CN106524917A - Volume measurement method for object on conveyor belt - Google Patents
Volume measurement method for object on conveyor belt Download PDFInfo
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- CN106524917A CN106524917A CN201611135891.7A CN201611135891A CN106524917A CN 106524917 A CN106524917 A CN 106524917A CN 201611135891 A CN201611135891 A CN 201611135891A CN 106524917 A CN106524917 A CN 106524917A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a volume measurement method for an object on a conveyor belt. The method is capable of quickly and automatically determining the volume of the object on the conveyor belt. The method comprises the steps of collecting an image without light stripes and an image with light stripes by means of a monocular camera; according to the image without light stripes and the image with light stripes, determining the internal parameter matrix of the camera and a pixel coordinates set for the center of the light strips; based on the pixel coordinates set for the center of the light strips, determining a light plane equation; according to the internal parameter matrix of the camera and the determined light plane equation, determining the three-dimensional coordinates of a surface point of the conveyor belt and the three-dimensional coordinates of a surface point of the object; according to the determined three-dimensional coordinates of the surface point of the conveyor belt and the determined three-dimensional coordinates of the surface point of the object, determining the volume of the object. The method is applicable to the technical field of measuring.
Description
Technical field
The present invention relates to field of measuring technique, particularly relates to object volume measuring method on a kind of conveyer belt.
Background technology
Ribbon conveyer (is referred to as：Conveyer belt) it is the industries such as coal, building, metallurgy, electric power widely used
Plant continuative transport machinery.In order to count into raw material, output products total amount, result is accurately obtained rapidly, measurement conveyer belt is passed
Object volume is sent to become one of solution.Traditional measuring method is mostly based on artificial, offline mode and carries out, workman's work
Intensity is big, efficiency is low, and poor real, it is impossible in time, effectively production line is monitored.In order to adapt to modernization industry
Production, it is necessary to study efficient, automatic, real-time e measurement technology and system.
Existing measuring method, for example, the article " binocular three based on line-structured light that Mao Jiahong is delivered in optical technology
The method that cubing is carried out to object using binocular vision is disclosed in dimension volume measuring system ", concrete grammar is, using knot
The mode of structure light, obtains body surface three-dimensional point coordinates, in binocular vision system so as to integral and calculating volume, the method computing
Amount is big, high cost.
The content of the invention
The technical problem to be solved in the present invention is to provide object volume measuring method on a kind of conveyer belt, to solve existing skill
Operand existing for art is big, the problem of high cost.
To solve above-mentioned technical problem, the embodiment of the present invention provides object volume measuring method on a kind of conveyer belt, including：
Using monocular-camera, the image and the image with striations without striations is gathered；
According to the image without striations and the image with striations of collection, camera internal reference matrix and Rhizoma Dioscoreae (peeled) are determined
The pixel coordinate collection at stricture of vagina center；
Based on a determination that light stripe center pixel coordinate collection, determine optic plane equationses；
According to the internal reference matrix for determining and the optic plane equationses of determination, the three-dimensional coordinate and object of conveyer belt surface point are determined
The three-dimensional coordinate of surface point；
According to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, the body of object is determined
Product.
Further, the striations are line type structure light.
Further, image and image with striations of the collection without striations includes：
S1, using target；
S2, opens laser instrument, and image of the collection with striations is closed laser instrument, gather the image without striations,
Obtain one without striations and the image pair with striations；
S3, the movement target, repeats S2, until the image pair of collection predetermined number.
Further, the image without striations and the image with striations according to collection, determines Rhizoma Dioscoreae (peeled)
The pixel coordinate collection at stricture of vagina center includes：
According to the image without striations of collection, camera internal reference matrix is determined；
Each image pair, the image without striations and the image with striations to gathering do difference fortune
Calculate, obtain error image；
Error image to obtaining carries out distortion correction；
According to the error image after correction, light stripe center is extracted, the pixel coordinate collection of light stripe center is obtained.
