CN101936760B - Vision measuring system for large stockyard and stockpile - Google Patents
Vision measuring system for large stockyard and stockpile Download PDFInfo
- Publication number
- CN101936760B CN101936760B CN200910054129XA CN200910054129A CN101936760B CN 101936760 B CN101936760 B CN 101936760B CN 200910054129X A CN200910054129X A CN 200910054129XA CN 200910054129 A CN200910054129 A CN 200910054129A CN 101936760 B CN101936760 B CN 101936760B
- Authority
- CN
- China
- Prior art keywords
- image
- processing module
- binocular vision
- server
- image information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
The invention relates to the field of non-contact volume measurement, in particular to a vision measuring system for large stockyards and stockpiles, which comprises a first binocular vision subsystem, a second binocular vision subsystem and a server, wherein the output interfaces of the first binocular vision subsystem and the second binocular vision subsystem are respectively connected with the input interface of the server; left view analog signals and right view analog signals collected by the first binocular vision subsystem and the second binocular vision subsystem are inputted in parallel to the server; an image information treatment module in the server processes, identifies and understands the digital image signals, and finally outputs the characteristic calculation and the measurement result of the image information. The relative measurement error of the vision measuring system is less than 0.1 percent. The invention saves manual labor to the maximum, and realizes automatic non-contact stockpile measurement. Workload previously needing several days of manual labor can be fully completed in several minutes after the vision measuring system is invented. The invention improves the working efficiency, and at the same time, the intellectualization of raw materials storage and program management can be realized.
Description
Technical field
What the present invention relates to is a kind of noncontact cubing field, relates in particular to a kind of material stack volume vision measurement system.
Background technology
Up to now; The heap of the large-scale stock yards that enterprise had such as iron and steel, chemical industry, power plant is got material operation and input and output material planning; Basically still relying on the manually-operated is main management and construction pattern, has therefore influenced the lifting of these whole enterprise robotizations and informationization technology level dramatically.
Because the raw material of being stacked in this type of stock ground is bulk materials; Like iron ore sand, coke, lime etc., in process of production, its volume is in a kind of dynamic change state all the time; Generally speaking; Enterprise measures these storage of raw materials amounts and dynamic management all relies on the method for manual measurement to carry out, and inefficiency also will be shut down at regular intervals and carried out the continuity that manual measurement influences enterprise production.The automatic management that therefore, realize the stock ground certainly will at first realize the automatic measurement technology in stock ground.Begun to adopt laser ranging technique to realize measuring automatically and dynamic observing in the prior art to the stock ground volume; Because there is the device complicacy in the application of laser technology in this field, working environment required condition restriction such as harshness, expensive, makes the popularization of this technology that significant limitation arranged.Measuring technique based on machine vision is current a kind of emerging technology, but because its technology is not perfect, therefore the beyond example still of the application in the management system of stock ground does not have ready-made mature technology to use for reference in addition.
Retrieval through to the prior art document is found; Chinese invention patent number is 200510026197.7 patent; Patent name is: the vision system of the computer automatic analysis that the stock ground is measured; This patent discloses the vision system of the computer automatic analysis of measuring in a kind of stock ground, utilizes and is arranged on the CCD camera that has the corresponding height place with the stockpile both ends of the surface, as high-order vision collecting point; Gather the stockpile panoramic picture; Be arranged on the walking chassis with stacker-reclaimer towards the CCD camera of stockpile with the long rails walking of stacker-reclaimer, the moving-vision collection point is set on stacker-reclaimer, all CCD camera image signals transfer to image pick-up card through vision cable separately; Image pick-up card is connected with the Flame Image Process front end through pci bus; The picture signal of each CCD camera is carried out the digital information of image and express in the Flame Image Process front end, the image digitazation of Flame Image Process front end output is expressed through the IEEE1394 protocol interface and is connected to the mutual of host computer realization image information, realizes and export the three-dimensional geometry yardstick of tested stockpile.Can affirm that this invention technology is effectively in the computer automatic analysis process that realizes the stock ground, this Technology Need relies on " be arranged on the CCD camera that has the corresponding height place with the stockpile both ends of the surface; as high-order vision collecting point, gather the stockpile panoramic picture, be arranged on the walking chassis with stacker-reclaimer towards the CCD camera of stockpile with the long rails walking of stacker-reclaimer; the moving-vision collection point is set on stacker-reclaimer " to carry out the collection to the stock ground image information; Although the collection of image information is comprehensively,, owing to the restriction that tends to receive the objective environment condition in actual field; Be difficult to " being arranged on the CCD camera that has the corresponding height place with the stockpile both ends of the surface; as high-order vision collecting point ", the technology that makes is difficult to carry out, and this just needs the stronger new technology of a kind of environmental suitability.
