CN103307980A - Automatic measuring device for volume of grain pile and measuring method thereof - Google Patents
Automatic measuring device for volume of grain pile and measuring method thereof Download PDFInfo
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Abstract
The invention relates to an automatic measuring device for volume of a grain pile and a measuring method thereof. The measuring device consists of a line laser, a camera, a stepping motor, a motor driver, a control and data processing module, a power adapter, a case and a connector. The line laser is used as a light source to project line laser, and when the line laser is intersected with the surface of the grain pile, a bright bar is generated on the surface of the grain pile. The measuring method comprises the following steps: inputting shot bright bar images to the data processing module by the camera; processing all bright bar images by the data processing module to reconstruct shape of the grain pile; and calculating the volume of the grain pile by combining a known granary structure. According to the invention, the volume of the grain pile can be precisely measured in real time online, and the measurement is simple, low in cost and large in field of view, so that the metering safety of national grain reserves is ensured.
Description
Technical field
The present invention relates to a kind of device and measuring method thereof of automatic measurement volumes, more specifically relate to a kind of device and measuring method thereof of automatic measurement grain heap volume, be used for Grain Quantity stock supervision field.
Background technology
Grain is important strategic materials, and grain security is concerning Chinese Economy Development and social stability overall situation.Existing Grain Quantity stock supervisory systems still is not enough to provide reliable grain reserves information, China still needs to expend a large amount of human and material resources are controlled stored grain by the method for taking an inventory of warehouses in year accurate quantity, efficient, precision, cost and ageing on equal existing problems.
Aspect the cubing of grain heap, classic method generally adopts steel tape equal length survey instrument to measure the overall dimensions of grain heap, according to the geometry computations of the grain heap heap volume of putting out cereal.Note whether rule of grain heap shape, and adopt an effective measure and make the grain face smooth.The method is measured simple, but often can't guarantee smoothly at actual mechanical process China Oil and Food Import and Export Corporation face, and the warehouse shape is incomplete rule also, and measurement result has larger error.
Be in the patent of invention of CN102721367A at publication number, a kind of large-scale irregular Bulk Grain heap volume measuring method based on dynamic 3 D laser scanning is proposed, it is by guide rails moving type 3 D laser scanning space pattern, generation is accompanied by the point cloud chart battle array of coordinate, surface fitting becomes irregular Bulk Grain heap pattern, and then provides its volume.The method need to be in silo mounting guide rail and use laser radar, measuring accuracy is higher, but Installation and Debugging are inconvenient, use cost is higher.
Be in the utility model patent of CN201476775U at publication number, a kind of device for measuring volume of grain pile in horizontal warehouse is proposed, ultrasonic range finder by some be evenly distributed on horizontal warehouse above, quantity determines with the size of horizontal warehouse, every 2-4 square metre one, the ultrasonic range finder probe orientation is downward; Each ultrasonic range finder is electrically connected with a measurement mechanism, is measured the probe of ultrasonic range finder by measurement mechanism to the distance of grain heap upper surface.The single measurement mechanism cost of the method is low, but for state grain depot, its horizontal warehouse area is large, need up to a hundred stadimeters are installed, and measuring accuracy is not high yet.
The primary problem that solves of grain heap cubing is the parameter that how to record for calculating grain heap surface point coordinate.Be in the patent of invention of CN102721367A at publication number, embodiment provides a kind of measuring method: the rotation of record prism obtains the angle of laser beam and vertical direction, and the rotation of servo motor can obtain the angle of laser beam and horizontal inceptive direction and record distance.Be in the patent of invention of CN102721367A at publication number, measurement mechanism is measured the probe of ultrasonic range finder to the distance of grain heap upper surface.Because grain heap upper surface point coordinate is more, utilizes above-mentioned measuring method to have to increase the complicacy of measurement mechanism.
Summary of the invention
The present invention tries hard to obtain to measure device and the measuring method thereof of accurate, lower-cost automatic measurement grain heap volume in order to overcome the technical matters of above-mentioned measurement mechanism and measuring method thereof.
