot the material position to material to be measured carry out comprehensive monitoring；And in this embodiment partyThe controlling level of surface of material certain point to be measured can not only be monitored, and can be inclined in formula to the surface of material to be measuredGradient is monitored, more comprehensively intuitively to monitor the material position information of material to be measured.

Specifically, in the present embodiment, it is vertical that light emitting members can project at least two beams to surface of material to be measuredIn the oblique light that the directional light of material cross section to be measured and at least two beams and each directional light are in default angle；Above-mentioned directional light andAfter the surface that oblique light is irradiated to material to be measured forms hot spot, at least two directional light hot spots and at least one oblique light hot spot positionIt is arranged successively on same straight line and along the inclined direction of the same inclined surface of material to be measured；Image acquisition component acquires upper rhemeIn at least two directional light hot spots being arranged successively on same straight line and along the inclined direction of the same inclined surface of material to be measured andThe image of at least one oblique light hot spot, and it is sent to arithmetic processor, arithmetic processor is further according to the reality between each directional lightBorder spacing, each oblique light light source and each directional light between practical spacing, each default angle, scheming between each directional light hot spotImage spacing between image spacing and each oblique light hot spot and each directional light hot spot as in the picture, calculation process obtainObtain the surface slope information of material to be measured；Obviously, while obtaining surface slope information, each oblique light can also be obtainedMaterial position information and material position at facula position reach the logic judgment result of a certain preset height.

Embodiment 5:

Present embodiment is roughly the same with embodiment 4, and the main distinction is the mode of acquisition surface of material gradient notTogether, and in present embodiment the precision of the surface of material gradient got is higher, because being located at same when surface of material has the gradientThe height of level of filler material locating for each hot spot being arranged successively from top to bottom on the same inclined surface of one straight line is different, thisIn the case of when acquiring the image of each hot spot from top to bottom, it is easy to because the position of each hot spot range image acquisition component is differentThe focal length for leading to acquire each hot spot when image is different, and then causes the image spacing of each hot spot in acquired image cannot be completeIt is corresponding with practical spacing, and then the material position information for causing subsequent arithmetic processor calculation process to obtain is inaccurate；And in this implementationIt can be avoided above-mentioned error in mode.

Specifically, in the present embodiment, it is vertical that light emitting members can project at least four beams to surface of material to be measuredIn the oblique light that the directional light of material cross section to be measured and at least two beams and each directional light are in default angle；Above-mentioned directional light andAfter the surface that oblique light is irradiated to material to be measured forms hot spot, at least four directional light hot spots and at least two oblique light hot spots are equalOn the same inclined surface of material to be measured, and wherein at least two directional light hot spot and at least one oblique light hot spot are located atIn first straight line, the first controlling level, in addition there are also at least two directional light hot spots and at least one oblique light hot spots to be located at theOn two straight lines, the second controlling level, and the light for two directional light hot spots being located in first straight line constitutes the first plane, is located atThe light of two directional light hot spots in second straight line constitutes the second plane；Image acquisition component acquires above-mentioned first straight line, theThe image of six hot spots on one controlling level and in second straight line, the second controlling level is simultaneously sent to arithmetic processor, fortuneCalculate processor further according between the light source and each directional light of practical spacing, each oblique light between each directional light practical spacing,Practical spacing between each default angle, each plane formed between directional light two-by-two, the two-by-two height between the light source of oblique lightIt spends between image spacing and each oblique light hot spot and each directional light hot spot between poor, each directional light hot spot in the picture and is schemingImage spacing as in, calculation process obtain the surface slope information of material to be measured；Obviously, surface slope information is being obtainedWhile, it can also obtain material position information and material position at each oblique light facula position and reach the logic of a certain preset height and sentenceDisconnected result.

As it can be seen that can guarantee each hot spot distance map for calculation process being located along the same line in these casesAs the height of acquisition component is identical, and then when acquiring image, focal length is identical, and acquired image will not be distorted, can be relatively more accurateGround reflects the actual positional relationship between each hot spot, final to obtain more accurately material position information.