Summary of the invention
Technical matters to be solved by this invention provides a kind of large-scale stock ground stockpile vision measurement system; The vision subsystem of this system is installed in the existing stacker-reclaimer walking mechanism of stock ground; In the stacker-reclaimer operation process, gather the stockpile image automatically; Through the computing machine subsequent treatment, realize the non-contact automatic of stock ground measured and dynamic management, the technology that makes has more environmental suitability.
A kind of large-scale stock ground stockpile vision measurement system; Comprise the first binocular vision subsystem, the second binocular vision subsystem and server three parts; The output interface of first and second binocular vision subsystem connects the input interface that causes server respectively; The left and right view simulating signal that first and second binocular vision subsystem collects is by the parallel server of transporting to; Image information processing module in the server is handled, is discerned and understand data image signal, final output image information feature calculation and measurement result.
The described first binocular vision subsystem and the second binocular vision subsystem, both inside is formed with connected mode in full accord;
Said binocular vision subsystem comprises: two ccd video cameras, image pick-up card, front end signal processor, two photoelectric commutators and optical fiber; Wherein, the output interface of two ccd video cameras connects two input channels of image pick-up card respectively, and the output interface of image pick-up card is connected with the input slot of front end signal processor; Front end signal processor is connected to the input interface of server through the photoelectric commutator → optical fiber → photoelectric commutator that connects in order.
Described front end signal processor comprises image signal input interface, image pre-processing module and processor output interface; Image signal input interface is the input signal slot; Its output terminal is connected to image pre-processing module input port; Image pre-processing module output port is connected with the input port of processor output interface, and the output port of processor output interface is the output interface of front end signal processor; Said image pre-processing module is born the picture signal that receives is removed noise and intensive treatment.
When the second left and right ccd video camera in the first left and right ccd video camera in the described first binocular vision subsystem and the second binocular vision subsystem was installed, the photocentre of left and right two video cameras was in same surface level and isosceles triangle of two optical axises and the formation of two photocentre lines.
Described server comprises two input interfaces, image information processing module, EPA network interface and display interface device; First, second input interface receives the data image signal from first, second binocular vision subsystem output respectively; Its output port is connected with the input port of image information processing module, and the output port of image information processing module is connected with peripheral interfaces such as EPA network interface and display interface devices through data bus to be convenient to carry out data interaction with other webserver; First, second input interface of server second photoelectric commutator from first, second binocular vision subsystem respectively obtains to deliver to image information processing module separately behind the data image signal; So; Signal successively carries out computing through video camera geometric model and parameter calibration, image distortion correction, unique point searching and coupling, three-dimensional coordinate calculating sub module, comprises in the digital picture of computing acquisition that object point 3 d space coordinate information can export and show through EPA network and display interface device and peripherals.
Image information processing module in the said server comprises video camera geometric model and parameter calibration submodule, image distortion correction submodule, unique point searching and matched sub-block and three-dimensional coordinate calculating sub module; The input end of video camera geometric model and parameter calibration submodule is the input end of image information processing module; That is the input interface of server; The video camera geometric model is connected with the input end of image distortion correction submodule with the output terminal of parameter calibration submodule; The output terminal of image distortion correction submodule is sought with unique point and is connected with the input end of matched sub-block; Unique point is sought and is connected with the input end of three-dimensional coordinate calculating sub module with the output terminal of matched sub-block, and the output terminal of three-dimensional coordinate calculating sub module is the output terminal of image information processing module, that is the output interface of server.
Video camera geometric model in the said image information processing module and parameter calibration submodule are to set up the prerequisite that the video camera geometric model is demarcated video camera, and camera parameters is demarcated, and at first will set up the coordinate data relation of stereo vision imaging; This submodule is exactly to realize the demarcation of the inside and outside parameter of video camera through setting up transformational relation between empty imaging plane coordinate system of world coordinate system, camera coordinate system, normalization and the computer picture coordinate system.
Image distortion correction submodule in the said image information processing module is proofreaied and correct through the point coordinate of inversion operation after will receiving radially to influence with tangential distortion of distortion equation and is distortionless coordinate; This computation process is called " going distortion " again, and the image of eliminating after distorting can give expression to actual scenery time of day to greatest extent.
