CN106610263A - A large-scale stockyard all-weather measurement system and method - Google Patents
A large-scale stockyard all-weather measurement system and method Download PDFInfo
- Publication number
- CN106610263A CN106610263A CN201510685472.XA CN201510685472A CN106610263A CN 106610263 A CN106610263 A CN 106610263A CN 201510685472 A CN201510685472 A CN 201510685472A CN 106610263 A CN106610263 A CN 106610263A
- Authority
- CN
- China
- Prior art keywords
- image
- stockpile
- capture apparatus
- image capture
- laser
- 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.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to the field of large-scale stockyard material pile amount control, and more particularly to a large-scale stockyard non-contact measurement system. The large-scale stockyard all-weather measurement system comprises a pair of image capturing devices and a laser grating emitter. One of signal outlet ports of each image capturing device is communicated with an input port of a laser emission controller; the other signal outlet port of the image capturing device is connected to an image data processor; and the image capturing device captures a stock pipe image after the laser grating emitted by the laser grating emitter is projected. According to the large-scale stockyard all-weather measurement method, the image capturing devices and the laser grating emitter are controlled to simultaneously work to take a flash shot of the material pipe image after the laser grating projection according to walking position trigger signals of a stacker-reclaimer, and then data processing is carried out on the material pile image to obtain three dimensional information of a material pile. The system and method of the invention collects the grating image, has little correlation with the natural light, effectively reduces the influence of lighting factors on the project realization and can realize the all-weather automatic non-contact measurement.
Description
Technical field
The present invention relates to large-scale stockpiling in stock ground amount control field, more particularly to a kind of large-scale stock ground non-contact measurement system and method.
Background technology
To large-scale raw material place bulk material in industrial circle, such as iron ore ore deposit, Calx ore deposit, based on the metering system of fine coal mineral aggregate heap is mainly manually operated, particularly when the situation of big stock ground multi items, stock ground measurement work is very loaded down with trivial details, need survey crew to be measured each stockpile at the scene and surveyed and drawn input and output material management of the stock ground stockpile 3-D graphic for stock ground management personnel to raw material, working specification and safety in view of scene, personnel need to stop the operation of heap feeding during measurement, the strong influence work efficiency in stock ground, and certainty of measurement is difficult to ensure that.These features and difficult point greatly constrain the automatization in stock ground and the realization of informationization technology.
There are two kinds to the technical method of stockpile in bulk measurement at present, one kind realizes automatic measurement using laser ranging mode, and another kind realizes the measurement of stockpile using the method for stereo-visiuon measurement.Laser ranging mode is in the measurement application of stock ground, because there is device complexity in application in laser technology, it is related to driving and the pitching Design of Mechanical Structure of complexity, harsh to operating environment requirements, the support of laser ranging can not have vibration, otherwise have a strong impact on certainty of measurement, and it is expensive, using existing compared with big limitation, especially for the measurement in the stock ground of the multi-form accumulation mode of the non-powder stock of multi items, also there is the difficult point in e measurement technology method；And stereoscopic vision metering system is a kind of new noncontact measurement, it obtains the three-dimensional coordinate of public territory characteristic point in image so as to reach measurement purpose according to the image that two cameras shoot, but the technology there is also some problems, it is strong with the environmental condition at scene, particularly illumination condition relatedness, under high-quality illumination condition, imaging clearly, technical feasibility is high, and under ordinary light conditions, then technical feasibility is very low.
Find in the patented technology literature search to this type, Chinese invention patent number is 200510026197.7 patent, patent name is：The visual system of the computer automatic analysis of stock ground measurement，The patent utilization is arranged on stockpile both ends of the surface and has CCD camera at corresponding height，As high-order vision collecting point，Collection stockpile panoramic picture，It is arranged in the walking chassis with stacker-reclaimer towards stockpile and with the CCD camera walked of long rails of stacker-reclaimer，Moving-vision collection point is set on stacker-reclaimer，All of CCD camera picture signal is transmitted to image pick-up card by respective vision cable，Image pick-up card is connected by pci bus with image processing front end，The digital information that image is carried out in the picture signal of each CCD camera again image processing front end is expressed，The digital expression of image processing front end output is connected to the interaction that host computer realizes image information by IEEE1394 protocol interfaces，Realize and export the three-dimensional geometry yardstick of tested stockpile.The invention possesses the CCD camera installation site having with stockpile both ends of the surface at corresponding height in stock ground field condition, stockpile panoramic picture can be gathered, and stockpile image photographic effect it is preferable when, the computer automatic analysis in stock ground can effectively be realized, but do not possess such panoramic picture collection position due to often being limited by objective environment condition in actual field, then the enforcement of the technology is limited.