Embodiment 6:

Present embodiment is the further improvement of embodiment 1, is mainly theed improvement is that, in the present embodiment, lightEmission element is applied not only to projection directional light and oblique light, is also used to project the fill-in light perpendicular to directional light, the fill-in lightEffect be in order to which assistant images acquisition component collects light spot image because dust usually where material to be measured in space compared withGreatly, dust has scattering process to directional light and oblique light, may be due to after directional light and oblique light reach surface of materialThe biggish reason hot spot of dust is very unintelligible, if directly being adopted at this time using image acquisition component to light spot imageCollection, acquired image can be smudgy, and it is larger to eventually result in subsequent operation result error, level of filler material accuracy compared withIt is low；

For these reasons, the function of transmitting fill-in light, fill-in light are provided with to light emitting members in the present embodimentPerpendicular to directional light, and fill-in light can generate crosspoint with directional light and oblique light, and such as Fig. 4 is advantageous in that: 1, the intersectionLight at point is strong compared to no intersection, so the crosspoint projects the hot spot brightness meeting after surface of material to be measuredReinforce, compares clearly light spot image so as to guarantee that image acquisition component collects；As long as 2, arithmetic processor acquisition is auxiliaryHelp light hot spot, directional light hot spot and/or oblique light hot spot institute more than two spots on straight line, so that it may straight line where calculating,Further arithmetic processor can calculate the crosspoint of fill-in light and directional light and oblique light to obtain the pass needed for calculatingKey characteristic information, and then prepare for the material position information that subsequent arithmetic handles to obtain accurate material to be measured.

Embodiment 7:

Present embodiments provide for a kind of methods using the machine vision level-sensing device measurement material position in embodiment 1, shouldMethod the following steps are included:

S1: at least two beams are projected perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measuredA branch of and each directional light is in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measuredAt directional light hot spot and oblique light hot spot；

S2: the practical spacing between the light source and each directional light of practical spacing between each directional light, each oblique light is prestoredAnd the practical angle between each oblique light and cross section；

Alternatively, the image when material position for prestoring material to be measured reaches preset height, between each directional light hot spot in the pictureImage spacing and image acquisition component between spacing, each directional light hot spot and each inclination hot spot in the picture acquire in real timeTo image in, between image spacing, each directional light hot spot between each directional light hot spot and the image between each oblique light hot spotAway from；

S3: the image of each directional light hot spot and each oblique light hot spot is acquired；

S4: calculation process is carried out to image, obtains image spacing, each oblique light between each directional light hot spot in the pictureImage spacing between hot spot and each directional light hot spot in the picture；

S5: according to the practical spacing between the light source and each directional light of practical spacing, each oblique light between each directional lightAnd practical angle between each oblique light and each directional light, the image spacing between each directional light hot spot, each oblique light hot spotWith the image spacing between each directional light hot spot, calculation process obtains the material position of the material to be measured at the facula position of each oblique lightInformation；

And/or according to image spacing, each directional light hot spot and each inclination hot spot between each directional light hot spot in the pictureBetween in image spacing and the real-time acquired image of image acquisition component in the picture, between each directional light hot spotImage spacing between image spacing, each directional light hot spot and each oblique light hot spot, calculation process logic judgment go out material to be measuredWhether preset height is reached；

S6: the consequential signal of material position information and/or logic judgment is exported.

Embodiment 8:

Present embodiment is a specific embodiment of embodiment 7, and the present embodiment comprises the steps of:

S1 projects at least two beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measuredA branch of and each directional light is in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measuredAt directional light hot spot and oblique light hot spot；Select at least two directional light hot spots being wherein located along the same line and at least oneOblique light hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；

As shown in Fig. 5,6 and 7, defining the reference tilt light hot spot A being located along the same line is the first reference tilt light lightSpot, two references directional light hot spot (B and C) are respectively that the first reference directional light hot spot and second refer to directional light hot spot (at this timeA, tri- hot spots of B and C are arranged successively)；Wherein S1, S2 and S3 are respectively the light source of the first reference tilt light hot spot A, the first referenceThe light source of the light source of directional light hot spot B and the second reference directional light hot spot B.

S2 is prestored between the first light S3C with reference to the reference of the light S2B of directional light hot spot B and second directional light hot spot CPractical space D 1, the first reference tilt light hot spot A light source and second with reference to directional light hot spot C light between reality betweenAway from T1, the first reference tilt light S1A and second with reference to the practical angle theta between directional light S3C；(note: between reality mentioned hereVertical range away from the point on not instead of ordinary meaning to line, interplanar spacing viewed from above, due to each light source in Fig. 2And image acquisition component is respectively positioned on above material to be measured, so above-mentioned D1 and T1 be from image acquisition component downwards fromThe plan range arrived, it is described below in explanation about practical spacing, it is unless otherwise instructed, equivalent in meaning with here)

S3: acquisition first in real time refers to directional light hot spot C and the first reference tilt light with reference to directional light hot spot B, secondThe image of hot spot A；

S4: carrying out calculation process to upper image, obtains first and refers to directional light hot spot C with reference to directional light hot spot B and secondBetween image space D 1 ' in the picture, the first reference tilt light hot spot A and second with reference between directional light hot spot C in imageIn image space D 2 '；

S5: it is obtained according to D1, T1, θ, D1 ' and D2 ' calculation process to be measured at the first reference tilt light hot spot location AThe material position information of material.