Unique point in the said image information processing module is sought with matched sub-block and is directly adopted the Corner Detection Algorithm based on gradation of image, promptly reaches the purpose that detects angle point through computing curvature and gradient; Subsequently, in left and right view, carry out the coupling of common point, according to outer utmost point geometrical constraint principle, according to the corresponding relation and the least error criterion of point and outer polar curve, the common point that finally obtains left and right view is right; The so-called outer utmost point how much promptly is directed against binocular vision system from two same points of angular observation, seeks the relevant geometry problem of the outer polar curve constraint between two imaging points.
Three-dimensional coordinate calculating sub module in the said image information processing module according to the left and right view common point that obtains to through the video camera geometric model; It is the coordinate data transformational relation; Obtain two calculated values of common point to pairing object point world coordinate system; Get the mean value of these two calculated values again, finally obtain the pairing 3 d space coordinate of left and right view common point.
Adopt the binocular vision subsystem images acquired of two groups of simulation human eyes among the present invention; Image information is comprehensive; Can eliminate the image non-linear distortion that optical lens causes automatically; Automatically realize the common point coupling of left and right view and can realize the definite of object point three-dimensional coordinate automatically, measuring relative errors is less than 0.1%; Practice thrift manpower to greatest extent; Realize the stockpile measurement that robotization is contactless; Originally needed several days labor workload; Only need the time of a few minutes just can all accomplish after adopting the present invention, and can digital picture and digital feature information thereof be provided, realized that when having improved work efficiency stockpile gets the intellectuality with planning management for digital management.
Description of drawings
The system construction drawing that Fig. 1 adopts for the embodiment of the invention;
Fig. 2 is the first binocular vision subsystem structure figure in the system of the present invention;
Fig. 3 is the second binocular vision subsystem structure figure in the system of the present invention;
Fig. 4 is the server module structural drawing in the system of the present invention;
Fig. 5 is the sub modular structure figure in the server module
Fig. 6 is the horizontal installation diagram of left and right CCD camera in the binocular vision system;
Fig. 7 is the working state figure (vertical view) of left and right CCD camera on heap, reclaimer;
Fig. 8 is that left and right CCD camera is installed the side view with duty on reclaimer.
Among the figure: 1 first binocular vision subsystem; 11 first left ccd video cameras; 12 first right ccd video cameras; 13 first image pick-up cards; 14 first front end signal processor; 15 first photoelectric commutators; 16 first optical fiber; 17 second photoelectric commutators; 2 second binocular vision subsystems; 21 second left ccd video cameras; 22 second right ccd video cameras; 23 second image pick-up cards; 24 second front end signal processor; 25 the 3rd photoelectric commutators; 26 second optical fiber; 27 the 4th photoelectric commutators; 3 servers; 31 first input interfaces; 32 second input interfaces; 33 image information processing module; 34 EPA network interfaces; 35 display interface devices; 36 parameter calibration submodules; 37 image distortion correction submodules; 38 unique points are sought and matched sub-block; 39 three-dimensional coordinate calculating sub module.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in the restriction scope of the present invention.Should be understood that in addition those skilled in the art can do various changes or modification to the present invention after the content of having read the present invention's statement, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
As shown in Figure 1, this large-scale stock ground stockpile vision measurement system comprises: the first binocular vision subsystem 1, the second binocular vision subsystem 2 and server 3.The output interface that the output interface of the first binocular vision subsystem 1 connects first input interface, 31, the second binocular vision subsystems 2 that cause server 3 connects second input interface 32 that causes server 3.
As shown in Figure 2, the first binocular vision subsystem in the present embodiment comprises: the right ccd video camera of the first left ccd video camera 11, first 12, first image pick-up card 13, first front end signal processor 14, first photoelectric commutator 15, first optical fiber 16, second photoelectric commutator 17; The output interface of the first left ccd video camera 11 is connected with first input channel of first image pick-up card 13, and the output interface of the first right ccd video camera 12 is connected with second input channel of first image pick-up card 13; The output interface of first image pick-up card 13 is connected with the input slot of first front end signal processor 14; The output interface of first front end signal processor 14 is connected with the electric signal interface of first photoelectric commutator 15; The optical signal interface of first photoelectric commutator 15 is connected with the input port of first optical fiber 16; The output port of first optical fiber 16 is connected with the optical signal interface of second photoelectric commutator 17, and the electric signal interface of the second photoelectric commutator 17 i.e. output interface of the first binocular vision subsystem 1 is connected with first input interface 31 of server 3.Wherein, the first left and right ccd video camera 11,12 walks abreast the left and right view that is collected in sampling instant and inputs to first image pick-up card 13; First image pick-up card 13 converts original image to data image signal and transports to first front end signal processor 14; 14 pairs of digital pictures of first front end signal processor are removed pre-service such as noise and reinforcement; Through first photoelectric commutator 15 electrical signal conversion is become light signal through pretreated data image signal, light signal is transferred to second photoelectric commutator 17 through first optical fiber 16; Second photoelectric commutator 17 converts image light signals to electric signal again, and last, electric signal inputs to the image information processing module 33 of server 3 through first input interface 31 of server 3.Four-headed arrow among the figure is represented: utilize same physical medium to send to the moment of first image pick-up card 13 in order to the control IMAQ along the reverse direction of signal transmission from the still exportable steering order of server 3.