Chinese invention patent number is 200910054129.X, entitled：Large-scale stock ground stockpile vision measurement system, the patent by the walking chassis of stacker-reclaimer towards stockpile and with stacker-reclaimer long rails walk CCD camera, the non-parallel installation of camera optical axis, collection stockpile image, and stockpile image is sent to into front-end image processor carries out preliminary process, then being sent to host computer server by optical fiber again carries out subsequent algorithm process, obtains the three-dimensional dimension of stockpile.The patent is certainly under certain illumination condition, image acquisition effect preferably in the case of, can realize the automatic measurement in stock ground, but be difficult to meet under the conditions of all-weather light shines, the all automatic measurement in stock ground, these difficult points need a kind of round-the-clock all automatic measurement technology of design.
The content of the invention
The technical problem to be solved is to provide a kind of large-scale stock ground daytime measurement system and method, using laser grating shadow casting technique, image capture apparatus collection for raster image, it is little with natural lighting relatedness, the impact that illumination factor is realized to project is effectively reduced, round-the-clock full-automatic non-cpntact measurement can be realized, saved labour force, and improve work efficiency, the stock ground automatization of raising and the level of IT application.
What the present invention was realized in：A kind of large-scale stock ground daytime measurement system, including：
The image capture apparatus being fixedly mounted on stacker-reclaimer for a pair；Described image capture apparatus are provided with a signal input and two signal outputs；
The one image-capture trigger being connected with the signal input of image capture apparatus；
One is fixedly mounted on the laser grating emitter on stacker-reclaimer；
The one Laser emission controller being connected with the control mouth of laser grating emitter；
The one of signal output of described image capture apparatus is connected with the input port of Laser emission controller, and described image capture apparatus another signal outputs is connected with image data processor；Image capture apparatus catch the stockpile image Jing after the laser grating projection of laser grating emitter transmitting, and the stockpile image is sent in image data processor is processed.
The photocentre of the image capture apparatus described in a pair is in same level and two optical axises are parallel to each other, and described image crawl trigger synchronously triggers a pair of image capture apparatus.
Described image capture apparatus are industrial camera.
A kind of large-scale stock ground daytime measurement method, comprises the following steps：
S1：Image-capture trigger exports trigger to a pair of image capture apparatus by the current traveling position of stacker-reclaimer；
S2：A pair of image capture apparatus send laser firing signals to Laser emission controller according to the signal of image-capture trigger；
S3：While Laser emission controller control laser grating emitter transmitting laser grating, stockpile image of a pair of image capture apparatus synchronization catch Jing after the laser grating projection that laser grating emitter is launched；
S4：Stockpile image sends into image data processor and carries out obtaining the three-dimensional information of stockpile after data processing, and the volume of stockpile is obtained according to the three-dimensional information of stockpile.
Just throwing side of the stockpile side that can be projected to the laser grating that laser grating emitter is launched as stockpile, it is impossible to the stockpile side for projecting to for stockpile rear-projection side；In step S4, image data processor carries out data processing and concretely comprises the following steps to stockpile image,
Step one, stockpile image is carried out noise reduction, filtering and enhanced pretreatment work obtain view data；
Step 2, image capture apparatus position, image capture apparatus geometric model and parameter are initialized；
Step 3, the view data to obtaining after pretreatment carry out distortion correction, polar curve correction, obtain a pair of image capture apparatus into image Feature point correspondence relation；
Step 4, Image Segmentation Methods Based on Features, characteristic matching are carried out to view data, by the laser grating image segmentation projected on stockpile out after it is discrete be characterized a little, then look for the matching double points in the view data of a pair of image capture apparatus of similarity degree highest；
Step 5, when calculating stockpile and just throwing side, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate using matching double points；
When stockpile rear-projection side is calculated, the rear-projection side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by rear-projection side three-dimensional information.