Further, methods described also includes：
According to the image without striations of collection, Camera extrinsic is determined, the outer ginseng includes：World coordinates is tied to phase
Spin matrix, translation vector and homography matrix under machine coordinate system；
It is described based on a determination that light stripe center pixel coordinate collection, determine that optic plane equationses include：
According to the pixel coordinate collection of the light stripe center for determining, with reference to predetermined homography matrix, pixel coordinate and the world
Relation between coordinate, obtains coordinate set of the light stripe center under world coordinate system；
According to the spin matrix, translation vector that determine, coordinate set of the light stripe center under world coordinate system is transformed into
Under camera coordinates system, coordinate set of the light stripe center under camera coordinates system is obtained；
Coordinate set to the light stripe center that obtains under camera coordinates system is fitted, and obtains optic plane equationses.
Further, the internal reference matrix and the optic plane equationses for determining according to determination, determines conveyer belt surface point
Three-dimensional coordinate includes：
Before object is placed on conveyer belt, using monocular-camera, conveyer belt surface image of the collection with striations；
According to the conveyer belt surface image with striations of collection, it is determined that the pixel of the light stripe center of transport belt surface
Coordinate；
According to the pixel coordinate of the light stripe center of the transport belt surface for determining, by internal reference matrix equation and the light for determining
Plane equation, obtains three-dimensional coordinate of the conveyer belt surface point under camera coordinates system.
Further, the internal reference matrix equation is expressed as：
The optic plane equationses are expressed as：
xc-63.6195yc+2.6409zc- 3218.2103=0
Wherein, M represents internal reference matrix, xi、yiRepresent the two-dimensional coordinate under pixel coordinate system, xc、yc、zcRepresent pixel coordinate
Three-dimensional coordinate of the two-dimensional coordinate corresponding point under system under camera coordinates system.
Further, the internal reference matrix and the optic plane equationses for determining according to determination, determines the three of object table cake
Dimension coordinate includes：
After object is placed on conveyer belt, in conveyer belt transportation, using monocular-camera, Real-time Collection carries Rhizoma Dioscoreae (peeled)
Print image；
According to Real-time Collection with Rhizoma Dioscoreae (peeled) print image, the striations with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection are determined
The pixel coordinate at center；
According to the pixel coordinate of the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection for determining, by internal reference
Matrix equation and the optic plane equationses for determining, obtain the corresponding object table cake of conveyer belt surface point under camera coordinates system three
Dimension coordinate.
Further, the three-dimensional coordinate and the three-dimensional coordinate of object table cake according to the conveyer belt surface point for determining,
Determine that the volume of object includes：
According to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, object table cake is calculated
To the distance of conveyer belt correspondence surface point, laterally integration is carried out to the distance and obtains sectional area；
Using belts movement speed, the sectional area is integrated, object volume is obtained.
Further, the sectional area is expressed as：
The object volume is expressed as：
Wherein, SjRepresent the sectional area of jth two field picture, xg0、yg0、zg0Represent transport belt surface striations starting point in phase
Three-dimensional coordinate under machine coordinate system, xgn、ygn、zgnRepresent three-dimensional seat of the transport belt surface striations terminal under camera coordinates system
Mark, xti,yti,ztiRepresent three-dimensional coordinate of the i-th conveyer belt surface point under camera coordinates system, xgi,ygi,zgiRepresent that i-th transports
Belt surface selects three-dimensional coordinate of the corresponding object table cake under camera coordinates system, and n represents the number of light stripe center point, V tables
Show the volume of object, v represents belts movement speed, and p represents number of image frames, and t represents run time.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the image and the image with striations without striations is gathered by monocular-camera；Root
According to the image without striations and the image with striations of collection, the picture of camera internal reference matrix and light stripe center is determined
Plain coordinate set；Based on a determination that light stripe center pixel coordinate collection, determine optic plane equationses；According to determine internal reference matrix and
It is determined that optic plane equationses, determine the three-dimensional coordinate of the three-dimensional coordinate and object table cake of conveyer belt surface point；According to what is determined
The three-dimensional coordinate of the three-dimensional coordinate and object table cake of conveyer belt surface point, can determine the volume of object in real time, and using single
Lens camera gathers image, can reduce operand such that it is able to quickly and automatically determine the volume of object on conveyer belt, and
System cost can be reduced.
Description of the drawings
Fig. 1 is the schematic flow sheet of object volume measuring method on conveyer belt provided in an embodiment of the present invention；
Fig. 2 (a) is the image schematic diagram without striations provided in an embodiment of the present invention；
Fig. 2 (b) is the image schematic diagram with striations provided in an embodiment of the present invention；
Fig. 3 is visual system schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the image with striations of transport belt surface provided in an embodiment of the present invention；
Fig. 5 is the image with striations for obtaining on conveyer belt provided in an embodiment of the present invention after placement object.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention is big for existing operand, a kind of problem of high cost, there is provided object volume measurement side on conveyer belt
Method.