The material position information of material to be measured first reference tilt light hot spot A to the light of the first reference tilt light hot spot A hereinSpacing HA between the S1 of source indicates, then HA=(D2 ' * D1/D1 '-T1)/tan θ；

Such as Fig. 7, if between light source and the first light with reference to directional light hot spot B that T1 is the first reference tilt light hot spot APractical spacing, θ be the first reference tilt light S1A and first with reference to practical angle, the D2 ' between directional light S2B be the first ginsengImage spacing in the picture between the reference of oblique light hot spot A and first directional light hot spot B is examined, then HA=(T1-D2 ' * D1/D1')/tan θ；

So calculate HA formula can be summarized as HA=| D2 ' * D1/D1 '-T1 |/tan θ；

S6: above-mentioned HA signal is exported.

Embodiment 9:

Present embodiment is the further improvement of embodiment 8, is mainly theed improvement is that, in embodiment 8, firstReference tilt light hot spot A, first are only to be located along the same line with reference to directional light hot spot C with reference to directional light hot spot B and second,The straight line may be the straight line to go down along one gradient of surface of material to be measured, be located in different material position height for 3 points of A, B and C at this timeAt degree, such as Fig. 6 or 7, when acquiring the image of three from top to bottom in this case, it is easy to because three hot spot range images are adoptedThe focal length of three hot spots is different when collecting the position difference of component and causing to acquire image, and then leads to three in acquired imageImage spacing cannot be completely corresponding with practical spacing, and then the material position information for causing subsequent arithmetic processor calculation process to obtainInaccurately.And the first reference tilt light hot spot A, the first reference directional light hot spot B and second in present embodiment are with reference to parallelLight hot spot C is not only located on same straight line, and is located at the same controlling level of material to be measured, as shown in figure 8, in such caseUnder be to ensure that the height of three's range image acquisition component is identical, and then acquire image when focal length it is identical, collected figureAs that will not be distorted, it can relatively accurately reflect the actual positional relationship between three.

In addition to this, in the formula and other technical characteristics and embodiment 8 due to calculating HA in present embodiment completelyIt is identical, so being not repeated herein.

Embodiment 10:

Present embodiment is also a specific embodiment of embodiment 7, and the present embodiment comprises the steps of:

As shown in figure 9, the reference tilt light hot spot A that definition is located along the same line is the first reference tilt light hot spot, twoA refer to directional light hot spot (B and C) is respectively that the first reference directional light hot spot and second refer to directional light hot spot；Wherein S1, S2It is respectively that the light source of the first reference tilt light hot spot A, the light source of the first reference directional light hot spot B and the second reference are parallel with S3The light source of light hot spot B；

S2: when prestoring the material position of material to be measured and reaching preset height h, first with reference to the light S2B of directional light hot spot B and theImage space D 1, the first reference tilt light hot spot A between the light S3C of two reference directional light hot spot C are with first with reference to parallelImage space D 2 between light hot spot B；

S4: carrying out calculation process to above-mentioned image, obtains first and refers to directional light hot spot with reference to directional light hot spot B and secondImage spacing between C is D1 ', the image spacing between the reference of the first reference tilt light hot spot A and first directional light hot spot B isD2´；

S5, if at a time, D1 '/D2 ' is equal to or more than D1/D2, then calculation process logic judgment goes out this moment to be measuredThe material position of material reaches h.

S6: the consequential signal of above-mentioned logic judgment is exported.

Embodiment 11:

Present embodiment is the further improvement of embodiment 10, is mainly theed improvement is that, in embodiment 10, theOne reference tilt light hot spot A, first are only to be located at same straight line with reference to directional light hot spot C with reference to directional light hot spot B and secondOn, which may be the straight line to go down along the inclined direction of surface of material to be measured, at this time 3 points of A, B and C be located in it is differentAt controlling level, such as Fig. 9, when acquiring the image of three from top to bottom in this case, it is easy to because of three hot spot distance mapsThe focal length of three hot spots is different when causing to acquire image as the position of acquisition component is different, and then causes in acquired imageThe image spacing of three cannot be completely corresponding with practical spacing, and then the D1 ' for causing subsequent arithmetic processor calculation process to obtain/D2 ' cannot be completely corresponding with D1/D2.And the first reference tilt light hot spot A, the first reference directional light hot spot in present embodimentB and second is not only located on same straight line with reference to directional light hot spot C, and is located at the same controlling level of material to be measured, is such as schemedIt shown in 10, is to ensure that the height of three's range image acquisition component is identical in this case, and then acquires burnt when imageAway from identical, acquired image will not be distorted, and can relatively accurately reflect the actual positional relationship between three.