In the step 2, image capture apparatus position initialization is that demarcation, image capture apparatus geometric model and the parameter for setting up the image capture apparatus coordinate system of fixed installation position and the transformational relation known to stock ground between world's basis coordinates system of determination to realize the outer parameter of image capture apparatus by measurement means is initialized；Image capture apparatus geometric model and parameter initialization are to realize the demarcation of image capture apparatus intrinsic parameter by setting up the transformational relation between computer display image coordinate system, normalization void imaging plane coordinate system and image capture apparatus coordinate system；According to image capture apparatus intrinsic parameter and image capture apparatus external parameters calibration, image coordinate system two-dimensional coordinate point is set up to the transformational relation of the three-dimensional coordinate point of stock ground world basis coordinates system.
In the step 3, the distortion correction of view data is will to be corrected to distortionless coordinate by the point coordinates after radially and tangentially distortion effects by the inversion operation of the equation that distorts, and the picture point eliminated after distortion is truer；Polar curve correction is that the polar curve of the plane of delineation of corresponding a pair of the image capture apparatus of same object point is all become into horizontal parallel line or vertical parallel lines according to epipolar geom etry principle, so that imaging point row alignment or row alignment of the same object point in two image capture apparatus；View data first passes through distortion correction, then after polar curve correction, the point on a pair of image capture apparatus imaging planes to be matched, with identical vertical coordinate or abscissa.
In the step 4, the Image Segmentation Methods Based on Features of view data be the laser grating image segmentation that will be projected on stockpile out；The laser grating image for separating is discrete characteristic point by characteristic matching, the Feature point correspondence relation obtained according to step 3 finds the match point of characteristic point by calculating the similarity degree of feature neighborhood of a point vector on the image of non-coordinate system image capture apparatus, and such that it is able to find similarity degree highest matching double points are obtained；Described non-coordinate system image capture apparatus are referred to during image capture apparatus calibrating parameters are obtained, without the image capture apparatus used as image capture apparatus coordinate system.
In the step 5, when carry out stockpile just throwing side calculate when, the parallax of this feature point pair is obtained according to matching double points, then parallax, the transformational relation between image capture apparatus inside and outside parameter and three-dimensional coordinate for obtaining further according to image capture apparatus geometric model, the final three dimensional space coordinate for obtaining the actual stockpile point corresponding to present laser spectra features matching double points.
In the step 5, when the calculating of stockpile rear-projection side is carried out, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate first with matching double points；Then according to the three-dimensional coordinate for just throwing peak in the three-dimensional coordinate information of side, and Bezier is theoretical, fits the stockpile three-dimensional coordinate curve of rear-projection side, and obtains corresponding rear-projection side three-dimensional coordinate information.
Also include that the stockpile three-dimensional coordinate information to obtaining every time carries out splicing the step of calculating the three-dimensional information data for obtaining final whole stock ground after step S4.
The large-scale stock ground daytime measurement system and method for the present invention employs the mode of laser grating projection, laser grating is projected to and just throw on the current stockpile in side, then the laser grating image after the image capture apparatus acquired projections of binocular form, effectively reduce the impact that illumination factor is realized to project, then algorithm process is carried out to the laser grating image after collection, stacker-reclaimer is obtained and is just being thrown the three-dimensional coordinate information that the optical grating projection stockpile surface at shaped position is currently walked in side；When only side arranges stacker-reclaimer track, in the case where rear-projection side stockpile is substantially not present stacker-reclaimer operation operation, the mode being fitted using Bezier is fitted the surface curve currently walked at shaped position of rear-projection side, obtain rear-projection side stockpile curved three-dimensional coordinate, finally by stacker-reclaimer, the just throwing side of all collection positions and rear-projection side stockpile surface three dimension coordinate information carry out splicing fusion on the track out of shape of stock ground, obtain the three-dimensional measuring result in final whole stock ground；When there is stacker-reclaimer both sides, stockpile both sides all obtain three-dimensional coordinate using actual measurement mode.
The present invention adopts laser grating shadow casting technique, image capture apparatus collection for raster image, it is little with natural lighting relatedness, the impact that illumination factor is realized to project is effectively reduced, round-the-clock full-automatic non-cpntact measurement can be realized, and do not affect the normal work of stacker-reclaimer, labor intensity is reduced to greatest extent, labour force is saved, and has improve work efficiency, the stock ground automatization of raising and the level of IT application.