Referring to shown in Fig. 1, object volume measuring method on conveyer belt provided in an embodiment of the present invention, including：
S101, using monocular-camera, gathers the image and the image with striations without striations；
S102, according to the image without striations and the image with striations of collection, determines camera internal reference matrix
With the pixel coordinate collection of light stripe center；
S103, based on a determination that light stripe center pixel coordinate collection, determine optic plane equationses；
S104, according to the internal reference matrix for determining and the optic plane equationses of determination, determines the three-dimensional coordinate of conveyer belt surface point
With the three-dimensional coordinate of object table cake；
S105, according to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, determines object
Volume.
Object volume measuring method on conveyer belt described in the embodiment of the present invention, is gathered without light by monocular-camera
The image of striped and the image with striations；According to the image without striations and the image with striations of collection,
Determine the pixel coordinate collection of camera internal reference matrix and light stripe center；Based on a determination that light stripe center pixel coordinate collection, really
Determine optic plane equationses；According to the internal reference matrix for determining and the optic plane equationses of determination, the three-dimensional coordinate of conveyer belt surface point is determined
With the three-dimensional coordinate of object table cake；Sat according to the three-dimensional of three-dimensional coordinate and object table cake of the conveyer belt surface point for determining
Mark, can determine the volume of object in real time, and gather image using monocular-camera, can reduce operand such that it is able to be fast
Speed, the volume for automatically determining object on conveyer belt, and system cost can be reduced.
On the aforementioned transport band in the specific embodiment of object volume measuring method, further, the striations are
Line type structure light.
In the present embodiment, as line type structure light anti-interference is good, used as an alternative embodiment, the striations are wire type
Structure light so that object volume measuring method can be applied to complicated industry spot on the conveyer belt that the present embodiment is provided.
In the present embodiment, image and image with striations of the collection without striations include：
S1, using target, for example, the target can be two dimensional surface target；
S2, opens laser instrument, and image of the collection with striations does not now move the target, close laser instrument, collection
Without the image of striations, obtain one without striations and the image pair with striations；
S3, the movement target, repeats S2, until the image pair of collection predetermined number.
In the present embodiment, for example, predetermined number is 10, then need to gather 10 images pair, as shown in Fig. 2 Fig. 2 (a) is not for
Image with striations, 2 (b) is the image with striations, and the position of correspondence image is identical.
It is on the aforementioned transport band in the specific embodiment of object volume measuring method, further, described according to collection
The image without striations and the image with striations, determine that the pixel coordinate collection of light stripe center includes：
According to the image without striations of collection, camera internal reference matrix is determined；
Each image pair, the image without striations and the image with striations to gathering do difference fortune
Calculate, obtain error image；
Error image to obtaining carries out distortion correction；
According to the error image after correction, light stripe center is extracted, the pixel coordinate collection of light stripe center is obtained.
In the present embodiment, as shown in figure 3, setting up visual system, the visual system includes：World coordinate system Ow-
XwYwZw, pixel coordinate system U-V, camera coordinates system Oc-XcYcZcAnd image coordinate system Xi-Yi。
In the present embodiment, according to the image without striations of collection, calibrating camera internal reference matrix M, distortion parameter
K, and obtain the outer ginseng of each position of target, that is, set up target co-ordinates system；Wherein, internal reference matrix M is：
Distortion parameter K is K=[- 0.00858 00 0].
In the present embodiment, the target co-ordinates system is considered as into world coordinate system, the tessellated size of target is 25mm × 25mm,
Known to the coordinate of gridiron pattern intersection point；The Camera extrinsic for asking world coordinates to be tied under camera coordinates system accordingly, wherein, outside the camera
Ginseng includes：Spin matrix R, translation vector T and corresponding homography matrix H.
In the present embodiment, in each image pair, to collection without the image of striations and with striations
Image does difference operation, obtains error image；Error image to obtaining carries out distortion correction；According to the differential chart after correction
Picture, extracts light stripe center, obtains the pixel coordinate collection of light stripe center, specifically, it is possible to use Hessian matrixes and maximum
The method that connected domain is combined extracts light stripe center, obtains the pixel coordinate collection I of light stripe center.
On the aforementioned transport band in the specific embodiment of object volume measuring method, further, it is described based on a determination that
Light stripe center pixel coordinate collection, determine that optic plane equationses include：
According to the pixel coordinate collection of the light stripe center for determining, with reference to predetermined homography matrix, pixel coordinate and the world
Relation between coordinate, obtains coordinate set of the light stripe center under world coordinate system；
According to the spin matrix, translation vector that determine, coordinate set of the light stripe center under world coordinate system is transformed into
Under camera coordinates system, coordinate set of the light stripe center under camera coordinates system is obtained；
Coordinate set to the light stripe center that obtains under camera coordinates system is fitted, and obtains optic plane equationses.
In the present embodiment, predetermined homography matrix, the relation between pixel coordinate and world coordinates are：
SI=HP
Wherein, s represents scale factor.
In the present embodiment, the pixel coordinate collection I of light stripe center is substituted into into sI=HP, light stripe center is calculated alive
Coordinate set P under boundary's coordinate system；Using spin matrix R, translation vector T, P is transformed under camera coordinates system, i.e. Pc=[R T]
P, wherein, PcFor coordinate of the light stripe center under camera coordinates system, 10 pictures are circulated to afterwards, obtaining Rhizoma Dioscoreae (peeled) with the method
Coordinate set of the stricture of vagina center under camera coordinates system, is fitted equation of the exit plane under camera coordinates system with least square method,
Equation of the optical plane under camera coordinates system herein can also be referred to as：Optic plane equationses, the optic plane equationses
It is expressed as：
X-63.6195y+2.6409z-3218.2103=0
Wherein, the three-dimensional coordinate under x, y, z camera coordinates system.
It is on the aforementioned transport band in the specific embodiment of object volume measuring method, further, described according to determination
Internal reference matrix and determine optic plane equationses, determine that the three-dimensional coordinate of conveyer belt surface point includes：
Before object is placed on conveyer belt, using monocular-camera, conveyer belt surface image of the collection with striations；
According to the conveyer belt surface image with striations of collection, it is determined that the pixel of the light stripe center of transport belt surface
Coordinate；
According to the pixel coordinate of the light stripe center of the transport belt surface for determining, by internal reference matrix equation and the light for determining
Plane equation, obtains three-dimensional coordinate of the conveyer belt surface point under camera coordinates system.
In the present embodiment, before placing object on conveyer belt, using monocular-camera, collection once carries striations
Conveyer belt surface image, as shown in figure 4, the conveyer belt surface image with striations to gathering carries out distortion correction, then,
Striations edge is calculated using threshold method and Canny operators, the pixel of the light stripe center of transport belt surface is obtained with center method
Coordinate, by internal reference matrix equation and the optic plane equationses for determining, obtains three-dimensional of the conveyer belt surface point under camera coordinates system
Coordinate Ti(xti,yti,zti) (i=0～n), wherein, n is the number of light stripe center point, also illustrates that：Object cross section discretization
Rectangle number, wherein, the internal reference matrix equation is expressed as：
The optic plane equationses are expressed as：
xc-63.6195yc+2.6409zc- 3218.2103=0
Wherein, M represents internal reference matrix, xi、yiTwo-dimensional coordinate under pixel coordinate system, xi、yiSubscript i be not variable, be
Refer to the two-dimensional coordinate under pixel coordinate system, xc、yc、zcRepresent the two-dimensional coordinate corresponding point under pixel coordinate system in camera coordinates
Three-dimensional coordinate under system.
It is on the aforementioned transport band in the specific embodiment of object volume measuring method, further, described according to determination
Internal reference matrix and determine optic plane equationses, determine that the three-dimensional coordinate of object table cake includes：
After object is placed on conveyer belt, in conveyer belt transportation, using monocular-camera, Real-time Collection carries Rhizoma Dioscoreae (peeled)
Print image；
According to Real-time Collection with Rhizoma Dioscoreae (peeled) print image, the striations with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection are determined
The pixel coordinate at center；
According to the pixel coordinate of the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection for determining, by internal reference
Matrix equation and the optic plane equationses for determining, obtain the corresponding object table cake of conveyer belt surface point under camera coordinates system three
Dimension coordinate.