In addition to this, present embodiment is identical with embodiment 10, so being not repeated herein.

Embodiment 12:

S1 projects at least two beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measuredTwo beams and each directional light are in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measuredAt directional light hot spot and oblique light hot spot；Selection is wherein located at same straight line and along the inclination side of the same inclined surface of material to be measuredIt is used as at least two directional light hot spots and at least two oblique light hot spots being arranged successively and inclines with reference to directional light hot spot and referenceSkew ray hot spot；

As shown in figure 11, definition is located at same straight line and is arranged successively along the inclined direction of the same inclined surface of material to be measuredTwo with reference to directional light hot spots be respectively first with reference to directional light hot spot C and second with reference to directional light hot spot D, two with reference to incliningSkew ray hot spot be respectively the first reference tilt light hot spot A and the second reference tilt light hot spot B(at this time tetra- hot spots of C, A, D and B according toSecondary arrangement)；Wherein S1, S2, S3 and S4 are respectively the light source of the first reference tilt light hot spot A, the second reference tilt light hot spot BLight source, first are with reference to the light source of directional light hot spot C and the light source of the second reference directional light hot spot D；

S2: it prestores between the first light S4D with reference to the reference of the light S3C of directional light hot spot C and second directional light hot spot DPractical space D 1, the first reference tilt light hot spot A light source S1 and first with reference to directional light hot spot C light S3C betweenReality between practical spacing T1, the light source S2 of the second reference tilt light hot spot B and the light S4D of the second reference directional light hot spot DReality between border spacing T2, the light S1A of the first reference tilt light hot spot A and the light S3C of the first reference directional light hot spot CAngle theta 1, the light S2B of the second reference tilt light hot spot B and second refer to the practical folder between the light S4D of directional light hot spot DAngle θ 2；

S3: acquisition first with reference to directional light hot spot C, second with reference to directional light hot spot D, the first reference tilt light hot spot A withAnd second reference tilt light hot spot B image；

S4: calculation process is carried out to above-mentioned image and obtains first with reference to directional light hot spot C and second with reference to directional light hot spot DThe image of image space D 1 ', the first reference tilt light hot spot A and first with reference to directional light hot spot C on the image on the imageThe image space D 3 ' of space D 2 ', the second reference tilt light hot spot B and second with reference to directional light hot spot D on the image；

S5: can be at operation by simple trigonometric function algorithm according to D1, T1, T2, θ 1, θ 2, D1 ', D2 ' and D3 'Reason obtains the surface slope information of material to be measured；

Assuming that the inclination angle between the inclined surface and bottom surface of material to be measured is f, then

tanf=((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´- D2´*D1/D1´)

If A, tetra- hot spots of C, D and B are arranged successively, such as Figure 12, then

tanf=((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´+D2´*D1/D1´)

So calculating the formula of tanf can summarize are as follows:

tanf= ((D3´*D1/D1´-T2)/tanθ2-(D2´*D1/D1´-T1)/tanθ1)/ (D3´*D1/D1´±D2´*D1/D1´)

It that is: is subtraction when two oblique lights are located at two directional light same directions, when two oblique lights are located at two directional light phasesIt is addition when opposite direction.

Embodiment 13:

Present embodiment is also a specific embodiment and the further improvement of embodiment 12 of embodiment 7,In embodiment 12, the first reference tilt light hot spot A, the second reference tilt light hot spot B, first are with reference to directional light hot spot C and theTwo are located at same straight line with reference to directional light hot spot D, on same inclined surface, and above-mentioned same straight line is the nauropemeter along material to be measuredWhat the inclined direction in face went down, four hot spots are just located at different controlling levels at this time, such as Figure 11 or 12, such caseUnder when acquiring four light spot images on the straight line from top to bottom, it is easy to because four hot spot range images on the straight line are adoptedThe focal length of four hot spots is different when collecting the distance difference of component and causing to acquire image, and then causes this in acquired image straightThe image spacing of four hot spots on line cannot be completely corresponding with practical spacing, and then leads to subsequent arithmetic processor calculation processCannot be completely corresponding between the obtained image spacing and practical spacing between each hot spot, cause measurement result inaccurate.And thisAt least four beam directional lights and at least two beam oblique lights can be projected in embodiment to surface of material to be measured, it is parallel by least four beamsLight and the inclination optical operation of at least two beams obtain more accurate surface of material gradient.Specifically, the present embodiment includes followingStep:

S1 projects at least four beams perpendicular to the directional light and at least of a certain cross section of material to be measured to surface of material to be measuredTwo beams and each directional light are in the oblique light of default angle, and each directional light and each oblique light correspond to shape after being irradiated to surface of material to be measuredAt directional light hot spot and oblique light hot spot；Selection is wherein located at the same inclined surface of material to be measured, first straight line and the first material positionAt least two directional light hot spots and at least one oblique light hot spot in height, which are used as, refers to directional light hot spot and reference tilt lightHot spot, and select other at least two directional light being located on above-mentioned same inclined surface, second straight line and the second controlling levelHot spot and at least one oblique light hot spot are as other reference directional light hot spot and reference tilt light hot spot；

S3: acquisition first is with reference to directional light hot spot C, second with reference to directional light hot spot D, third with reference to directional light hot spot E, theThe image of four reference directional light hot spot F, the first reference tilt light hot spot A and the second reference tilt light hot spot B；

S4: calculation process is carried out to above-mentioned image and obtains first with reference to directional light hot spot C and second with reference to directional light hot spot DThe image of image space D 1 ', third with reference to directional light hot spot E and the 4th with reference to directional light hot spot F on the image on the imageSpace D 2 ', the first reference tilt light hot spot A and first are joined with reference to the image space D 3 ', second of directional light hot spot C on the imageOblique light hot spot B and third are examined with reference to the image space D 4 ' of directional light hot spot E on the image；

S5: it is calculated according to D1, D2, T1, T2, θ 1, θ 2, K, Δ H, D1 ', D2 ', D3 ' and D4 ' by simple trigonometric functionMethod can calculation process obtain the surface slope information of material to be measured；

tanf=(|( D4´* D2/ D2´- T2)/ tanθ2-( D3´* D1/ D1´- T1)/ tanθ1|-ΔH)/K

By above-mentioned discussion as it can be seen that the first reference tilt light hot spot A in present embodiment, first referring to directional light hot spotC and second is not only located at same inclined surface with reference to directional light hot spot D, in first straight line, and is respectively positioned on the of material to be measuredOne controlling level (i.e. first straight line be located at the first controlling level position), the second reference tilt light hot spot B, third are with reference to parallelLight hot spot E and the 4th is not only located at above-mentioned same inclined surface with reference to directional light hot spot F, in second straight line, and be respectively positioned on toThe second controlling level (i.e. second straight line be located at the second controlling level position) for surveying material, is to ensure that in this caseThe height of three hot spot range image acquisition components in first straight line is identical, and three hot spot range images in second straight line are adoptedThe height for collecting component is also identical, and then focal length is identical when acquisition image, and acquired image will not be distorted, can be relatively accuratelyReflect the actual positional relationship between each hot spot, and then keeps final measurement result more accurate.

The technical concepts and features of the respective embodiments described above only to illustrate the invention, its object is to allow be familiar with techniquePeople can understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all according to this hairThe equivalent transformation or modification that bright Spirit Essence is done, should be covered by the protection scope of the present invention.

Claims

1. a kind of machine vision level-sensing device, which is characterized in that including light emitting members, image acquisition component, arithmetic processor andWhere signal output component, the light emitting members and described image acquisition component are arranged at material to be measured in measurement space,The arithmetic processor is separately connected described image acquisition component and the signal output component；

The light emitting members are used for the surface of material projection at least two beam directional lights to be measured and at least a branch of and each instituteState the oblique light that directional light is in default angle；

Described image acquisition component is used to acquire each directional light and each oblique light is irradiated to the surface of material to be measuredThe image of the directional light hot spot and oblique light hot spot that are formed afterwards, and described image is sent to the arithmetic processor；

The arithmetic processor is used for light source and each institute according to practical spacing, each oblique light between each directional lightState practical spacing between directional light, each default angle, the image between each directional light hot spot in described imageImage spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, calculation processThe material position information of the material to be measured at the facula position of each oblique light is obtained, and the material position information signal is transmittedTo the signal output component；

And/or the arithmetic processor be used for according to the material position of the material to be measured reach preset height when, each directional lightIn described image between image spacing, each directional light hot spot and each inclination hot spot in described image between hot spotIn image spacing and the real-time acquired image of described image acquisition component in, between the image between each directional light hot spotAway from the image spacing between, each directional light hot spot and each oblique light hot spot, calculation process logic judgment go out it is described toIt surveys whether material reaches the preset height, and the consequential signal of the logic judgment is transferred to the signal output component；

The signal output component is used to export the consequential signal of the material position information and/or the logic judgment.

