The invention discloses an on-line detection device and method of
mineral flotation froth flow velocity on the basis of three-dimensional visual information. Kinect is adopted to obtain the
color image and the depth information of forth to form the three-dimensional visual information of the forth. A current frame of image and a previous frame of image are subjected to
characteristic point extraction and matching in an embedded heterogeneous multi-core processor, and a three-dimensional space coordinate of the image
characteristic point is calculated by the pixel coordinate information and the depth information of the
characteristic point and a pinhole projection imaging model. The three-dimensional space coordinate and the
image acquisition rates of the matched characteristic points of two frames of images are used for calculating a movement rate, i.e., the froth flow velocity of the froth on three dimensionalities. The real-time on-line non-contact detection of the flotation
cell froth flow velocity is realized, and the on-line detection device has the characteristics of being small in volume, high in mobility, low in
power consumption, low in cost, high in detection speed and high in reliability, is especially suitable for the real-time on-line measurement of the field froth flow velocity index of
mineral flotation, and is favorable for realizing the automatic monitoring of a flotation process so as to improve mineral separation efficiency.