In the present embodiment, after placing Measuring Object on conveyer belt, in conveyer belt transportation, using monocular-camera,
Image of the Real-time Collection with striations, as shown in figure 5, obtaining body surface striations point set, carrying according to Real-time Collection
Rhizoma Dioscoreae (peeled) print image, determines the pixel coordinate of the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection；According to what is determined
The pixel coordinate of the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection, by internal reference matrix equation and the light for determining
Plane equation, obtains three-dimensional coordinate G of the dot sequency corresponding object table cake in conveyer belt surface under camera coordinates systemi(xgi,
ygi,zgi) (i=0～n).
It is on the aforementioned transport band in the specific embodiment of object volume measuring method, further, described according to determination
Conveyer belt surface point three-dimensional coordinate and the three-dimensional coordinate of object table cake, determine that the volume of object includes：
According to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, object table cake is calculated
To the distance of conveyer belt correspondence surface point, laterally integration is carried out to the distance and obtains sectional area；
Using belts movement speed, the sectional area is integrated, object volume is obtained.
In the present embodiment, according to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, use
Range formula calculates object table cake to the distance of conveyer belt correspondence surface point, obtains transport first point of belt surface and arrives last
The distance of individual point, the distance to obtaining carry out laterally integration and obtain sectional area；During belts movement, visual system is solid
It is fixed, using belts movement speed, the sectional area is integrated, can quickly and automatically determine continuous thing on conveyer belt
The volume of body.
In the present embodiment, the sectional area of the range formula/jth two field picture is expressed as：
The object volume is expressed as：
Wherein, SjRepresent the sectional area of jth two field picture, xg0、yg0、zg0Represent transport belt surface striations starting point in phase
Three-dimensional coordinate under machine coordinate system, xgn、ygn、zgnRepresent three-dimensional seat of the transport belt surface striations terminal under camera coordinates system
Mark, xti,yti,ztiRepresent the i-th conveyer belt surface point/three-dimensional coordinate of i-th point of the transport belt surface under camera coordinates system, xgi,
ygi,zgiThree-dimensional coordinate of the corresponding object table cake of the i-th conveyer belt surface point under camera coordinates system is represented, n represents striations
The number of central point, V represent the volume of object, and v represents belts movement speed, and p represents number of image frames, and t represents run time.
In the present embodiment, according to object volume measuring method on the conveyer belt that the present embodiment is provided, measurement volume is
1000cm3The volume of object is：1051.232cm3。
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (10)
1. object volume measuring method on a kind of conveyer belt, it is characterised in that include：
Using monocular-camera, the image and the image with striations without striations is gathered；
According to the image without striations and the image with striations of collection, in determining camera internal reference matrix and striations
The pixel coordinate collection of the heart；
Based on a determination that light stripe center pixel coordinate collection, determine optic plane equationses；
According to the internal reference matrix for determining and the optic plane equationses of determination, the three-dimensional coordinate and body surface of conveyer belt surface point are determined
The three-dimensional coordinate of point；
According to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, the volume of object is determined.
2. object volume measuring method on conveyer belt according to claim 1, it is characterised in that the striations are wire type
Structure light.
3. object volume measuring method on conveyer belt according to claim 1, it is characterised in that the collection is without light
The image of striped and the image with striations include：
S1, using target；
S2, opens laser instrument, and image of the collection with striations is closed laser instrument, gather the image without striations, obtain
One without striations and the image pair with striations；
S3, the movement target, repeats S2, until the image pair of collection predetermined number.
4. object volume measuring method on conveyer belt according to claim 3, it is characterised in that it is described according to collection not
Image with striations and the image with striations, determine that the pixel coordinate collection of light stripe center includes：
According to the image without striations of collection, camera internal reference matrix is determined；
Each image pair, the image without striations and the image with striations to gathering do difference operation, obtain
To error image；
Error image to obtaining carries out distortion correction；
According to the error image after correction, light stripe center is extracted, the pixel coordinate collection of light stripe center is obtained.