Description of the drawings
Fig. 1 is the working state schematic representation of large-scale stock ground daytime measurement system of the invention；
Fig. 2 is the arrangement schematic diagram in large-scale stock ground daytime measurement system embodiment 1 of the invention；
Fig. 3 is the arrangement schematic diagram in large-scale stock ground daytime measurement system embodiment 2 of the invention；
Fig. 4 is the control flow block diagram of large-scale stock ground daytime measurement method of the invention；
Fig. 5 is the FB(flow block) for carrying out data processing in large-scale stock ground daytime measurement method of the invention to stockpile image using modules；
In figure：Side, 7 rear-projection sides are just being thrown in 1 image capture apparatus, 2 laser grating emitters, 3 stacker-reclaimers, 4 stockpiles, 5 tracks, 6.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it is to be understood that after the content for having read statement of the present invention, those skilled in the art can make various changes or modifications to the present invention, these equivalent form of values equally fall within the application appended claims limited range.
Embodiment 1
As shown in Figure 1, 2, a kind of large-scale stock ground daytime measurement system, including a pair of laser grating emitters 2 of image capture apparatus 1 and, the image capture apparatus 1 described in a pair are fixedly mounted on stacker-reclaimer 3；Image capture apparatus 1 are provided with a signal input and two signal outputs；The signal input of image capture apparatus 1 is connected with image-capture trigger, and image-capture trigger output control signal is controlled to image capture apparatus 1, and in the present embodiment, described image capture apparatus 1 are industrial camera；The laser grating emitter 2 is fixedly mounted on stacker-reclaimer 3, and the control mouth of the laser grating emitter 2 is controlled by Laser emission controller output control signal；
The one of signal output of described image capture apparatus 1 is connected with the input port of Laser emission controller, and described image capture apparatus 1 another signal outputs is connected with image data processor；Optical band pass filter corresponding with the laser wavelength of the transmitting of laser grating emitter 2 is installed before the camera lens of image capture apparatus 1, image capture apparatus 1 catch the stockpile image of the laser grating in the upslide movie queen of stockpile 4 of the transmitting of Jing laser gratings emitter 2, and the stockpile image is sent in image data processor is processed.
The present invention can be further depicted as, and the photocentre of the image capture apparatus 1 described in a pair is in same level and two optical axises are parallel to each other, synchronous a pair of the image capture apparatus 1 of triggering of described image crawl trigger；Under normal circumstances, the laser grating emitter 2 is arranged between a pair of image capture apparatus 1；So install, a pair of image capture apparatus 1 have larger public view field scope.
In the present embodiment, stockpile 4 only has side to be provided with track 5, therefore 1 meeting of stacker-reclaimer is in the side feeding of stockpile 4, therefore the just throwing side 6 of the side stockpile of large-scale stock ground daytime measurement system as stockpile 4 will be installed, large-scale stock ground daytime measurement system irradiation less than side stockpile as stockpile 4 rear-projection side 7；Just throwing side data to be calculated by measured data, rear-projection side data is obtained according to just throwing side data and be fitted, and the three-dimensional data that whole stockpile is obtained after side data and the splicing of rear-projection side data will be just thrown, so as to realize the control to material stack volume.
As shown in Figure 4, a kind of large-scale stock ground daytime measurement method, in the present embodiment, using a set of large-scale stock ground daytime measurement system, only reality measures stockpile side as the three-dimensional information for just throwing side, and used as rear-projection side, the three-dimensional information of rear-projection side is calculated the opposite side of stockpile by rear-projection side three-dimensional information, the volume of stockpile is obtained then in conjunction with the three-dimensional information for just throwing side and rear-projection side, following steps are specifically included：
S1：Image-capture trigger exports trigger to a pair of image capture apparatus by the current traveling position of stacker-reclaimer；
S2：A pair of image capture apparatus send laser firing signals to Laser emission controller according to the signal of image-capture trigger；
S3：While Laser emission controller control laser grating emitter transmitting laser grating, stockpile image of a pair of image capture apparatus synchronization catch Jing after the laser grating projection that laser grating emitter is launched；The image has to be arrived by a pair of image capture apparatus synchronous acquisition, and this image acquisition process is just counted as work(；
S4：Stockpile image sends into image data processor and carries out obtaining the three-dimensional information of stockpile after data processing, and the volume of stockpile is obtained according to the three-dimensional information of stockpile.
