MINING PROCESS-BASED METHOD FOR ACQUIRING THREE-DIMENSIONAL COORDINATES OF ORE AND APPARATUS THEREFOR

摘要

A mining process-based method for acquiring three-dimensional coordinates of ore and an apparatus therefor, the method comprising: acquiring an ore picture (S1a); using a YOLACT algorithm and an NMS algorithm to process the ore picture to obtain a prediction mask map (S1b); drawing a rectangular frame according to the prediction mask map, and obtaining two-dimensional coordinates of the ore by means of the rectangular frame (S1c); acquiring a color map and an infrared depth map (S2a); transferring the color map into a pre-trained model for identification to obtain the contour of an object (S2b); selecting the contour of a target object, calculating the sum of X-axis and Y-axis coordinates of all points on the contour, and then dividing the sum of the coordinates by the number of points on the contour to obtain the center of gravity of the target object (S2c); calculating the distance between the center of gravity of the target object and the point of origin to obtain polar coordinates of the target object, and aligning same by means of affine transformation to obtain the scaling ratio of the color map in the infrared depth map (S2d); multiplying the length of the polar coordinates by the scaling ratio to obtain a point in the infrared depth map corresponding to a point in the color map, thereby obtaining point depth information in the infrared depth map (S2e); and combining the two-dimensional coordinates and the depth information to obtain three-dimensional coordinates of the ore (S3).