2. machine vision level-sensing device according to claim 1, which is characterized in that in each directional light hot spot and each describedIn oblique light hot spot, at least there are two the directional light hot spots and an oblique light hot spot to be located at same straight line.

3. machine vision level-sensing device according to claim 2, which is characterized in that two to be located along the same line the instituteIt states directional light hot spot and an oblique light hot spot is respectively positioned on the same controlling level of the material to be measured.

4. machine vision level-sensing device according to claim 1, which is characterized in that

If the light emitting members project at least directional light of two beams and at least two beams and each institute to the surface of material to be measuredState the oblique light that directional light is in default angle；

Then the arithmetic processor according to the light source of practical spacing, each oblique light between each directional light with it is each describedBetween image between practical spacing, each default angle, each directional light hot spot between directional light in described imageAway from the image spacing between, each oblique light hot spot and each directional light hot spot in described image, calculation process is obtainedThe surface slope information of the material to be measured, and the surface slope information signal is transferred to the signal output sectionPart；

The signal output component is by the material position information, the result of the logic judgment and/or the surface slope informationSignal output.

5. machine vision level-sensing device according to claim 4, which is characterized in that in at least two directional light hot spots andIn at least two oblique light hot spots, at least two directional light hot spots and at least two oblique light hot spots are located at togetherIt one straight line and is arranged successively along the inclined direction of the same inclined surface of material to be measured.

6. machine vision level-sensing device according to claim 1, which is characterized in that

If the light emitting members to the surface of material to be measured projection at least four beam directional lights and at least two beams with it is each describedDirectional light is in the oblique light of default angle；

Then the arithmetic processor according to the light source of practical spacing, each oblique light between each directional light with it is each describedReality between practical spacing, each default angle between directional light, each plane formed between the directional light two-by-twoImage between spacing, the two-by-two difference in height between the light source of the oblique light, each directional light hot spot in described imageImage spacing between spacing and each oblique light hot spot and each directional light hot spot in described image, calculation processThe surface slope information of the material to be measured is obtained, and the surface slope information signal is transferred to the signal and is exportedComponent；

7. machine vision level-sensing device according to claim 6, which is characterized in that in at least four directional light hot spots andIn at least two oblique light hot spots, at least four directional light hot spots and at least two oblique light hot spots are respectively positioned onThe same inclined surface of material to be measured, and at least two directional light hot spots and at least one described oblique light hot spot are located atIn first straight line, the first controlling level, in addition there are also at least two directional light hot spots and at least one described oblique light lightSpot is located at second straight line, on the second controlling level；The light structure of two directional light hot spots in the first straight lineAt the first plane, light the second plane of composition of two directional light hot spots in the second straight line, described firstPlane is parallel with second plane.

8. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that further include damping stabilizersPart, the damping are stablized component and are effectively contacted with the light emitting members and/or described image acquisition component.

9. machine vision level-sensing device according to claim 8, which is characterized in that it is mechanical passive that component is stablized in the dampingFormula or gyroscope active control type.

10. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that further include dust-proof ash disposalComponent, the dust-proof ash disposal component be located at described image acquisition component and/or the light emitting members nearby and with the operationProcessor is connected.

11. machine vision level-sensing device according to claim 10, which is characterized in that the dust-proof ash disposal component blows for gasSweep mechanism or brusher motivation structure.

12. machine vision level-sensing device described according to claim 1 ~ any one of 7, which is characterized in that it further include illuminace component,It is connect where the illuminace component is fixed on the material to be measured inside container and with the arithmetic processor.

13. machine vision level-sensing device according to claim 12, which is characterized in that the illuminace component is visible illuminationEquipment or infrared ray non-visible light lighting apparatus.

14. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that further includeInfrared or Principles of Laser temperature-measuring parts, for the temperature information of telemeasurement surface of material, the temperature-measuring part and instituteArithmetic processor connection is stated, the temperature information is sent to the arithmetic processor, the calculation process by the temperature-measuring partDevice is again exported the temperature information by the signal output component.

15. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the lightEmission element is also used to project the fill-in light perpendicular to the directional light.

16. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the fortuneIt calculates processor to be also used to carry out calculation process to described image to obtain the three-dimensional image of the material to be measured, and by described threeDimension stereo-picture is exported through the signal output component.

17. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the figureAs acquisition component is also used to acquire flame or burning image, and flame or burning image are sent to the arithmetic processor, instituteArithmetic processor is stated to be also used to control external alarm equipment alarm or the operation when receiving the flame or burning imageProcessor exports the flame or burning image through the signal output component.

18. according to claim 1 ~ 7, machine vision level-sensing device described in any one of 9,11 or 13, which is characterized in that the figureAs obtaining widget is also used to acquire the ambient image in the measurement space, and the ambient image is sent at the operationDevice is managed, the arithmetic processor is again exported the ambient image by the signal output component.

19. a kind of method of machine vision level-sensing device measurement material position as described in claim 1, which is characterized in that comprising followingStep:

S1: to the surface of material projection at least two beam directional lights to be measured and at least a branch of and each directional light in default folderThe oblique light at angle, each directional light and each oblique light are correspondingly formed directional light light after being irradiated to the surface of material to be measuredSpot and oblique light hot spot；

S2: between the light source and each directional light for prestoring practical spacing between each directional light, each oblique lightPractical angle between practical spacing and each oblique light and each directional light；

Alternatively, when the material position for prestoring the material to be measured reaches preset height, in described image between each directional light hot spotIn image spacing, the image spacing between each oblique light hot spot and each directional light hot spot in described image；

S3: the image of acquisition each the directional light hot spot and each oblique light hot spot；

S4: carrying out calculation process to described image, obtain image spacing between each directional light hot spot in described image,Image spacing between each oblique light hot spot and each directional light hot spot in described image；

S5: according between the light source and each directional light of practical spacing, each oblique light between each directional lightThe figure between practical angle, each directional light hot spot between practical spacing and each oblique light and each directional lightAs the image spacing between spacing and each oblique light hot spot and each directional light hot spot, calculation process obtains each describedThe material position information of the material to be measured at the facula position of oblique light；

And/or when according to the material position of the material to be measured arrival preset height, in described image between each directional light hot spotIn image spacing, image spacing in described image between each directional light hot spot and each inclination hot spot, andImage spacing, each directional light light in the real-time acquired image of described image acquisition component, between each directional light hot spotImage spacing between spot and each oblique light hot spot, calculation process logic judgment go out the material to be measured whether reach it is describedPreset height；

S6: the consequential signal of the material position information and/or the logic judgment is exported.

20. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that

In the S1, select at least two directional light hot spots that are wherein located along the same line and at least one described in inclineSkew ray hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot, and defining any reference tilt light hot spot is firstIt is respectively first flat with reference to directional light hot spot and the second reference that directional light hot spot is referred to described in reference tilt light hot spot, any twoRow light hot spot；

Then in the S2, described first is prestored with reference to the light of directional light hot spot and the light of the second reference directional light hot spotThe light of the light source of practical space D 1, the first reference tilt light hot spot between line and the first reference directional light hot spotOr practical spacing T1, the first reference tilt light and first ginseng between the light of the second reference directional light hot spotDirectional light or described second is examined with reference to the practical angle theta between directional light；

In the S3: acquiring described first in real time with reference to directional light hot spot, described second with reference to directional light hot spot and describedThe image of first reference tilt light hot spot；

In the S4: carrying out calculation process to described image, obtain described first with reference to directional light hot spot and second ginsengExamine image space D 1 ', the first reference tilt light hot spot and first ginseng between directional light hot spot in described imageDirectional light hot spot or described second is examined with reference to the image space D 2 ' between directional light hot spot in described image；

In the S5: obtaining described first according to the D1, the T1, the θ, the D1 ' and the D2 ' calculation processThe material position information of the material to be measured at reference tilt light facula position.

21. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that

In the S1, select at least two directional light hot spots that are wherein located along the same line and at least one described in inclineSkew ray hot spot, which is used as, refers to directional light hot spot and reference tilt light hot spot；And defining any reference tilt light hot spot is firstIt is respectively first flat with reference to directional light hot spot and the second reference that directional light hot spot is referred to described in reference tilt light hot spot, any twoRow light hot spot；

In the S2: when prestoring the material position arrival preset height h of the material to be measured, described first with reference to directional light hot spotLight and second with reference to directional light hot spot light between image space D 1, the first reference tilt light hot spot and described theOne with reference to the image space D 2 between directional light hot spot or the second reference directional light hot spot；

In the S4: carrying out calculation process to described image, obtain described first with reference to directional light hot spot and second ginsengIt examines the image spacing between directional light hot spot and refers to directional light light for D1 ', the first reference tilt light hot spot and described firstImage spacing between spot or the second reference directional light hot spot is D2 '；

In the S5, if at a time, D1 '/D2 ' is equal to or more than the D1/D2, then calculation process logic judgment goes outThe material position of this moment described material to be measured reaches the h.

22. the method for the measurement material position of the machine vision level-sensing device according to claim 20 or 21, which is characterized in that described theOne reference tilt light hot spot, described first with reference to directional light hot spot and described second with reference to directional light hot spot be respectively positioned on it is described toSurvey the same controlling level of material.

23. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that if in the S1In, it is in default angle to the surface of material projection at least two beam directional lights to be measured and at least two beams and each directional lightOblique light；

Then in the S5, according to the light source of practical spacing, each oblique light between each directional light and each described flatPractical spacing, each oblique light between row light and the practical angle between each directional light, each directional light hot spotBetween between image spacing, each oblique light hot spot and each directional light hot spot in described image in described imageImage spacing, calculation process obtains the surface slope information of the material to be measured；

It is in the S6, the material position information, the result of the logic judgment and/or the surface slope information signal is defeatedOut.

24. the method for machine vision level-sensing device measurement material position according to claim 23, which is characterized in that

In the S1, selection wherein be located at same straight line and along the inclined direction of the same inclined surface of material to be measured successivelyAt least two directional light hot spots and at least two oblique light hot spots of arrangement, which are used as, refers to directional light hot spot and referenceOblique light hot spot, and define described in any two with reference to directional light hot spot be respectively first with reference to directional light hot spot and second referenceReference tilt light hot spot described in directional light hot spot, any two is respectively the first reference tilt light hot spot and the second reference tilt lightHot spot；

In the S3: acquisition described first refers to directional light hot spot, first reference tilt with reference to directional light hot spot, secondThe image of light hot spot and the second reference tilt light hot spot；

In the S4: carrying out calculation process to described image and obtain described first with reference to directional light hot spot and second referenceDirectional light hot spot image space D 1 ' on the image, the first reference tilt light hot spot are with described first with reference to parallelLight hot spot or described second is with reference to directional light hot spot image space D 2 ' on the image, the second reference tilt light lightSpot and described first is with reference to directional light hot spot or the described second image space D 3 ' with reference to directional light hot spot on the image；

In the S5: according to the D1, the T1, the T2, the θ 1, the θ 2, the D1 ', the D2 ' and the D3' calculation process obtains the surface slope information of the material to be measured.

25. the method for machine vision level-sensing device measurement material position according to claim 19, which is characterized in that if in the S1In, it is in default angle to the surface of material projection at least four beam directional lights to be measured and at least two beams and each directional lightOblique light；

Then in the S5, according to the light source of practical spacing, each oblique light between each directional light and each described flatPractical spacing, each oblique light between row light and the practical angle between each directional light, the two-by-two directional light itBetween practical spacing between each plane for forming, the two-by-two difference in height between the light source of the oblique light, each directional light lightIn described image between image spacing, each oblique light hot spot and each directional light hot spot in described image between spotIn image spacing, calculation process obtains the surface slope information of the material to be measured；

26. the method for machine vision level-sensing device measurement material position according to claim 25, which is characterized in that

In the S3: acquisition described first is referred to reference to directional light hot spot, described second with reference to directional light hot spot, the thirdDirectional light hot spot, the described 4th are with reference to directional light hot spot, the first reference tilt light hot spot and second reference tiltThe image of light hot spot；

In the S4: carrying out calculation process to described image and obtain described first with reference to directional light hot spot and second referenceImage space D 1 ', the third of directional light hot spot on the image are parallel with the 4th reference with reference to directional light hot spotImage space D 2 ', the first reference tilt light hot spot and the first reference directional light light of light hot spot on the imageSpot or described second with reference to directional light hot spot image space D 3 ' on the image, the second reference tilt light hot spot withThe third is with reference to directional light hot spot or the described 4th image space D 4 ' with reference to directional light hot spot on the image；

In the S5: according to the D1, the D2, the T1, the T2, the θ 1, the θ 2, the K, the Δ H, instituteIt states D1 ', the D2 ', the D3 ' and the D4 ' calculation process and obtains the surface slope information of the material to be measured.