As shown in Figure 3, the second binocular vision subsystem in the present embodiment comprises: the right ccd video camera of the second left ccd video camera 21, second 22, second image pick-up card 23, second front end signal processor 24, the 3rd photoelectric commutator 25, second optical fiber 26, the 4th photoelectric commutator 27; The output interface of the second left ccd video camera 21 is connected with first input channel of second image pick-up card 23, and the output interface of the second right ccd video camera 22 is connected with second input channel of second image pick-up card 23; The output interface of second image pick-up card 23 is connected with the input slot of second front end signal processor 24; The output interface of second front end signal processor 24 is connected with the electric signal interface of the 3rd photoelectric commutator 25; The optical signal interface of the 3rd photoelectric commutator 25 is connected with the input port of second optical fiber 26; The output port of second optical fiber 26 is connected with the optical signal interface of the 4th photoelectric commutator 27, and the electric signal interface of the 4th photoelectric commutator 27 i.e. output interface of the second binocular vision subsystem 2 is connected with second input interface 32 of server 3.Wherein, the second left and right ccd video camera 21,22 walks abreast the left and right view that is collected in sampling instant and inputs to second image pick-up card 23; Second image pick-up card 23 converts original image to data image signal and transports to second front end signal processor 24; 24 pairs of digital pictures of second front end signal processor are removed pre-service such as noise and reinforcement; Through the 3rd photoelectric commutator 25 electrical signal conversion is become light signal through pretreated data image signal, light signal is transferred to the 4th photoelectric commutator 27 through second optical fiber 26; The 4th photoelectric commutator 27 converts image light signals to electric signal again, and last, electric signal inputs to the image information processing module 33 of server 3 through second input interface 32 of server 3.Four-headed arrow among the figure is represented: utilize same physical medium to send to the moment of second image pick-up card 23 in order to the control IMAQ along the reverse direction of signal transmission from the still exportable steering order of server 3.
CCD, promptly the core sensor spare of imageing sensor is a kind of photosensitive charge coupled semiconductor device, the abbreviation CCD of the English Charge Couple Device of unified employing representes in the industry.Two ccd video cameras in each binocular vision subsystem are corresponding people's images of left and right eyes respectively; Each binocular vision subsystem can be gathered two width of cloth images through two ccd video cameras wherein simultaneously in each sampling instant, and with this two width of cloth image through export the input interface of server after pre-service to by the output interface of binocular vision subsystem.Therefore; Server can receive four width of cloth images simultaneously in each sampling instant; Comprise each two width of cloth image from first, second binocular vision subsystem; Per two width of cloth images divide left and right two width of cloth images again, and between whole sampling period, all images that collect form two groups of left and right sides views of first, second binocular vision subsystem respectively to sequence.Left and right ccd video camera walks abreast the left and right view that is collected in sampling instant and inputs to image pick-up card; Image pick-up card converts original image data image signal to and transports to front end signal processor; Front end signal processor is removed pre-service such as noise and reinforcement to digital picture; Through first photoelectric commutator electrical signal conversion is become light signal through pretreated data image signal, light signal passes through Optical Fiber Transmission to second photoelectric commutator; Second photoelectric commutator converts image light signals to electric signal again, and last, electric signal inputs to the image information processing module of server through the input interface of server.
As shown in Figure 4, the server 3 in the present embodiment comprises: first input interface 31, second input interface 32, image information processing module 33, EPA network interface 34, display interface device 35.First input interface 31 receives the electric signal interface output signal from second photoelectric commutator 17 in first vision subsystem; Second input interface 32 receives the electric signal interface output signal from the 4th photoelectric commutator 27 in second vision subsystem; The output terminal of first, second input interface 31,32 is connected with the input end of image information processing module 33, and the output terminal of image information processing module 33 is connected with EPA network interface 34 and display interface device 35.Server will be respectively the data image signal that obtains of second, four photoelectric commutators 17,27 from first, second binocular vision subsystem 1,2 is parallel delivers to the image information processing module 33 in the server 3; Data image signal is through the computing of image information processing module 33, and information such as acquisition object point 3 d space coordinate are through EPA network interface 34 and display interface device 35 outputs and demonstration.