Just throwing side of the stockpile side that can be projected to the laser grating that laser grating emitter is launched as stockpile, it is impossible to the stockpile side for projecting to for stockpile rear-projection side；Image data processor carries out data processing and concretely comprises the following steps to stockpile image,
Step one, stockpile image is carried out noise reduction, filtering and enhanced pretreatment work obtain view data；
Industrial computer image pre-processing module receives the stockpile image that image capture apparatus shoot, and carries out preliminary process to stockpile image, and mainly undertaking the stockpile image to receiving carries out noise reduction, filtering and enhancement process；
Step 2, image capture apparatus position, image capture apparatus geometric model and parameter are initialized；
Image capture apparatus position initialization is that demarcation, image capture apparatus geometric model and the parameter for setting up the image capture apparatus coordinate system of fixed installation position and the transformational relation known to stock ground between world's basis coordinates system of determination to realize the outer parameter of image capture apparatus by measurement means is initialized；Stacker-reclaimer current location information is utilized during initial measurement, i.e. relative to stock ground original position coordinate information, installation site and setting angle with image capture apparatus in stacker-reclaimer, obtains transformational relation of the image capture apparatus relative to world's basis coordinates system of stock ground starting；
Image capture apparatus geometric model and parameter initialization are to realize the demarcation of image capture apparatus intrinsic parameter by setting up the transformational relation between computer display image coordinate system, normalization void imaging plane coordinate system and image capture apparatus coordinate system；According to image capture apparatus intrinsic parameter and image capture apparatus external parameters calibration, image coordinate system two-dimensional coordinate point is set up to the transformational relation of the three-dimensional coordinate point of stock ground world basis coordinates system；
Step 3, the view data to obtaining after pretreatment carry out distortion correction, polar curve correction, obtain a pair of image capture apparatus into image Feature point correspondence relation；
The distortion correction of view data is will to be corrected to distortionless coordinate by the point coordinates after radially and tangentially distortion effects by the inversion operation of the equation that distorts, and the picture point eliminated after distortion is truer；Polar curve correction is that the polar curve of the plane of delineation of corresponding a pair of the image capture apparatus of same object point is all become into horizontal parallel line or vertical parallel lines according to epipolar geom etry principle, so that imaging point row alignment or row alignment of the same object point in two image capture apparatus；View data first passes through distortion correction, then after polar curve correction, the point on a pair of image capture apparatus imaging planes to be matched, with identical vertical coordinate or abscissa.
Step 4, Image Segmentation Methods Based on Features, characteristic matching are carried out to view data, by the laser grating image segmentation projected on stockpile out after it is discrete be characterized a little, then look for the matching double points in the view data of a pair of image capture apparatus of similarity degree highest；
The Image Segmentation Methods Based on Features of view data be the laser grating image segmentation that will be projected on stockpile out；The laser grating image for separating is discrete characteristic point by characteristic matching, the Feature point correspondence relation obtained according to step 3 finds the match point of characteristic point by calculating the similarity degree of feature neighborhood of a point vector on the image of non-coordinate system image capture apparatus, and such that it is able to find similarity degree highest matching double points are obtained；Described non-coordinate system image capture apparatus are referred to during image capture apparatus calibrating parameters are obtained, without the image capture apparatus used as image capture apparatus coordinate system.
Step 5, when calculating stockpile and just throwing side, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate using matching double points；
When stockpile rear-projection side is calculated, the rear-projection side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by rear-projection side three-dimensional information；
When carry out stockpile just throwing side calculate when, the parallax of this feature point pair is obtained according to matching double points, then parallax, the transformational relation between image capture apparatus inside and outside parameter and three-dimensional coordinate for obtaining further according to image capture apparatus geometric model, the final three dimensional space coordinate for obtaining the actual stockpile point corresponding to present laser spectra features matching double points.
When the calculating of stockpile rear-projection side is carried out, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate first with matching double points；Then according to the three-dimensional coordinate for just throwing peak in the three-dimensional coordinate information of side, using stockpile top point and the angle of resting in peace of base point and stockpile windrow, and Bezier is theoretical, using Bezier curve of order 2 approximating method, the three-dimensional curve of the stockpile of rear-projection side is fitted, so as to estimate the stockpile three-dimensional curve in the section of dorsal part stockpile, and then the three-dimensional curve is carried out into discrete acquisition corresponding three-dimensional coordinate points, obtain corresponding rear-projection side three-dimensional coordinate information；
It is only unilateral track in the present embodiment, therefore calculates after the three-dimensional coordinate information for just throwing side and rear-projection side, both is carried out to splice the three-dimensional coordinate information for obtaining whole stockpile.