5. object volume measuring method on conveyer belt according to claim 1, it is characterised in that methods described also includes：
According to the image without striations of collection, Camera extrinsic is determined, the outer ginseng includes：World coordinates is tied to camera seat
Spin matrix, translation vector and homography matrix under mark system；
It is described based on a determination that light stripe center pixel coordinate collection, determine that optic plane equationses include：
According to the pixel coordinate collection of the light stripe center for determining, with reference to predetermined homography matrix, pixel coordinate and world coordinates
Between relation, obtain coordinate set of the light stripe center under world coordinate system；
According to the spin matrix, translation vector that determine, coordinate set of the light stripe center under world coordinate system is transformed into into camera
Under coordinate system, coordinate set of the light stripe center under camera coordinates system is obtained；
Coordinate set to the light stripe center that obtains under camera coordinates system is fitted, and obtains optic plane equationses.
6. object volume measuring method on conveyer belt according to claim 1, it is characterised in that it is described according to determining in
Ginseng matrix and the optic plane equationses for determining, determine that the three-dimensional coordinate of conveyer belt surface point includes：
Before object is placed on conveyer belt, using monocular-camera, conveyer belt surface image of the collection with striations；
According to the conveyer belt surface image with striations of collection, it is determined that the pixel of the light stripe center of transport belt surface is sat
Mark；
According to the pixel coordinate of the light stripe center of the transport belt surface for determining, by internal reference matrix equation and the optical plane for determining
Equation, obtains three-dimensional coordinate of the conveyer belt surface point under camera coordinates system.
7. object volume measuring method on conveyer belt according to claim 6, it is characterised in that the internal reference matrix equation
It is expressed as：
The optic plane equationses are expressed as：
xc-63.6195yc+2.6409zc- 3218.2103=0
Wherein, M represents internal reference matrix, xi、yiRepresent the two-dimensional coordinate under pixel coordinate system, xc、yc、zcRepresent under pixel coordinate system
Three-dimensional coordinate of the two-dimensional coordinate corresponding point under camera coordinates system.
8. object volume measuring method on conveyer belt according to claim 6, it is characterised in that it is described according to determining in
Ginseng matrix and the optic plane equationses for determining, determine that the three-dimensional coordinate of object table cake includes：
After object is placed on conveyer belt, in conveyer belt transportation, using monocular-camera, Real-time Collection carries striations figure
Picture；
According to Real-time Collection with Rhizoma Dioscoreae (peeled) print image, the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection is determined
Pixel coordinate；
According to the pixel coordinate of the light stripe center with Rhizoma Dioscoreae (peeled) print image of the Real-time Collection for determining, by internal reference matrix
Equation and the optic plane equationses for determining, obtain three-dimensional seat of the corresponding object table cake of conveyer belt surface point under camera coordinates system
Mark.
9. object volume measuring method on conveyer belt according to claim 1, it is characterised in that described according to the fortune for determining
Three-dimensional coordinate and the three-dimensional coordinate of object table cake that defeated belt surface is selected, determine that the volume of object includes：
According to the three-dimensional coordinate and the three-dimensional coordinate of object table cake of the conveyer belt surface point for determining, object table cake is calculated to fortune
The defeated distance with correspondence surface point, carries out laterally integration and obtains sectional area to the distance；
Using belts movement speed, the sectional area is integrated, object volume is obtained.
10. object volume measuring method on conveyer belt according to claim 9, it is characterised in that the section product representation
For：
The object volume is expressed as：
Wherein, SjRepresent the sectional area of jth two field picture, xg0、yg0、zg0Represent transport belt surface striations starting point in camera coordinates
Three-dimensional coordinate under system, xgn、ygn、zgnRepresent transport three-dimensional coordinate of the belt surface striations terminal under camera coordinates system, xti,
yti,ztiRepresent three-dimensional coordinate of the i-th conveyer belt surface point under camera coordinates system, xgi,ygi,zgiRepresent that i-th transports belt surface
Three-dimensional coordinate of the corresponding object table cake under camera coordinates system is selected, n represents the number of light stripe center point, and V represents object
Volume, v represents belts movement speed, and p represents number of image frames, and t represents run time.
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| CN107478151A (en) * | 2017-07-26 | 2017-12-15 | 陈景洪 | A kind of one camera volume measurement device |
| EP3457078A4 (en) * | 2017-07-17 | 2019-05-22 | Shining 3D Tech Co., Ltd. | Monocular three-dimensional scanning system based three-dimensional reconstruction method and apparatus |
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