As shown in Figure 5, the image information processing module 33 in the present embodiment server 3 comprises: video camera geometric model and parameter calibration submodule 36, image distortion correction submodule 37, unique point are sought and matched sub-block 38, three-dimensional coordinate calculating sub module 39.The output terminal of first, second input interface 31,32 of server 3 is connected with the input end of video camera geometric model with parameter calibration submodule 36; The video camera geometric model is connected with the input end of image distortion correction submodule 37 with the output terminal of parameter calibration submodule 36; The output terminal of image distortion correction submodule 37 is sought with unique point and is connected with the input end of matched sub-block 38; Unique point is sought and is connected with the input end of three-dimensional coordinate calculating sub module 39 with the output terminal of matched sub-block 38, and the output terminal of three-dimensional coordinate calculating sub module 39 is connected with EPA network interface 34 and display interface device 35.Server 3 parallel video camera geometric model and parameter calibration submodule 36, image distortion correction submodule 37, the unique point searching of delivering in server 3 image information processing module 33 of data image signal of second, four photoelectric commutators, 17,27 acquisitions from first, second binocular vision subsystem 1,2 respectively carries out computing successively with matched sub-block 38 and three-dimensional coordinate calculating sub module 39, and information such as computing acquisition object point 3 d space coordinate are exported through EPA network interface 34 and display interface device 35 and shown.
Video camera geometric model in the said image information processing module and parameter calibration submodule are to set up the prerequisite that the video camera geometric model is demarcated video camera, and camera parameters is demarcated, and at first will set up the coordinate data relation of stereo vision imaging; This submodule is exactly to realize the demarcation of the inside and outside parameter of video camera through setting up transformational relation between empty imaging plane coordinate system of world coordinate system, camera coordinate system, normalization and the computer picture coordinate system.
Image distortion correction submodule in the said image information processing module is proofreaied and correct through the point coordinate of inversion operation after will receiving radially to influence with tangential distortion of distortion equation and is distortionless coordinate; This computation process is called " going distortion " again, and the image of eliminating after distorting can give expression to actual scenery time of day to greatest extent.
Unique point in the said image information processing module is sought with matched sub-block and is directly adopted the Corner Detection Algorithm based on gradation of image, promptly reaches the purpose that detects angle point through computing curvature and gradient; Subsequently, in left and right view, carry out the coupling of common point, according to outer utmost point geometrical constraint principle, according to the corresponding relation and the least error criterion of point and outer polar curve, the common point that finally obtains left and right view is right; The so-called outer utmost point how much promptly is directed against binocular vision system from two same points of angular observation, seeks the relevant geometry problem of the outer polar curve constraint between two imaging points.
Three-dimensional coordinate calculating sub module in the said image information processing module according to the left and right view common point that obtains to through the video camera geometric model; It is the coordinate data transformational relation; Obtain two calculated values of common point to pairing object point world coordinate system; Get the mean value of these two calculated values again, finally obtain the pairing 3 d space coordinate of left and right view common point.
As shown in Figure 6, the first left and right CCD camera 11,12 in the first binocular vision subsystem or the installation of the second left and right CCD camera 21,22 in the second binocular vision subsystem should be followed: the photocentre of two video cameras is in same surface level principle and two optical axises and two photocentre lines and forms an isosceles triangle principle.
As shown in Figure 7, be the first left and right CCD camera 11,12 and the working state figure of the second left and right CCD camera 21,22 in the second binocular vision subsystem on heap, reclaimer in the first binocular vision subsystem.
The first left and right CCD camera 11,12 in the first binocular vision subsystem is installed on the stacker, and geometric relationship between the two confirms that method is following:
1. the level interval between the first left CCD camera 11 and the first right CCD camera 12; Be distance between both the camera coordinate system initial point: greatly about about 20m, therefore can confirm that two camera lens level intervals are 20m according to the maximum extensible width of stacker platform.
2. camera lens vertical direction angle: according to stockpile is that 16m angle of repose high, that be about 4m, stockpile from the fore-and-aft distance of material pin as the upright position of head is that 26 °, the highest available height of stationary platform of stacker are about 6m; Camera lens can only be installed on the platform of 6m height; The coboundary line of vertical field of view is parallel with the stock ground slope; Greatly about about 2.926m, the following depression angle that therefore can budget goes out camera lens is 19 ° apart from the camera lens vertical point for the lower limb line of vertical field of view and the intersection point of stock ground bottom line.