The concrete technical scheme of the present invention is as follows:
The invention provides a kind of grain heap volume self-operated measuring unit, comprise power circuit, control and data processing module, LASER Light Source, data output device, camera, light source drive.Wherein, power circuit is by wire difference connection data processing module, LASER Light Source, data output device, camera, light source drive; Control is connected respectively light source drive, camera, data output device, light source drive with data processing module; Light source drive connects LASER Light Source.
In described measurement mechanism, control is adjusted the angle that LASER Light Source is rotated with data processing module by light source drive; The LASER Light Source projecting laser when laser and grain heap surface point intersect, produces bright spot on grain heap surface; Corresponding to each angle that light source rotates, camera pickup light image, light image shows the bright spot on grain heap surface; Camera is input to control and data processing module with the light image that photographs; Control and data processing module are processed the information of light image, and the grain heap volume that processing is obtained outputs to data output device.
Described LASER Light Source can be laser line generator, also can be the area source that the laser line generator array forms; Laser line generator when intersecting with grain heap surface, produces light bar on grain heap surface as light source projects one word line laser.
Described light source drive can be comprised of stepper motor and motor driver; Control is connected motor driver with data processing module, and motor driver connects stepper motor, and stepper motor connects LASER Light Source; Motor driver provides stepper motor to rotate required pulse; Control and stepping angle and the speed of data processing module by motor driver control step motor drive LASER Light Source and rotate.
Described light source drive also can be regularly stepper motor; Control and regularly stepper motor open and close of data processing module control; The timing stepper motor drives at set intervals LASER Light Source and turns an angle.
Described power circuit can be comprised of attaching plug and power conversion board; Multichannel output behind the power supply changing voltage that power conversion board connects attaching plug is powered to control and data processing module, LASER Light Source, data output device, camera, light source drive simultaneously.
Described measurement mechanism can also comprise cabinet; Camera, light source drive, control and data processing module, attaching plug all are fixed on the cabinet, keep relative position constant.
A kind of grain heap volume method for automatic measurement may further comprise the steps:
Step 1: control is sent signal with data processing module, and light source drive, LASER Light Source, camera are started working;
Step 2: camera pickup light image, and with light image be transferred to control and data processing module;
Step 3: control is carried out first filtering and binary conversion treatment with data processing module to light image, removes the shot noise in the image, increases signal to noise ratio (S/N ratio), obtains binary image; Extract the striation center of its sub-pix from laser strip; According to the mathematical model of camera and system, from striation, extract the coordinate (x, y, z) of each point in the heart;
Step 4: light source drive drives camera and rotates; Control is recorded angle and the direction that camera rotates with data processing module; Repeating step (2) and step (3) obtain the surperficial cloud data of grain heap (can express the XYZ coordinate set that object space distributes under the same space reference frame); After LASER Light Source scanned whole grain heaps, control was sent signal with data processing module, and light source drive, LASER Light Source, camera quit work;
Step 5: the surperficial cloud data of grain heap according to step (4) obtains, carry out coordinate transform to the cloud data that records under the different coordinate systems; Extract the point of reflection curved surface features in the cloud data, remove redundant data; Carry out the pairing of point, then the point by these pairings carries out interpolation, makes data point (under the georeferencing coordinate system of determining, the spatial point that XYZ coordinate is expressed) density substantially even;
Step 6: control is equidistantly cut as the normal direction of section according to the z direction of principal axis of measuring coordinate system with the cloud data of data processing module to grain heap pattern profile, cutting into slices near spot projection to section, form closed zone in section, getting slice distance is d
1
Step 7: control and the enclosed region that data processing module surrounds the cloud data in the section, according to equidistantly getting sweep trace, adopt the x direction of principal axis of measurement coordinate system as the direction of sweep trace, getting trace interval is d
2, establish total m bar sweep trace, distance is l between two intersection points of sweep trace and j the upper cloud data of section
Ji(i=1,, 2 ..., m); If total n section, then the area S of the upper enclosed region of section
j(j=1,, 2 ..., n):
The volume V of cloud data then:
Control is piled volume with data processing module (5) with grain and is outputed to data output device.
Wherein, step 1 and step 4 realize that LASER Light Source scans whole grain heaps surface so that LASER Light Source is shone the grain heap from different perspectives.In step 2, the camera collection light image.In step 3, control and data processing module are calculated the spatial value (x, y, z) of surface points corresponding to each bright spot in the light image by processing every light image.In step 4, whole different light image coordinate figures (x, y, z) consist of the cloud data on grain heap surface.In step 6 and step 7, process the cloud data on grain heap surface, obtain the cloud data of grain heap pattern profile, and then obtain reconstructed number grain heap face surface, finally obtain grain heap volume.
By technique scheme, grain heap volume self-operated measuring unit of the present invention and measuring method thereof possess following advantages and beneficial effect at least:
Measuring method of the present invention can be measured the irregularly shaped of face fluctuating and silo of putting out cereal accurately, and is high with respect to the traditional measurement method measuring accuracy.
Measurement mechanism of the present invention is simple in structure, and the critical component price is all lower, measures the visual field large, and easy for installation with respect to 3 D laser scanning method equipment therefor and ultrasonic ranging method equipment therefor, cost is low.
Utilize measuring method of the present invention can in real time, online, automatically measure grain heap volume.The invention provides the active volume measurement mechanism and the measuring method that guarantee grain metering safety.
Description of drawings
Fig. 1 is the device critical piece connection diagram of automatic measurement grain heap volume of the present invention;
Fig. 2 is the structural representation of the device of automatic measurement grain heap volume of the present invention;
Fig. 3 is the structural representation of the web member of device of the present invention;
Fig. 4 is the measuring method process flow diagram of automatic measurement grain heap volume of the present invention.
Description of reference numerals is as follows:
The 1-laser line generator, 2-camera, 3-stepper motor, 4-motor driver, 5-control and data processing module, the 6-power conversion board, 7-cabinet, 8-web member, 9-handle, the 10-set collar, 11-attaching plug, 12-rubber mat, 13-stepper motor connecting hole, 14-laser line generator connecting hole.
Embodiment
Below in conjunction with accompanying drawing 1-4, describe the specific embodiment of the present invention in detail.
Automatically measure in the device of grain heap volume, laser line generator 1 is comprised of laser instrument and cylindrical mirror, as shown in Figure 2, links to each other by web member 8 with stepper motor 3, by wire connecting power change-over panel 6.Laser line generator 1 when intersecting with grain heap surface, produces light bar on grain heap surface as light source projects one word line laser, carries out switch control by control and data processing module 5.
Control comprises flush bonding processor, storer, camera bus interface, power supply control interface, motor-driven interface and network communication interface with data processing module 5.Take optical strip images by the control of camera bus interface and reception camera 2, be kept in module 5 storeies.Switch by power supply control interface control line laser instrument.By the motor-driven interface to stepper motor 3 transmitted signals, the angle of control step motor 3 and rotating speed.By network communication interface with data transfer in monitoring network.
Fig. 3 is the web member 8 of laser line generator 1 and stepper motor 3, and laser line generator connecting hole 14 is enclosed within on the laser line generator 1, and stepper motor connecting hole 13 is enclosed within on the axle of stepper motor 3, is screwed respectively.
As shown in Figure 4, a kind of measuring method of utilizing the above device automatically to measure grain heap volume specifically may further comprise the steps:
The S100 optical strip image gathers: gathering respectively by camera 1 has striation and without the striation image, and gives by bus transfer and to control and data processing module.
The S200 optical strip image is processed: control is carried out first filtering and binary conversion treatment with 5 pairs of optical strip images of data processing module, removes the noises such as shot in the image, increases signal to noise ratio (S/N ratio), obtains binary image; Secondly, extract the striation center of its sub-pix from the line laser bar; From striation, extract at last the coordinate (x, y, z) of each point in the heart according to the mathematical model of camera and system.
In S200 optical strip image treatment step, the geometry site of picture point and space object surface respective point determine to relate to parameter in camera model and the system model, the camera model parameter should comprise focal length, principal point and the distortion factor of camera, and the system model parameter should comprise that camera is with respect to position and the direction of laser line generator. the value of these parameters need to be input to control and data processing module 5 before step s100.
The S300 Point Cloud Processing: control and data processing module 5 control step motors 3, stepper motor 3 drive laser line generator 1 rotation, angle and direction that record rotates, and repeating step 1,2 obtains the surperficial cloud data of grain heap; The cloud data that records under the different coordinate systems is carried out coordinate transform; Extract the point of reflection curved surface features in the cloud data, remove redundant data; Carry out the pairing of point, then the point by these pairings carries out interpolation, makes data point density substantially even.
S400 grain heap surface reconstruction: the barn structure data of utilizing control and data processing module 5 to prestore, control is equidistantly cut as the normal direction of section according to the z direction of principal axis of measuring coordinate system with 5 pairs of cloud datas of data processing module, cutting into slices near spot projection to section, form closed zone in section, getting slice distance is d
1
The S500 volume calculates: the enclosed region that the cloud data in control and 5 pairs of sections of data processing module surrounds, and according to equidistantly getting sweep trace.The present invention adopts the x direction of principal axis of measurement coordinate system as the direction of sweep trace, and getting trace interval is d
2, establish total m bar sweep trace, distance is l between two intersection points of sweep trace and j the upper cloud data of section
Ji(i=1,, 2 ..., m); If total n section, then the area S of the upper enclosed region of section
j(j=1,, 2 ..., n):
The volume V of cloud data then:
Control is piled volume with data processing module (5) with grain and is outputed to data output device.
The preferred embodiment of the present invention just is used for helping to set forth the present invention.Obviously, according to the content of this instructions, can make many modifications and variations.For example, according to same principle, utilize upward view and pointolite also can record a height; The present invention can record the in addition volume of solid deposit of grain heap, even can record the volume of general solid thing in conjunction with the view of other angles.
The present invention is not limited to above-mentioned embodiment, in the situation that do not deviate from flesh and blood of the present invention, any distortion that it may occur to persons skilled in the art that, improvement, replacement all fall into scope of the present invention.
Claims (8)
1. a grain heap volume self-operated measuring unit comprises power circuit, control and data processing module (5), and LASER Light Source, data output device is characterized in that, also comprises camera (2), light source drive; Described control is connected described LASER Light Source with data processing module (5) by described light source drive; Described control is connected described camera (2) with data processing module (5).
2. grain heap volume self-operated measuring unit according to claim 1 is characterized in that, described LASER Light Source is laser line generator (1).
3. grain heap volume self-operated measuring unit according to claim 1 is characterized in that, described LASER Light Source is the area source that the laser line generator array forms.
4. grain heap volume self-operated measuring unit according to claim 1 is characterized in that, described light source drive is comprised of stepper motor (3) and motor driver (4); Described control is connected described motor driver (4) with data processing module (5), and described motor driver (4) connects described stepper motor (3), and described stepper motor (3) connects LASER Light Source.
5. grain heap volume self-operated measuring unit according to claim 1 is characterized in that, described light source drive is regularly stepper motor.
6. grain heap volume self-operated measuring unit according to claim 1 is characterized in that, described power circuit is comprised of attaching plug (11) and power conversion board (6).
7. grain according to claim 6 is piled the volume self-operated measuring unit, it is characterized in that, described self-operated measuring unit also comprises the cabinet (7) that is used for fixing described camera (2), described light source drive, described control and data processing module (5), described attaching plug.
8. a grain heap volume method for automatic measurement is characterized in that, may further comprise the steps:
Step 1: control is sent signal with data processing module (5), and light source drive, LASER Light Source, camera (2) are started working;
Step 2: camera (2) pickup light image, and with light image be transferred to control with data processing module (5);
Step 3: control is carried out first filtering and binary conversion treatment with data processing module (5) to light image, removes the noises such as shot in the image, increases signal to noise ratio (S/N ratio), obtains binary image; Secondly, extract the striation center of its sub-pix from laser strip; At last, according to the mathematical model of camera and system, from striation, extract the coordinate (x, y, z) of each point in the heart;
Step 4: light source drive drives camera (2) and rotates; Control is recorded angle and the direction that camera (2) rotates with data processing module (5); Repeating step (2) and step (3) obtain the surperficial cloud data of grain heap; After LASER Light Source scanned whole grain heaps, control was sent signal with data processing module (5), and light source drive, LASER Light Source, camera (2) quit work;
Step 5: the surperficial cloud data of grain heap according to step (4) obtains, carry out coordinate transform to the cloud data that records under the different coordinate systems; Extract the point of reflection curved surface features in the cloud data, remove redundant data; Carry out the pairing of point, then the point by these pairings carries out interpolation, makes data point density substantially even;
Step 6: control is equidistantly cut as the normal direction of section according to the z direction of principal axis of measuring coordinate system with the cloud data of data processing module (5) to grain heap pattern profile, cutting into slices near spot projection to section, form closed zone in section, getting slice distance is d
1
Step 7: control and the enclosed region that data processing module (5) surrounds the cloud data in the section, according to equidistantly getting sweep trace, adopt the x direction of principal axis of measurement coordinate system as the direction of sweep trace, getting trace interval is d
2, establish total m bar sweep trace, distance is l between two intersection points of sweep trace and j the upper cloud data of section
Ji(i=1,, 2 ..., m); If total n section, then the area S of the upper enclosed region of section
j(j=1,, 2 ..., n):
The volume V of cloud data then:
Control is piled volume with data processing module (5) with grain and is outputed to data output device.
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| CN103471554A (en) * | 2013-09-27 | 2013-12-25 | 唐山市建华自动控制设备厂 | Charge level three-dimensional imaging measurement and control system |
| CN105674908A (en) * | 2015-12-29 | 2016-06-15 | 中国科学院遥感与数字地球研究所 | Measuring device, and volume measuring and monitoring system |
| CN106017320A (en) * | 2016-05-30 | 2016-10-12 | 燕山大学 | Bulk cargo stack volume measuring method based on image processing and system for realizing same |
| CN106097318A (en) * | 2016-06-06 | 2016-11-09 | 北京理工大学 | A kind of grain volume measuring system and method |
| CN107036687A (en) * | 2017-03-08 | 2017-08-11 | 湖北叶威(集团)智能科技有限公司 | The grain storage Monitoring of Quantity method and device of view-based access control model |
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| CN108414364A (en) * | 2018-02-11 | 2018-08-17 | 河南工业大学 | A kind of grain heap test device and the method using device measurement grain heap compressive deformation and grain heap interfacial pressure |
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| CN103471554A (en) * | 2013-09-27 | 2013-12-25 | 唐山市建华自动控制设备厂 | Charge level three-dimensional imaging measurement and control system |
| CN105674908A (en) * | 2015-12-29 | 2016-06-15 | 中国科学院遥感与数字地球研究所 | Measuring device, and volume measuring and monitoring system |
| CN106017320B (en) * | 2016-05-30 | 2018-06-12 | 燕山大学 | A kind of system of scattered groceries heap volume measuring method and realization the method based on image procossing |
| CN106017320A (en) * | 2016-05-30 | 2016-10-12 | 燕山大学 | Bulk cargo stack volume measuring method based on image processing and system for realizing same |
| CN106097318A (en) * | 2016-06-06 | 2016-11-09 | 北京理工大学 | A kind of grain volume measuring system and method |
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| CN113513979A (en) * | 2021-06-03 | 2021-10-19 | 农业农村部南京农业机械化研究所 | Grain volume scanning device, method and system based on three-dimensional point cloud |
| CN113959332A (en) * | 2021-09-22 | 2022-01-21 | 西安交通大学 | Large aerostat volume real-time monitoring system based on binocular vision |
| CN116358500A (en) * | 2023-06-01 | 2023-06-30 | 中粮资本科技有限责任公司 | Method and system for detecting grain pile deformation based on image analysis |
| CN116358500B (en) * | 2023-06-01 | 2023-08-18 | 中粮资本科技有限责任公司 | Method and system for detecting grain pile deformation based on image analysis |
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