S5：Stockpile three-dimensional coordinate information to obtaining every time carries out splicing the step of calculating the three-dimensional information data for obtaining final whole stock ground;
The three-dimensional coordinate on the surface of the stockpile at all position laser grating projections in whole stock ground is carried out splicing fusion by stock ground concatenation module, splicing and amalgamation method mainly adopts interpolation algorithm, by the cross section curve of discrete point, the cross section curve of Interpolation continuity point, curvilinear equation is identical between consecutive points, then is continuously represented by way of three dimensional display.
Embodiment 2
As shown in Figure 3, a kind of large-scale stock ground daytime measurement method, the difference of embodiment 2 and embodiment 1 is, being both provided with stacker-reclaimer 3 in the both sides of stockpile 4 carries out feeding, therefore both sides all have a large-scale stock ground daytime measurement system in the present invention, the both sides of stockpile 4 all just to throw side, therefore five the step of step S4 in, stockpile both sides are calculated the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile by three-dimensional coordinate all just to throw side using matching double points.
Claims (11)
1. a kind of large-scale stock ground daytime measurement system, is characterized in that, including：
The image capture apparatus being fixedly mounted on stacker-reclaimer for a pair；Described image capture apparatus are provided with a signal input and two signal outputs；
The one image-capture trigger being connected with the signal input of image capture apparatus；
One is fixedly mounted on the laser grating emitter on stacker-reclaimer；
The one Laser emission controller being connected with the control mouth of laser grating emitter；
The one of signal output of described image capture apparatus is connected with the input port of Laser emission controller, and described image capture apparatus another signal outputs is connected with image data processor；Image capture apparatus catch the stockpile image Jing after the laser grating projection of laser grating emitter transmitting, and the stockpile image is sent in image data processor is processed.
2. large-scale stock ground daytime measurement system as claimed in claim 1, is characterized in that：The photocentre of the image capture apparatus described in a pair is in same level and two optical axises are parallel to each other, and described image crawl trigger synchronously triggers a pair of image capture apparatus.
3. large-scale stock ground daytime measurement system as claimed in claim 1 or 2, is characterized in that：Described image capture apparatus are industrial camera.
4. a kind of large-scale stock ground daytime measurement method, is characterized in that, comprise the following steps：
S1：Image-capture trigger exports trigger to a pair of image capture apparatus by the current traveling position of stacker-reclaimer；
S2：A pair of image capture apparatus send laser firing signals to Laser emission controller according to the signal of image-capture trigger；
S3：While Laser emission controller control laser grating emitter transmitting laser grating, stockpile image of a pair of image capture apparatus synchronization catch Jing after the laser grating projection that laser grating emitter is launched；
S4：Stockpile image sends into image data processor and carries out obtaining the three-dimensional information of stockpile after data processing, and the volume of stockpile is obtained according to the three-dimensional information of stockpile.
5. large-scale stock ground daytime measurement method as claimed in claim 4, is characterized in that：Just throwing side of the stockpile side that can be projected to the laser grating that laser grating emitter is launched as stockpile, it is impossible to the stockpile side for projecting to for stockpile rear-projection side；In step S4, image data processor carries out data processing and concretely comprises the following steps to stockpile image,
Step one, stockpile image is carried out noise reduction, filtering and enhanced pretreatment work obtain view data；
Step 2, image capture apparatus position, image capture apparatus geometric model and parameter are initialized；
Step 3, the view data to obtaining after pretreatment carry out distortion correction, polar curve correction, obtain a pair of image capture apparatus into image Feature point correspondence relation；
Step 4, Image Segmentation Methods Based on Features, characteristic matching are carried out to view data, by the laser grating image segmentation projected on stockpile out after it is discrete be characterized a little, then look for the matching double points in the view data of a pair of image capture apparatus of similarity degree highest；
Step 5, when calculating stockpile and just throwing side, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate using matching double points；
When stockpile rear-projection side is calculated, the rear-projection side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by rear-projection side three-dimensional information.
6. large-scale stock ground daytime measurement method as claimed in claim 5, is characterized in that：In the step 2, image capture apparatus position initialization is that demarcation, image capture apparatus geometric model and the parameter for setting up the image capture apparatus coordinate system of fixed installation position and the transformational relation known to stock ground between world's basis coordinates system of determination to realize the outer parameter of image capture apparatus by measurement means is initialized；Image capture apparatus geometric model and parameter initialization are to realize the demarcation of image capture apparatus intrinsic parameter by setting up the transformational relation between computer display image coordinate system, normalization void imaging plane coordinate system and image capture apparatus coordinate system；According to image capture apparatus intrinsic parameter and image capture apparatus external parameters calibration, image coordinate system two-dimensional coordinate point is set up to the transformational relation of the three-dimensional coordinate point of stock ground world basis coordinates system.
7. large-scale stock ground daytime measurement method as claimed in claim 5, is characterized in that：In the step 3, the distortion correction of view data is will to be corrected to distortionless coordinate by the point coordinates after radially and tangentially distortion effects by the inversion operation of the equation that distorts, and the picture point eliminated after distortion is truer；Polar curve correction is that the polar curve of the plane of delineation of corresponding a pair of the image capture apparatus of same object point is all become into horizontal parallel line or vertical parallel lines according to epipolar geom etry principle, so that imaging point row alignment or row alignment of the same object point in two image capture apparatus；View data first passes through distortion correction, then after polar curve correction, the point on a pair of image capture apparatus imaging planes to be matched, with identical vertical coordinate or abscissa.
8. large-scale stock ground daytime measurement method as claimed in claim 5, is characterized in that：In the step 4, the Image Segmentation Methods Based on Features of view data be the laser grating image segmentation that will be projected on stockpile out；The laser grating image for separating is discrete characteristic point by characteristic matching, the Feature point correspondence relation obtained according to step 3 finds the match point of characteristic point by calculating the similarity degree of feature neighborhood of a point vector on the image of non-coordinate system image capture apparatus, and such that it is able to find similarity degree highest matching double points are obtained；Described non-coordinate system image capture apparatus are referred to during image capture apparatus calibrating parameters are obtained, without the image capture apparatus used as image capture apparatus coordinate system.
9. large-scale stock ground daytime measurement method as claimed in claim 5, is characterized in that：In the step 5, when carry out stockpile just throwing side calculate when, the parallax of this feature point pair is obtained according to matching double points, then parallax, the transformational relation between image capture apparatus inside and outside parameter and three-dimensional coordinate for obtaining further according to image capture apparatus geometric model, the final three dimensional space coordinate for obtaining the actual stockpile point corresponding to present laser spectra features matching double points.
10. large-scale stock ground daytime measurement method as claimed in claim 5, is characterized in that：In the step 5, when the calculating of stockpile rear-projection side is carried out, the just throwing side three-dimensional coordinate information of this stockpile image correspondence stockpile is calculated by three-dimensional coordinate first with matching double points；Then according to the three-dimensional coordinate for just throwing peak in the three-dimensional coordinate information of side, and Bezier is theoretical, fits the stockpile three-dimensional coordinate curve of rear-projection side, and obtains corresponding rear-projection side three-dimensional coordinate information.
11. large-scale stock ground daytime measurement methods as claimed in claim 4, is characterized in that：Also include that the stockpile three-dimensional coordinate information to obtaining every time carries out splicing the step of calculating the three-dimensional information data for obtaining final whole stock ground after step S4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685472.XA CN106610263A (en) | 2015-10-22 | 2015-10-22 | A large-scale stockyard all-weather measurement system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685472.XA CN106610263A (en) | 2015-10-22 | 2015-10-22 | A large-scale stockyard all-weather measurement system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106610263A true CN106610263A (en) | 2017-05-03 |
Family
ID=58610969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510685472.XA Pending CN106610263A (en) | 2015-10-22 | 2015-10-22 | A large-scale stockyard all-weather measurement system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106610263A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110487184A (en) * | 2019-09-17 | 2019-11-22 | 河北唐银钢铁有限公司 | The system and method for unmanned plane measurement stock ground material |
| CN113167569A (en) * | 2018-11-21 | 2021-07-23 | 日本电气通信***株式会社 | Volume measurement device, system, method, and program |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5349378A (en) * | 1992-12-21 | 1994-09-20 | Robotic Vision Systems, Inc. | Context independent fusion of range and intensity imagery |
| CN1693840A (en) * | 2005-05-26 | 2005-11-09 | 上海交通大学 | Computer automatic measuring visual system for stock ground measuring |
| CN101334897A (en) * | 2007-06-27 | 2008-12-31 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| CN101936761A (en) * | 2009-06-30 | 2011-01-05 | 宝山钢铁股份有限公司 | Visual measuring method of stockpile in large-scale stock ground |
| CN102042814A (en) * | 2010-06-24 | 2011-05-04 | 中国人民解放军国防科学技术大学 | Projection auxiliary photographing measurement method for three-dimensional topography of large storage yard |
| CN103370600A (en) * | 2011-02-24 | 2013-10-23 | 罗伯特·博世有限公司 | Vehicle measurement apparatus |
-
2015
- 2015-10-22 CN CN201510685472.XA patent/CN106610263A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5349378A (en) * | 1992-12-21 | 1994-09-20 | Robotic Vision Systems, Inc. | Context independent fusion of range and intensity imagery |
| CN1693840A (en) * | 2005-05-26 | 2005-11-09 | 上海交通大学 | Computer automatic measuring visual system for stock ground measuring |
| CN101334897A (en) * | 2007-06-27 | 2008-12-31 | 宝山钢铁股份有限公司 | Three-dimensional imaging method for implementing material pile real time dynamic tracking |
| CN101936761A (en) * | 2009-06-30 | 2011-01-05 | 宝山钢铁股份有限公司 | Visual measuring method of stockpile in large-scale stock ground |
| CN102042814A (en) * | 2010-06-24 | 2011-05-04 | 中国人民解放军国防科学技术大学 | Projection auxiliary photographing measurement method for three-dimensional topography of large storage yard |
| CN103370600A (en) * | 2011-02-24 | 2013-10-23 | 罗伯特·博世有限公司 | Vehicle measurement apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113167569A (en) * | 2018-11-21 | 2021-07-23 | 日本电气通信***株式会社 | Volume measurement device, system, method, and program |
| CN113167569B (en) * | 2018-11-21 | 2022-10-11 | 日本电气通信***株式会社 | Volume measurement device, system, method, and program |
| US12018969B2 (en) | 2018-11-21 | 2024-06-25 | Nec Communication Systems, Ltd. | Volume measurement apparatus, system, method, and program |
| CN110487184A (en) * | 2019-09-17 | 2019-11-22 | 河北唐银钢铁有限公司 | The system and method for unmanned plane measurement stock ground material |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3650807B1 (en) | Handheld large-scale three-dimensional measurement scanner system simultaneously having photography measurement and three-dimensional scanning functions | |
| US8917929B2 (en) | Image processing apparatus, method, program, and recording medium | |
| US20130222551A1 (en) | Mapping detecting and tracking objects in an arbitrary outdoor scene using active vision | |
| KR101815407B1 (en) | Parallax operation system, information processing apparatus, information processing method, and recording medium | |
| CN107990878B (en) | Distance measuring system and distance measuring method based on low-light-level binocular camera | |
| KR101139389B1 (en) | Video Analysing Apparatus and Method Using Stereo Cameras | |
| CN103477183A (en) | Tire surface shape measuring device and tire surface shape measuring method | |
| CN104079916A (en) | Panoramic three-dimensional visual sensor and using method | |
| JP6551623B1 (en) | Information processing apparatus, moving body, image processing system, and information processing method | |
| CN104954663B (en) | Image processing apparatus and image processing method | |
| RU2014139609A (en) | THREE-DIMENSION OBJECT DETECTION DEVICE | |
| CN106610263A (en) | A large-scale stockyard all-weather measurement system and method | |
| CN110487242A (en) | A kind of monitoring system of tunnel ground surface sedimentation | |
| CN110763140A (en) | Non-parallel optical axis high-precision binocular ranging method | |
| CN110880161B (en) | Depth image stitching and fusion method and system for multiple hosts and multiple depth cameras | |
| CN106530315B (en) | Target extraction system and method for medium and small objects under full angle | |
| CN106846385A (en) | Many sensing Remote Sensing Images Matching Methods, device and system based on unmanned plane | |
| CN116503567B (en) | Intelligent modeling management system based on AI big data | |
| CN107044830B (en) | Distributed multi-view stereoscopic vision system and target extraction method | |
| KR101465236B1 (en) | vehicle velocity detector and method using stereo camera | |
| KR101420242B1 (en) | vehicle detector and method using stereo camera | |
| CN110490117B (en) | Parking event determination method and system based on image depth information | |
| CN116580107A (en) | Cross-view multi-target real-time track tracking method and system | |
| CN206583440U (en) | A kind of projected image sighting distance detecting system | |
| CN206524916U (en) | A kind of self-adapting detecting and the double devices for taking the photograph optical axis of adjustment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170503 |