Said angle of repose is the side of stockpile and the angle of bottom surface, i.e. tgA=H/L, and in the formula: A is an angle of repose, and H is the height of stockpile, and L is the half the of stockpile bottom surface length.
3. camera lens horizontal direction angle: according to the universal law of stereoscopic vision; The principle that two cameras in the binocular vision device and measured object point should be formed an isosceles triangle; According to above-mentioned level interval and camera lens vertical direction angle, camera lens horizontal direction angle is 32 ° on the stacker.
The second left and right CCD camera 21,22 in the second binocular vision subsystem is installed on the reclaimer, and geometric relationship between the two confirms that method is following:
1. the level interval between the second left CCD camera 21 and the second right CCD camera 22; Be distance between both the camera coordinate system initial point: according to the maximum extensible width of reclaimer platform greatly about about 10m; Receive its limit, can only confirm that two camera lens level intervals are 10m.
2. the same on camera lens vertical direction angle and the stacker.
3. camera lens horizontal direction angle: according to the universal law of stereoscopic vision; The principle that two cameras in the binocular vision device and measured object point should be formed an isosceles triangle; According to above-mentioned level interval and camera lens vertical direction angle, camera lens horizontal direction angle is 17.35 ° on the reclaimer.
As shown in Figure 8, be the duty side view of the second left and right CCD camera 21,22 on reclaimer in the second binocular vision subsystem.
The present invention is in implementation process; The left and right view simulating signal that the first binocular vision subsystem 1 collects is walked abreast transports to first image pick-up card 13 in the native system; First image pick-up card 13 converts image analoging signal to data image signal and transports to first front end signal processor 14 in the native system; 14 pairs of digital pictures of first front end signal processor are removed pre-service such as noise and reinforcement; Through first photoelectric commutator 15 of pretreated data image signal in native system electrical signal conversion is become light signal, light signal converts image light signals to electric signal again through second photoelectric commutator, 17, the second photoelectric commutators 17 that first optical fiber 16 is transferred in the native system; At last, electric signal inputs to the image information processing module of server 3 through first input interface 31 of server 3; The left and right view simulating signal that the second binocular vision subsystem 2 collects is walked abreast transports to second image pick-up card 23 in the native system; Second image pick-up card 23 converts image analoging signal to data image signal and transports to second front end signal processor 24 in the native system; 24 pairs of digital pictures of second front end signal processor are removed pre-service such as noise and reinforcement; Through three photoelectric commutator 25 of pretreated data image signal in native system electrical signal conversion is become light signal; Light signal is transferred to the 4th photoelectric commutator 27 in the native system through second optical fiber 26; The 4th photoelectric commutator 27 converts image light signals to electric signal again, and last, electric signal inputs to the image information processing module of server 3 through second input interface 32 of server 3; Server with data image signal handle with computing after output finally to identification, understanding and the measurement result of image information.
The process of circulation of data image signal in server is: first, second input interface of server electric transducer from first, second binocular vision subsystem respectively obtains to deliver to image information processing module separately behind the data image signal; So; Signal successively carries out computing through video camera geometric model and parameter calibration submodule, image distortion correction submodule, unique point searching and matched sub-block, three-dimensional coordinate calculating sub module, comprises in the digital picture of computing acquisition that information such as object point 3 d space coordinate can export and show through EPA network and display interface device and peripherals.
Claims (8)
1. one kind large-scale stock ground stockpile vision measurement system; It is characterized in that: comprise the first binocular vision subsystem, the second binocular vision subsystem and server three parts; The output interface of first, second binocular vision subsystem is connected to the input interface of server respectively; The left and right view signal that first, second binocular vision subsystem collects is by the parallel server of transporting to; Image information processing module in the server is handled, is discerned and understand data image signal, final output image information feature calculation and measurement result;
The described first binocular vision subsystem and the second binocular vision subsystem, both inside is formed with connected mode in full accord; Said binocular vision subsystem comprises: two ccd video cameras, image pick-up card, front end signal processor, two photoelectric commutators and optical fiber; Wherein, the output interface of two ccd video cameras connects two input channels of image pick-up card respectively, and the output interface of image pick-up card is connected with the input slot of front end signal processor; Front end signal processor is connected to the input interface of server through the photoelectric commutator → optical fiber → photoelectric commutator that connects in order;
Described server comprises first, second two input interfaces, image information processing module, EPA network interface and display interface device; First, second input interface receives the data image signal from first, second binocular vision subsystem output respectively; Its output port is connected with the input port of image information processing module, and the output port of image information processing module is connected with peripheral interface with EPA network interface and display interface device through data bus to be convenient to carry out data interaction with other webserver; First, second input interface of server second photoelectric commutator from first, second binocular vision subsystem respectively obtains to deliver to image information processing module separately behind the data image signal; So; Signal successively carries out computing through video camera geometric model and parameter calibration, image distortion correction, unique point searching and coupling, three-dimensional coordinate calculating sub module, comprises in the digital picture of computing acquisition that object point 3 d space coordinate information can export and show through EPA network and display interface device and peripherals.
2. large-scale stock ground according to claim 1 stockpile vision measurement system, it is characterized in that: described front end signal processor comprises image signal input interface, image pre-processing module and processor output interface; Image signal input interface is the input signal slot; Its output terminal is connected to image pre-processing module input port; Image pre-processing module output port is connected with the input port of processor output interface, and the output port of processor output interface is the output interface of front end signal processor; Said image pre-processing module is born the picture signal that receives is removed noise and intensive treatment.
3. large-scale stock ground according to claim 1 stockpile vision measurement system; It is characterized in that: when the second left and right ccd video camera in the first left and right ccd video camera in the described first binocular vision subsystem and the second binocular vision subsystem was installed, the photocentre of left and right two video cameras was in same surface level and isosceles triangle of two optical axises and the formation of two photocentre lines.
4. large-scale stock ground according to claim 1 stockpile vision measurement system is characterized in that: the image information processing module in the said server comprises video camera geometric model and parameter calibration submodule, image distortion correction submodule, unique point searching and matched sub-block and three-dimensional coordinate calculating sub module; The input end of video camera geometric model and parameter calibration submodule is the input end of image information processing module; That is the input interface of server; The video camera geometric model is connected with the input end of image distortion correction submodule with the output terminal of parameter calibration submodule; The output terminal of image distortion correction submodule is sought with unique point and is connected with the input end of matched sub-block; Unique point is sought and is connected with the input end of three-dimensional coordinate calculating sub module with the output terminal of matched sub-block, and the output terminal of three-dimensional coordinate calculating sub module is the output terminal of image information processing module, that is the output interface of server.
5. large-scale stock ground according to claim 4 stockpile vision measurement system; It is characterized in that: video camera geometric model in the said image information processing module and parameter calibration submodule are to set up the prerequisite that the video camera geometric model is demarcated video camera; Camera parameters is demarcated, at first will be set up the coordinate data relation of stereo vision imaging; This submodule is exactly to realize the demarcation of the inside and outside parameter of video camera through setting up transformational relation between empty imaging plane coordinate system of world coordinate system, camera coordinate system, normalization and the computer picture coordinate system.
6. large-scale stock ground according to claim 4 stockpile vision measurement system; It is characterized in that: the image distortion correction submodule in the said image information processing module is proofreaied and correct through the point coordinate of inversion operation after will receiving radially to influence with tangential distortion of distortion equation and is distortionless coordinate; This computation process is called " going distortion " again, and the image of eliminating after distorting can give expression to actual scenery time of day to greatest extent.
7. large-scale stock ground according to claim 4 stockpile vision measurement system; It is characterized in that: the unique point in the said image information processing module is sought with matched sub-block and is directly adopted the Corner Detection Algorithm based on gradation of image, promptly reaches the purpose that detects angle point through computing curvature and gradient; Subsequently, in left and right view, carry out the coupling of common point, according to outer utmost point geometrical constraint principle, according to the corresponding relation and the least error criterion of point and outer polar curve, the common point that finally obtains left and right view is right; The so-called outer utmost point how much promptly is directed against binocular vision system from two same points of angular observation, seeks the relevant geometry problem of the outer polar curve constraint between two imaging points.
8. large-scale stock ground according to claim 4 stockpile vision measurement system; It is characterized in that: the three-dimensional coordinate calculating sub module in the said image information processing module according to the left and right view common point that obtains to through the video camera geometric model; It is the coordinate data transformational relation; Obtain two calculated values of common point, get the mean value of these two calculated values again, finally obtain the pairing 3 d space coordinate of left and right view common point pairing object point world coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910054129XA CN101936760B (en) | 2009-06-30 | 2009-06-30 | Vision measuring system for large stockyard and stockpile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910054129XA CN101936760B (en) | 2009-06-30 | 2009-06-30 | Vision measuring system for large stockyard and stockpile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101936760A CN101936760A (en) | 2011-01-05 |
| CN101936760B true CN101936760B (en) | 2012-03-28 |
Family
ID=43390209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910054129XA Active CN101936760B (en) | 2009-06-30 | 2009-06-30 | Vision measuring system for large stockyard and stockpile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101936760B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2788655C1 (en) * | 2021-08-02 | 2023-01-24 | Общество с ограниченной ответственностью "ДИДЖИТАЛ ВЭЙВ" | System for automated calculation of the volume of bulk material in closed warehouses |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103679617A (en) * | 2012-08-30 | 2014-03-26 | 国际商业机器公司 | To-be-stored article management method and device |
| CN105551064B (en) * | 2015-12-08 | 2018-04-20 | 济南中维世纪科技有限公司 | A kind of method based on characteristics of image estimation windrow volume change |
| CN105547389A (en) * | 2016-01-14 | 2016-05-04 | 中国航空动力机械研究所 | Lubricating oil nozzle flow two-CCD-camera measure system and method |
| CN108225502B (en) * | 2017-12-06 | 2019-08-23 | 中南大学 | A kind of truck loads ore quality estimation method and system |
| CN108896125B (en) * | 2018-05-08 | 2020-02-28 | 浙江大学 | Method for measuring volume of two interacting gravity flows |
| CN110703074A (en) * | 2019-09-03 | 2020-01-17 | 国网浙江省电力有限公司嘉兴供电公司 | High-voltage circuit breaker comprehensive detection system and method based on ubiquitous power Internet of things |
| CN111739081A (en) * | 2020-08-06 | 2020-10-02 | 成都极米科技股份有限公司 | Feature point matching method, splicing method and device, electronic equipment and storage medium |
| CN112387982B (en) * | 2020-10-21 | 2021-10-12 | 上海交通大学 | Laser additive process power combined regulation and control method |
| CN113103228B (en) * | 2021-03-29 | 2023-08-15 | 航天时代电子技术股份有限公司 | Teleoperation robot |
| CN113959332B (en) * | 2021-09-22 | 2023-04-07 | 西安交通大学 | Large aerostat volume real-time monitoring system based on binocular vision |
-
2009
- 2009-06-30 CN CN200910054129XA patent/CN101936760B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2788855C2 (en) * | 2021-04-19 | 2023-01-25 | Общество с ограниченной ответственностью "ДИДЖИТАЛ ВЭЙВ" | Photogrammetric method for determining the volume of the embankment in closed warehouses |
| RU2788655C1 (en) * | 2021-08-02 | 2023-01-24 | Общество с ограниченной ответственностью "ДИДЖИТАЛ ВЭЙВ" | System for automated calculation of the volume of bulk material in closed warehouses |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101936760A (en) | 2011-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101936760B (en) | Vision measuring system for large stockyard and stockpile | |
| CN101936761A (en) | Visual measuring method of stockpile in large-scale stock ground | |
| CN100414249C (en) | Computer automatic measuring visual system for stock ground measuring | |
| CN100504288C (en) | Article geometrical size measuring device and method based on multi-source image fusion | |
| CN103198477B (en) | Apple fruitlet bagging robot visual positioning method | |
| CN111178317A (en) | Detection positioning method, system, device, electronic equipment and storage medium | |
| CN113284109B (en) | Pipeline defect identification method, device, terminal equipment and storage medium | |
| CN103425969A (en) | Detection system and detection method for identifying type of wheel hub | |
| CN110756462B (en) | Power adapter test method, device, system, control device and storage medium | |
| CN110245539A (en) | A kind of automatic scan code system of Power Material | |
| CN206312166U (en) | Robot vision image preprocessing system and robot | |
| CN100427876C (en) | Automatic measuring method of computer visual system for stock ground measuring | |
| CN110009678B (en) | Orthodontic archwire bending detection method and orthodontic archwire bending detection system | |
| CN101510295B (en) | Design method for machine vision system based on PCIe and Vision Assistan | |
| CN115880296A (en) | Machine vision-based prefabricated part quality detection method and device | |
| CN102252671A (en) | Positioning control system for nuclear power underwater robot | |
| CN203636826U (en) | Robot device | |
| CN206524916U (en) | A kind of self-adapting detecting and the double devices for taking the photograph optical axis of adjustment | |
| KR101849853B1 (en) | High speed transmission apparatus of large volume image data | |
| CN113989428A (en) | Metallurgical reservoir area global three-dimensional reconstruction method and device based on depth vision | |
| CN204373626U (en) | A kind of system of dimensional measurement | |
| CN112139044B (en) | Express sorting device, system, control method, device, medium and electronic equipment | |
| CN103808646A (en) | Image analyzer and method for measuring line fractal dimension of granular material | |
| CN202565373U (en) | CB industrial camera | |
| CN203164738U (en) | Machine vision control system based on cloud computing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |