CN109029303A - Measurement method, device, system and the readable storage medium storing program for executing of object bottom surface product parameter - Google Patents
Measurement method, device, system and the readable storage medium storing program for executing of object bottom surface product parameter Download PDFInfo
- Publication number
- CN109029303A CN109029303A CN201810594828.2A CN201810594828A CN109029303A CN 109029303 A CN109029303 A CN 109029303A CN 201810594828 A CN201810594828 A CN 201810594828A CN 109029303 A CN109029303 A CN 109029303A
- Authority
- CN
- China
- Prior art keywords
- target
- axis
- projecting
- value
- plane
- 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.)
- Granted
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
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of measurement methods of object bottom surface product parameter, before this by the way that target three-dimensional data has been obtained projecting figure to the plane projection that X-axis and Y-axis are constituted, it converts to obtain the first bottom surface figure by rotation transformation and reverse rotation again, the error coordinate points in the first bottom surface figure are eliminated finally by building target bottom surface figure, more accurate targeted graphical is finally obtained, and floor space parameter has been calculated in the area parameters according to targeted graphical, and the measurement of object bottom surface product parameter is completed with this.As it can be seen that using this measurement method, using three-dimensional data as beasurement base, without any image data, so, first it will not lead to the problem of measurement result inaccuracy because picture is distorted, moreover it can also be to avoid processing image data, to reduce the calculation amount of measurement object bottom surface product parameter.In addition, the invention also discloses measuring device, system and the computer readable storage medium of a kind of object bottom surface product parameter, effect is as above.
Description
Technical field
The present invention relates to field of measuring technique, in particular to the measurement method of object bottom surface product parameter, device, system and can
Read storage medium.
Background technique
In logistics field, since the volume of object is related to logistics charging, entrucking transport and warehouse storage, so, it is quasi-
The volume for really obtaining object is of crucial importance.
The volume parameter of object includes that object bottom surface product parameter and height parameter obtain object bottom surface in the prior art
The method of product parameter is varied, wherein a kind of more common method is: obtaining object under test using image capture device
Image information, and picture is generated, then picture is handled by image processing equipment again, pictorial information is extracted, according to more
The comparison of group pictorial information obtains object bottom surface product parameter.But, on the one hand, since image capture device generates the quality of picture
It is closely related with ambient enviroment, so, when object under test surface has the substance of reflex with adhesive tape or other pairs of light,
The picture that image capture device generates causes the accuracy of measurement result poor often there is a situation where being distorted；On the other hand,
A large amount of processing image data is needed using this method, the calculation amount of measurement object bottom surface product parameter is also larger.
Therefore, how the accuracy of the measurement result of lifting object floor space parameter, which measures object bottom surface with reduction, is accumulated parameter
Calculation amount be a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The object of the present invention is to provide measurement method, device, system and the readable storage mediums of a kind of object bottom surface product parameter
Matter is able to ascend the accuracy of the measurement result of object bottom surface product parameter and reduces the calculation amount of measurement object bottom surface product parameter.
In order to solve the above technical problem, the present invention provides a kind of object bottom surface product parameter measurement method, comprising:
The target three-dimensional data corresponding with the height value of object under test got using three-dimensional laser camera is projected to X
The plane that axis and Y-axis are constituted forms projecting figure, and calculate the projecting figure benchmark corner points and with the benchmark corner
First angle of the adjacent corner points of point；
Rotation transformation is carried out to the projecting figure according to first angle, determines to include postrotational projecting figure
Minimum external bottom surface figure is obtained with carrying out reverse rotation transformation to the external bottom surface figure of the minimum according to first angle
First bottom surface figure；
The true edge of first bottom surface figure and the second angle of the X-axis are calculated, to exist according to second angle
The target bottom that included projection is than or equal to predetermined number to the target three-dimensional data of the plane is constructed in the plane
Face figure；
The floor space parameter is calculated according to the area parameters of targeted graphical, wherein the targeted graphical is each mesh
The intersection of supplementary set of the base number of a tender face figure in the figure of first bottom surface is formed by figure.
Preferably, the object under test is specially cuboid, then the determination includes the minimum of postrotational projecting figure
External bottom surface figure specifically includes:
Determine maximum X axis coordinate value, the smallest X axis coordinate in the corner points coordinate of the postrotational projecting figure
Value, maximum Y axis coordinate value and the smallest Y axis coordinate value；
To the maximum X axis coordinate value, the smallest X axis coordinate value, the maximum Y axis coordinate value and it is described most
Small Y axis coordinate value carries out permutation and combination, obtains four coordinates of targets；
The external bottom surface figure of minimum is constructed by apex coordinate of four coordinates of targets.
Preferably, target three-dimensional data corresponding with the height value of object under test is projected to X-axis and Y-axis composition described
Plane, formed projecting figure before, further includes:
The target three-dimensional data is filtered according to preset height threshold value；
It is then corresponding, the target three corresponding with the height value of object under test that will be got using three-dimensional laser camera
Dimension data is projected to the plane of X-axis and Y-axis composition, forms projecting figure specifically:
Filtered target three-dimensional data corresponding with the height value of the object under test is projected to the X-axis and described
The plane that Y-axis is constituted, forms the projecting figure.
Preferably, the benchmark corner points and the corner points adjacent with the benchmark corner points for calculating the projecting figure
The first angle specifically include:
Convex closure processing is carried out to each projection coordinate for constituting the projecting figure, and obtains the corner points of the projecting figure
Coordinate；
It regard each corner points of the projecting figure as the benchmark corner points, and according to clockwise or inverse
Clockwise is corresponding to calculate multiple first angles.
Preferably, the object under test is specially cuboid, then the number of target bottom surface figure is four, and four
Target bottom surface figure be distributed in respectively first bottom surface figure Xia Qu, Zuo Qu, You Qu and upper area.
Preferably, the mesh for constructing included projection to the plane in the plane according to second angle
Mark three-dimensional data is specifically included than or equal to the target bottom surface figure of predetermined number:
It take target step value and the product of the cosine value of second angle as the increment of coordinate of the X-axis, with the mesh
The product for marking the sine value of step value and second angle constructs the target ground plan as the increment of coordinate of the Y-axis
Shape；
Judge included in the figure of the target bottom surface projection whether be more than to the target three-dimensional data of the plane or
Equal to preset number；
If it is not, then increasing a target step value as current goal step value rebuilds target bottom surface figure
As current goal bottom surface figure until the target of projection to the plane that current goal bottom surface figure is included is three-dimensional
Data are than or equal to the predetermined number.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of object bottom surface product parameter measuring device, comprising:
Projecting cell, the target three corresponding with the height value of object under test for three-dimensional laser camera will to be utilized to get
Dimension data project to X-axis and Y-axis composition plane, formed projecting figure, and calculate the projecting figure benchmark corner points and
First angle of the corner points adjacent with the benchmark corner points；
Determination unit determines to include rotation for carrying out rotation transformation to the projecting figure according to first angle
The external bottom surface figure of minimum of projecting figure afterwards, it is inverse to be carried out according to first angle to the external bottom surface figure of the minimum
Rotation transformation obtains the first bottom surface figure；
Construction unit, for calculating the true edge of first bottom surface figure and the second angle of the X-axis, according to institute
It states the second angle and constructs the target three-dimensional data of included projection to the plane in the plane than or equal to predetermined
The target bottom surface figure of number；
Computing unit, for calculating the floor space parameter according to the area parameters of targeted graphical, wherein the target figure
Shape is that the intersection of supplementary set of each target bottom surface figure in the figure of first bottom surface is formed by figure.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of object bottom surface product parameter measuring system, comprising:
For acquiring the three-dimensional image information of object under test, and it is converted into the three-dimensional laser camera of three-dimensional data；
For transmitting the conveyer belt of the object under test, wherein include the three-dimensional in the transmitting path of the conveyer belt
The pickup area of laser camera；
It is set to the conveyer belt, for adjusting the position of the object under test so that the object under test is adopted in described
Collect the controllable register in region.
It is connect with the three-dimensional laser camera, the step of the measurement method for executing any of the above-described kind of object bottom surface product parameter
Rapid data processing equipment.
It preferably, further include the camera trigger device being connect with the three-dimensional laser camera；
When the object under test enters the pickup area of the three-dimensional laser camera, the camera trigger device is to described
Three-dimensional laser camera sends trigger signal and acquires the three-dimensional image information to control the three-dimensional laser camera.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of computer readable storage medium, the computers
It is stored with computer program on readable storage medium storing program for executing, such as above-mentioned any object is realized when the computer program is executed by processor
The step of measurement method of body floor space parameter.
A kind of measurement method of object bottom surface product parameter provided by the invention, before this by by target three-dimensional data to X-axis
Projecting figure corresponding with object bottom surface figure has been obtained with the plane projection that Y-axis is constituted, then has passed through rotation transformation and reverse rotation
Transformation obtain with the more similar first bottom surface figure of object bottom surface figure, eliminate the finally by target bottom surface figure is constructed
Error coordinate points in one bottom surface figure have finally obtained more accurate targeted graphical, and have joined according to the area of targeted graphical
Floor space parameter has been calculated in number, and the measurement of object bottom surface product parameter is completed with this.It can be seen that using this measurement side
Method, using three-dimensional data as beasurement base, without any image data, so, first it will not cause to measure because picture is distorted
As a result inaccurate problem, moreover can also be to avoid processing image data, to reduce the calculating of measurement object bottom surface product parameter
Amount.In addition, the present invention also provides measuring device, system and the computer readable storage medium of a kind of object bottom surface product parameter,
Effect is as above.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it can also be obtained according to these attached drawings other accompanying drawings.
Fig. 1 is a kind of flow chart of the measurement method of object bottom surface product parameter provided in an embodiment of the present invention；
Fig. 2 is a kind of composition schematic diagram of the measuring device of object bottom surface product parameter provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the measuring system of object bottom surface product parameter provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the measurement method of another object bottom surface product parameter provided in an embodiment of the present invention；
Fig. 5 is a kind of three-dimensional coordinate figure of cuboid object to be measured provided in an embodiment of the present invention；
Fig. 6 is a kind of signal of minimum circumscribed rectangle in the plane that X-axis and Y-axis are constituted provided in an embodiment of the present invention
Figure；
Fig. 7 is a kind of schematic diagram of determining targeted graphical provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art under the premise of not making the creative labor, it is obtained it is all its
His embodiment, belongs to the scope of the present invention.
The object of the present invention is to provide measurement method, device, system and the readable storage mediums of a kind of object bottom surface product parameter
Matter is able to ascend the accuracy of the measurement result of object bottom surface product parameter and reduces the calculation amount of measurement object bottom surface product parameter.
In order to make those skilled in the art better understand technical solution of the present invention, with reference to the accompanying drawing and it is embodied
The present invention is described in further detail for mode.
Fig. 1 is a kind of flow chart of the measurement method of object bottom surface product parameter provided in an embodiment of the present invention.Such as Fig. 1 institute
Show, measurement method provided in this embodiment includes:
S10: the target three-dimensional data corresponding with the height value of object under test got using three-dimensional laser camera is thrown
The plane that shadow is constituted to X-axis and Y-axis forms projecting figure, and calculate projecting figure benchmark corner points and with benchmark corner points
First angle of adjacent corner points.
Wherein, target three-dimensional data refers to three-dimensional data corresponding with the height value of object under test, belongs to non-image data；Base
Quasi- corner points refer to any one corner points of projecting figure, that is to say, that can make any one corner points of projecting figure
For benchmark corner points；First angle can be using benchmark corner points as starting point, according to clockwise or counterclockwise calculating
, with angle of the adjacent corner points in the plane that X-axis and Y-axis are constituted.
Three-dimensional laser camera applications laser three-dimensional imaging technology, with pointing precision is high, site density is big, information content is rich
Rich, the advantages that data processing is increasingly automated, product altitude figure, the three-dimensional data of acquisition is set relative to Image Acquisition
It is affected by environment small for standby acquisition image generates image data, it is not in lead to measurement result with because picture is distorted
The case where output error, high reliablity.Therefore, for step S10, the target got using three-dimensional laser camera is three-dimensional
Data have more reliability, are able to ascend the accuracy of measurement result.Also, due to by projecting target three-dimensional data to X
It is the main foundation for calculating floor space parameter that the plane that axis and Y-axis are constituted, which is formed by projecting figure, so, target three-dimensional data
It is the beasurement base of floor space parameter as the initial data for forming projecting figure, is not only due to three-dimensional data and belongs to non-picture number
According to for directly handling image data, calculation amount is smaller, moreover, also having evaded picture using three-dimensional data as beasurement base
Data bring risk greatly affected by environment.
It in step slo,, can be by projecting figure in order to improve the accuracy of measurement result after obtaining projecting figure
Each corner points be used as a benchmark corner points, correspondence obtains multiple first angles.Certainly, in a particular application,
The first folder only can be calculated using one or several corner points of projecting figure as benchmark corner points according to actual demand
Angle will not influence the realization of the present embodiment, and this is not limited by the present invention.
S11: rotation transformation is carried out to projecting figure according to the first angle, determines the minimum including postrotational projecting figure
External bottom surface figure obtains the first bottom surface figure to carry out reverse rotation transformation to minimum external bottom surface figure according to the first angle.
In step s 11, if the first angle is indicated with θ, spin matrix isSpecifically
, if the column vector that the X-axis component of projecting figure is constituted indicated with X, column vector that the Y-axis component of projecting figure is constituted with
Y indicates that the column vector that the X-axis component of the projecting figure after rotation transformation is constituted is with RXIt indicates, the projection after rotation transformation
The column vector that the Y-axis component of figure is constituted is with RYIt indicates, thenAlso, it is to be understood that
It is, if in step slo, in order to improve the accuracy of measurement result, calculating multiple first angles, then in step s 11
It needs to obtain corresponding multiple after rotation transformation from different first angles to multiple rotary variation should be carried out to projecting figure
Projecting figure.Minimum external bottom surface figure is consistent with the shape of projecting figure, including all postrotational projecting figures, example
Such as, projecting figure is rectangle, then minimum external bottom surface figure is the boundary rectangle for including all postrotational projecting figures.If will
First angle is still indicated with θ, then reverse rotation matrix isSpecifically, if by map interlinking outside minimum
The column vector that the X-axis component of shape is constituted is with XRIt indicates, the column vector that the Y-axis component of minimum external figure is constituted is with YRIt indicates, first
The column vector that the X-axis component of bottom surface figure is constituted is with XSIt indicates, the column vector that the Y-axis component of the first bottom surface figure is constituted is with YSTable
Show, thenFirst bottom surface figure is in the plane that X-axis and Y-axis are constituted with column vector
XSWith column vector YSThe figure of construction.
S12: calculating the true edge of the first bottom surface figure and the second angle of X-axis, with the second angle of foundation in the first bottom surface
The target bottom surface figure that included projection is than or equal to predetermined number to the target three-dimensional data of plane is constructed in figure.
In step s 12, true edge refers to any a line of the first bottom surface figure, in order to promote the accurate of measurement result
Each side of first bottom surface figure, can be used as true edge, obtain multiple second angles by property, then corresponding, need according to
Multiple target corresponding with the second angle bottom surfaces figure is constructed in the first bottom surface figure according to the second angle.Predetermined number is according to survey
Accuracy of measurement demand is preset, and should not be too large or too small, if too small, possibly error information can not be filtered out completely, if mistake
Greatly, then valid data may be filtered out.
If indicating any in the first bottom surface figure with coordinate (RectX1, RectY1) and coordinate (RectX2, RectY2)
Two endpoints on side, indicate the second angle with α, indicate target delta value with step, then the four of target bottom surface figure vertex
Coordinate is respectively (RectX1, RectY1), (RectX2, RectY2), (RectX2+step*cos (α), RectY2+step*sin
(α)) and (RectX1+step*cos (α), RectY1+step*sin (α)).Wherein, target delta value for included projection extremely
The target three-dimensional data of plane is than or equal to the corresponding incremental value of target bottom surface figure of predetermined number.
Although moreover, it is noted that target three dimension of the projection for requiring target bottom surface figure to be included to plane
According to predetermined number is than or equal to, however, it is preferred to meet three dimension of target of projection that target bottom surface figure is included to plane
According to predetermined number is equal to, make a reservation for when the target three-dimensional data for being unable to satisfy projection to plane that target bottom surface figure is included is equal to
When number, the target three-dimensional data of projection to plane that target bottom surface figure can be enabled to be included is slightly more than predetermined number, without
It easily crosses and is more than predetermined number, otherwise may will affect measurement accuracy, therefore, in practical applications, available accuracy demand should be combined
Suitable target delta value is set, and the target three-dimensional data of the projection to the plane that are included to avoid target bottom surface figure, which is crossed, to be more than
Predetermined number.For example, target delta value can be set to also being can be set more according to the value of building result dynamic adjustment
Fixed increment value constructs multiple bottom surface figures, finally by the corresponding fixation of target satisfactory in the figure of bottom surface bottom surface figure
Incremental value is as target delta value etc..
S13: floor space parameter is calculated according to the area parameters of targeted graphical, wherein targeted graphical is each target ground plan
The intersection of supplementary set of the shape in the first bottom surface figure is formed by figure.
The projection target three-dimensional data for including in the figure of target bottom surface is respectively positioned on first object graphic limit, is margin of error
According to so filtering out error information, the intersection of supplementary set of each target bottom surface figure in the first bottom surface figure is formed by figure
As targeted graphical, floor space parameter is calculated with the area parameters of targeted graphical, is able to ascend the accuracy of measurement result.
In conclusion a kind of measurement method of object bottom surface product parameter provided in this embodiment, before this by by target three
Dimension data has obtained projecting figure corresponding with object bottom surface figure to the plane projection that X-axis and Y-axis are constituted, then is become by rotation
Change with reverse rotation convert to obtain with the more similar first bottom surface figure of object bottom surface figure, finally by building target ground plan
Shape eliminates the error coordinate points in the first bottom surface figure, has finally obtained more accurate targeted graphical, and according to target figure
Floor space parameter has been calculated in the area parameters of shape, and the measurement of object bottom surface product parameter is completed with this.It can be seen that using
This measurement method, using three-dimensional data as beasurement base, without any image data, so, it first will not be due to picture is distorted
Lead to the problem of measurement result inaccuracy, moreover can also be to avoid processing image data, to reduce measurement object bottom surface product ginseng
Several calculation amounts.
When object under test is cuboid, in order to be further reduced the calculation amount of measurement process, based on the above embodiment, make
For a kind of preferred embodiment, determine that the external bottom surface figure of minimum including postrotational projecting figure specifically includes:
Determine maximum X axis coordinate value in the corner points coordinate of postrotational projecting figure, the smallest X axis coordinate value, most
Big Y axis coordinate value and the smallest Y axis coordinate value；
To maximum X axis coordinate value, the smallest X axis coordinate value, maximum Y axis coordinate value and the smallest Y axis coordinate value into
Row permutation and combination obtains four coordinates of targets；
Using four coordinates of targets as the minimum external bottom surface figure of apex coordinate building.
The present embodiment is suitable for the case where object under test is specially cuboid determinand, in such a case, it is possible to revolving
Maximum X axis coordinate value X is first determined in all corner points coordinates of projecting figure after turningmax, the smallest X axis coordinate value
Xmin, maximum Y axis coordinate value YmaxWith the smallest Y axis coordinate value Ymin, then to maximum X axis coordinate value Xmax, the smallest X-axis
Coordinate value Xmin, maximum Y axis coordinate value YmaxWith the smallest Y axis coordinate value YminCarry out permutation and combination, available four targets
Coordinate points are (X respectivelymin, Ymin)、(Xmax, Ymin)、(Xmax, Ymax) and (Xmin, Ymax), then using this four coordinates of targets as
The external bottom surface figure of minimum of apex coordinate building is rectangle, and four coordinates of targets are respectively four apex coordinates of rectangle.
As it can be seen that in the present embodiment, directly acquiring maximum X-axis in all corner points coordinates of postrotational projecting figure
Coordinate value, the smallest X axis coordinate value, maximum Y axis coordinate value and the smallest Y axis coordinate value, and carry out permutation and combination
Four apex coordinates of rectangle are obtained, so that the rectangle as minimum external bottom surface figure is constructed, compared to postrotational
For all projection target three-dimensional datas that projecting figure is included carry out convex closure processing, process is simple, can simplify measurement side
Method is further reduced the calculation amount of measurement process.
In order to improve the accuracy of measurement result, based on the above embodiment, as a preferred embodiment, will be sharp
Target three-dimensional data corresponding with object under test height value that is being got with three-dimensional laser camera is projected to X-axis and Y-axis composition
Plane, formed projecting figure before, further includes:
Target three-dimensional data is filtered according to preset height threshold value；
It is then corresponding, target three-dimensional data corresponding with the height value of object under test is projected to what X-axis and Y-axis were constituted and is put down
Face forms projecting figure specifically:
Filtered target three-dimensional data corresponding with the height value of object under test is projected to what X-axis and Y-axis were constituted and is put down
Face forms projecting figure.
Wherein, preset height threshold value is preset, and can be a value range, can also be only peak or most
Low value, when the height value of object under test exceeds preset height threshold value, it is believed that the height value needs to be filtered there are gross error
It removes.Certainly, the occurrence of preset height threshold value is related to specific application environment, and which is not limited by the present invention.
In the present embodiment, by further being filtered to calculated height value, it can filter out and be missed in the presence of serious
The height value of difference, so as to further remove target three corresponding with the height value there are gross error in target three-dimensional data
Dimension data plays the role of purifying target three-dimensional data, then corresponding, in order to reach the accuracy purpose for improving measurement result,
After the completion of filtering, target three-dimensional data corresponding with the height value of object under test is projected to the plane of X-axis and Y-axis composition,
Form projecting figure specifically: project filtered target three-dimensional data corresponding with the height value of object under test to X-axis and Y
The plane that axis is constituted forms projecting figure.And due to there are the target three-dimensional datas of gross error in target three-dimensional data
It is filtered out, and projecting figure is the main foundation for calculating floor space parameter, so, it can using purified target three-dimensional data
The main foundation for more accurately calculating floor space parameter is obtained, can be further improved the accuracy of measurement result.
In order to further enhance the accuracy of measurement result, calculate projecting figure benchmark corner points and with benchmark corner points
First angle of adjacent corner points specifically includes:
Convex closure processing is carried out to each projection coordinate for constituting projecting figure, and obtains the corner points coordinate of projecting figure；
It regard each corner points of projecting figure as benchmark corner points, and according to clockwise or counterclockwise
It is corresponding to calculate multiple first angles.
In the present embodiment, acquisition algorithm of convex hull handles each projection coordinate for constituting projecting figure, is projected
The corner points coordinate of figure, and regard each corner points of projecting figure as a benchmark corner points calculates one the
One angle may finally obtain multiple first angles corresponding with multiple benchmark corner points, then be needed in step s 11 to reply
Projecting figure carry out multiple rotary variation, obtain multiple projecting figures after rotation transformation corresponding from different first angles,
The corner points coordinate for finally obtaining multiple projecting figures carries out convex closure processing or other processing to all corner points coordinates to obtain
Minimum external bottom surface figure.And, it is understood that when object under test when cuboid, it can be in all corner points coordinates
The middle maximum X axis coordinate value X of determinationmax, the smallest X axis coordinate value Xmin, maximum Y axis coordinate value YmaxWith the smallest Y axis coordinate
Value Ymin。
The case where being specially cuboid for object under test, in order to further increase the accuracy of measurement result, based on upper
Embodiment is stated, as a preferred embodiment, the number of target bottom surface figure is four, and four target bottom surface figures point
Be not distributed in the first bottom surface figure Xia Qu, Zuo Qu, You Qu and upper area.
Wherein, Xia Qu, Zuo Qu, You Qu of the first bottom surface figure and upper area are respectively in the inside of the first bottom surface figure.For
For the object under test of cuboid, by target bottom surface be respectively arranged at the first bottom surface figure Xia Qu, Zuo Qu, You Qu and upper area,
The error information of first bottom surface figure boundary can all be filtered out, compared to a part of boundary for filtering out the first bottom surface figure
For the error information at place, the accuracy of measurement result can be further improved.
In order to further increase the accuracy of measurement result, based on the above embodiment, as a preferred embodiment,
The target three-dimensional data of included projection to plane is constructed in the planes than or equal to predetermined number according to the second angle
Target bottom surface figure specifically includes:
Using the product of target step value and the cosine value of the second angle as the increment of coordinate of X-axis, with target step value and the
The product of the sine value of two angles constructs target bottom surface figure as the increment of coordinate of Y-axis；
Judge whether projection included in the figure of target bottom surface is than or equal to default to the target three-dimensional data of plane
Number；
If it is not, then increasing a target step value as current goal step value rebuilds the figure conduct of target bottom surface
Current goal bottom surface figure is until the target three-dimensional data of projection to plane that current goal bottom surface figure is included is more than or waits
In predetermined number.
In the present embodiment, a target step value is preset, first using a step value as current goal step value
Target bottom surface figure is constructed, if the target three-dimensional data of projection included in the figure of target bottom surface to plane is less than present count
Mesh is then further added by a target step value on the basis of current goal step value and continues to construct mesh as current goal step value
Base number of a tender face figure, and so on, the target three-dimensional data of the projection that figure is included until current goal bottom surface to plane is more than
Or it is equal to predetermined number (current goal bottom surface figure at this time is final target bottom surface figure), to be stepped up current goal
The mode of step value gradually increase included in the figure of target bottom surface projection to plane target three-dimensional data data, can be with
By the way that lesser target step value is arranged, so that the target of projection included in final target bottom surface figure to plane is three-dimensional
Data further increase the accuracy of measurement result slightly more than or equal to predetermined number.
A kind of measurement method of object bottom surface product parameter provided by the invention is described in detail above, the present invention is also
A kind of measuring device of object bottom surface product parameter is provided, due to embodiment and the measurement method part of the measuring device part
Embodiment mutually correlates, so, the embodiment of the measuring device part of object bottom surface product parameter can be joined with Reference floor space
The description of the embodiment of several measurement method parts hereafter repeats no more identical part.
Fig. 2 is a kind of composition schematic diagram of the measuring device of object bottom surface product parameter provided in an embodiment of the present invention.Such as Fig. 2
Shown, measuring device provided in this embodiment includes:
Projecting cell 20, the target corresponding with the height value of object under test for three-dimensional laser camera will to be utilized to get
Three-dimensional data project to X-axis and Y-axis composition plane, formed projecting figure, and calculate projecting figure benchmark corner points and with
First angle of the adjacent corner points of benchmark corner points；
Determination unit 21 determines to include postrotational throwing for carrying out rotation transformation to projecting figure according to the first angle
The external bottom surface figure of minimum of shadow figure is obtained with carrying out reverse rotation transformation to minimum external bottom surface figure according to the first angle
First bottom surface figure；
Construction unit 22, for calculating the true edge of the first bottom surface figure and the second angle of X-axis, according to the second angle
The target bottom surface figure that included projection is than or equal to predetermined number to the target three-dimensional data of plane is constructed in the planes；
Computing unit 23, for calculating floor space parameter according to the area parameters of targeted graphical, wherein targeted graphical is each
The intersection of supplementary set of the target bottom surface figure in the first bottom surface figure is formed by figure.
A kind of measuring device of object bottom surface product parameter provided in this embodiment, projecting cell is before this by three-dimensional by target
Data have obtained projecting figure corresponding with object bottom surface figure to the plane projection that X-axis and Y-axis are constituted, then pass through determination unit
It carries out rotation transformation and reverse rotation converts to obtain and the more similar first bottom surface figure of object bottom surface figure, finally utilization building
Building unit target bottom surface figure eliminates the error coordinate points in the first bottom surface figure, has finally obtained more accurate target
Figure enables computing unit that floor space parameter has been calculated according to the area parameters of targeted graphical, completes object bottom surface
The measurement of product parameter.It can be seen that using this measuring device, using three-dimensional data as beasurement base, without any image data,
So first the problem of measurement result inaccuracy will not be led to because picture is distorted, moreover can also to avoid handling image data,
To reduce the calculation amount of measurement object bottom surface product parameter.
A kind of measurement method of object bottom surface product parameter provided by the invention is described in detail above, the present invention is also
A kind of measuring system of object bottom surface product parameter is provided, due to embodiment and the measurement method part of the measuring system part
Embodiment mutually correlates, so, the embodiment of the measuring system part of object bottom surface product parameter can be joined with Reference floor space
The description of the embodiment of several measurement method parts hereafter repeats no more identical part.
Fig. 3 is a kind of structural schematic diagram of the measuring system of object bottom surface product parameter provided in an embodiment of the present invention.Such as Fig. 3
Shown, measuring system provided in this embodiment includes:
For acquiring the three-dimensional image information of object under test 30, and it is converted into the three-dimensional laser camera 31 of three-dimensional data；
For transmitting the conveyer belt 32 of object under test 30, wherein include three-dimensional laser phase in the transmitting path of conveyer belt 32
The pickup area of machine 31；
It is set to conveyer belt 32, for adjusting the position of object under test 30 so that object under test 30 is in pickup area
Controllable register 33.
It is connect with three-dimensional laser camera 31, for executing such as the measurement method of above-mentioned any object bottom surface product parameter
The data processing equipment 34 of step.
Wherein, pickup area refers to the field range of three-dimensional laser camera 31；Data processing equipment 34 can be specially to calculate
The equipment equipped with processor such as machine, tablet computer and mobile phone, the processor can be realized according to the programmed algorithm being previously implanted
The step of measurement method of such as above-mentioned any object bottom surface product parameter.
Using the measuring system of object bottom surface provided in this embodiment product parameter, three-dimensional laser camera 31 is set to conveyer belt
32 top, and to guarantee that conveyer belt 32 during object under test 30 of transmission, cooperates with controllable register 33 so as to be measured
Object 30, which has the regular hour, can be completely disposed in the pickup area of three-dimensional laser camera 31, certainly, is in acquisition zone
Length of time in domain is related to the speed of three-dimensional laser camera acquisition data and efficiency, and which is not limited by the present invention.Also,
It is understood that can be measuring system configuration one to preferably fix three-dimensional laser camera 31 in a particular application
A L-type support 35 for being used to fix three-dimensional laser camera 31.
The measuring system of object bottom surface product parameter provided in this embodiment includes three-dimensional laser camera, can acquire determinand
The three-dimensional data of body；Conveyer belt can transmit object under test；Controllable register, the position of adjustable object under test；Data processing
The step of any of the above-described kind of object bottom surface accumulates the measurement method of parameter may be implemented in equipment.Therefore, it is placed in by object under test
After conveyer belt, conveyer belt can be sent to be measured near pickup area, and be cooperated with controllable register, so that three-dimensional laser phase
Machine can collect the three-dimensional data of object under test, then execute any of the above-described kind of object bottom surface product parameter by data processing equipment
The step of measurement method, may finally realize the measurement of measuring targets floor space parameter.Also, since data processing equipment can
To realize the step of any of the above-described kind of object bottom surface accumulates the measurement method of parameter, so this measuring system has with above-mentioned any
The identical beneficial effect of measurement method of object bottom surface product parameter, the present invention repeat no more.
As shown in figure 3, in order to keep measuring system more intelligent, based on the above embodiment, embodiment party as one preferred
Formula further includes the camera trigger device 36 connecting with three-dimensional laser camera 31；
When object under test 30 enters the pickup area of three-dimensional laser camera 31, camera trigger device 36 is to three-dimensional laser phase
Machine 31 sends trigger signal and acquires three-dimensional image information to control three-dimensional laser camera 31.
In the present embodiment, it is configured with camera trigger device 36 for measuring system, can be set in than 32 surface of conveyer belt
Slightly higher position, and it is preferably vertical with the holding of the traffic direction of conveyer belt 32, for that whether will there is object under test 30 to be in acquisition
Signal in region is sent to three-dimensional laser camera 31, to control the working condition of three-dimensional laser camera 31, when needing detectable substance
When body 30 is in pickup area, camera trigger device 36 sends trigger signal to three-dimensional laser camera 31, to control three-dimensional laser
Camera 31 works, and when pickup area is without object under test 30, camera trigger device 36 does not send to three-dimensional laser camera 31 and triggers
Signal is to control 31 break-off of three-dimensional laser camera, it is seen then that the setting of camera trigger device 36, it can be to avoid making three-dimensional laser
The case where camera 31 is always held at working condition or needs the working condition of manual control three-dimensional laser camera 31, so that measurement
System is more intelligent.In a particular application, camera trigger device 36, which is specifically as follows close to switch etc., may determine that pickup area
In whether have detection device existing for object under test.And, it is understood that camera trigger device 36 is to three-dimensional laser camera
When preferably object under test 30 is in the center of pickup area at the time of 31 transmission trigger signal.
In order to make those skilled in the art be best understood from technical solution provided by the invention, with reference to the accompanying drawing, with one
It is described in detail for the floor space parameter measurement process of a cuboid object.
It should be noted that in the present embodiment, using the three-dimensional laser camera of model Visionary-T as above-mentioned survey
Three-dimensional laser camera 31 in amount system, using computer as data processing equipment 34.The three-dimensional of model Visionary-T swashs
Light camera is a kind of based on three-dimensional laser time flight theory, using laser snapshot (3D Snap-shot) technology, acquisition acquisition
The three-dimensional camera of the three-dimensional coordinate data of object in region, the three-dimensional that the three-dimensional laser camera of model Visionary-T generates
Data can be exported by buses such as Ethernets.Wherein, the three-dimensional laser camera of model Visionary-T return every time three
Dimension data about 25000.
Before carrying out floor space parameter measurement, the center line of the three-dimensional laser camera of model Visionary-T is hung down
Directly in conveyer belt 32,32 row of conveyer belt is in ground, and the height of the three-dimensional laser camera of model Visionary-T and conveyer belt 32
Degree is adjustable, and object under test 30 is placed on conveyer belt 32, and the three-dimensional laser camera of model Visionary-T passes through Ethernet
It is connected with computer.Using SOPAS software, the pickup area of the three-dimensional laser camera of model Visionary-T is enabled to cover whole
A conveyer belt, such as shadow region in Fig. 3.According to the full-size of object under test 30, the angle of controllable register 33 is set, maximum is made
The object under test 30 of size can be completely in the pickup area of three-dimensional laser camera of model Visionary-T.Wherein,
Object under test is cuboid object.
Fig. 4 is the flow chart of the measurement method of another object bottom surface product parameter provided in an embodiment of the present invention.Such as Fig. 4 institute
Show, this method comprises the following steps:
S40: the three-dimensional laser camera of initialization model Visionary-T.
S41: judge whether to receive the trigger signal of camera trigger device transmission, if it is, entering step S42, such as
Fruit is no, then repeats this step S41.
S42: the three-dimensional laser camera of model Visionary-T is called to adopt three-dimensional image information in pickup area
Collection, and the discrete three-dimensional data of multiple groups that the three-dimensional laser camera for obtaining model Visionary-T returns.
Fig. 5 is a kind of three-dimensional coordinate figure of cuboid object to be measured provided in an embodiment of the present invention.As shown in figure 5, model
The discrete three-dimensional data of multiple groups returned for the three-dimensional laser camera of Visionary-T is three-dimensional coordinate data, can be with direct construction
The threedimensional model of cuboid object to be measured.
S43: relevant treatment is carried out to the discrete three-dimensional data of multiple groups, obtains the height value of object under test.
S44: being filtered the target three-dimensional data near cuboid object height value to be measured, and by filtered data
It projects in the plane that X-axis and Y-axis are constituted.
It, can be three-dimensional to the target near cuboid object height value to be measured by setting height threshold in step S44
Data are filtered, wherein height threshold is preset according to the height value range of cuboid object to be measured in actual use.
S45: convex closure processing is carried out to the data projected in plane, obtains the coordinate of corner points.
It should be noted that the plane mentioned in step S45 is the plane that X-axis and Y-axis are constituted, also, hereafter mentioned
The plane arrived also refers both to the plane that X-axis and Y-axis are constituted unless otherwise specified.
For step S45, side is obtained in addition to using algorithm of convex hull to handle the data projected in plane
Outside the coordinate of angle point, other algorithms can also be used to handle the data projected in plane to obtain the seat of corner points
Mark.
S46: respectively using each corner points as starting point, by seek clockwise or counterclockwise starting point and with its phase
The angle theta of adjacent boundary point in the plane, and rotation transformation is carried out to data in plane are projected to.
The conversion process of rotation transformation in step S46 is as follows:
In formula, X and Y are respectively to be made of the data X-axis component and Y-axis component projected in the plane that X-axis and Y-axis are constituted
Column vector, RXAnd RYRespectively vector X and Y carries out rotation transformation and obtains column vector.
S47: the maximum value and minimum value in two column vectors that rotation transformation obtains are sought respectively, and obtains four vertex
Coordinate.
In step S47, four apex coordinates be by two column vectors maximum value and minimum value permutation and combination obtain
's.Specifically, if by two column vectors maximum value and minimum value be denoted as X respectivelymax、Xmin、YmaxAnd Ymin, then four are pushed up
Point coordinate is respectively (Xmin, Ymin)、(Xmax, Ymin)、(Xmax, Ymax) and (Xmin, Ymax)。
Fig. 6 is a kind of signal of minimum circumscribed rectangle in the plane that X-axis and Y-axis are constituted provided in an embodiment of the present invention
Figure.As shown in fig. 6, being sequentially connected four apex coordinates in the plane that X-axis and Y-axis are constituted may make up including postrotational throwing
Shadow data minimum circumscribed rectangle.
S48: reverse rotation transformation is carried out to four apex coordinates, and constructs the first rectangle in the plane, calculates separately first
Each side of rectangle and the angle α of X-axis.
The conversion process that reverse rotation converts in step S48 is as follows:
In formula, XRAnd YRThe column vector that is respectively made of four apex coordinate X-axis components and Y-axis component, XSAnd YSRespectively
For vector XRAnd YRReverse rotation is carried out to convert to obtain column vector.
Specifically, the first rectangle is that the column vector converted using reverse rotation is constructed in the plane.
S49: the second rectangle of construction, third rectangle, the 4th rectangle and the 5th rectangle, and count the data projected in plane
Number in the second rectangle, third rectangle, the 4th rectangle and the 5th rectangle respectively.
In step S49, the second rectangle, third rectangle, the 4th rectangle and the 5th rectangle are respectively configured at the first rectangle
Xia Qu, You Qu, Shang Qu and Zuo Qu.I.e. if by the coordinate of the first rectangle be defined as (RectX1, RectY1), (RectX2,
RectY2), (RectX3, RectY3) and (RectX4, RectY4), then the coordinate of the second rectangle be (RectX1, RectY1),
(RectX2, RectY2), (RectX2+step*cos (α), RectY2+step*sin (α)) and (RectX1+step*cos (α),
RectY1+step*sin (α)), the coordinate of third rectangle is (RectX2, RectY2), (RectX3, RectY3), (RectX3+
Step*cos (α), RectY3+step*sin (α)) and (RectX2+step*cos (α), RectY2+step*sin (α)), the 4th
The coordinate of rectangle is (RectX3, RectY3), (RectX4, RectY4), (RectX4+step*cos (α), RectY4+step*
Sin (α)) and (RectX3+step*cos (α), RectY3+step*sin (α)), the coordinate of the 5th rectangle be (RectX4,
RectY4), (RectX1, RectY1), (RectX1+step*cos (α), RectY1+step*sin (α)) and (RectX4+
Step*cos (α), RectY4+step*sin (α)).Wherein, step is preset target delta value.
S50: according to the data projected in plane respectively in the second rectangle, third rectangle, the 4th rectangle and the 5th rectangle
In number and preset number deviation, the size of target delta value is adjusted, until projecting to data in plane respectively the
Number in two rectangles, third rectangle, the 4th rectangle and the 5th rectangle is greater than or equal to preset number.
In step s 50, preset number is to be preset according to measurement accuracy, in the present embodiment, preset number setting
It is 5.If when the target delta value of the second rectangle, the target delta value of third rectangle, the target delta value of the 4th rectangle and the
When the target delta value of five rectangles is respectively step2, step3, step4 and step5, the data in plane are projected to respectively
Number in two rectangles, third rectangle, the 4th rectangle and the 5th rectangle is greater than or equal to 5, then the coordinate of the second rectangle is
(RectX1, RectY1), (RectX2, RectY2), (RectX2+step2*cos (α), RectY2+step2*sin (α)) and
(RectX1+step2*cos (α), RectY1+step2*sin (α)), the coordinate of third rectangle be (RectX2, RectY2),
(RectX3, RectY3), (RectX3+step3*cos (α), RectY3+step3*sin (α)) and (RectX2+step3*cos
(α), RectY2+step3*sin (α)), the coordinate of the 4th rectangle is (RectX3, RectY3), (RectX4, RectY4),
(RectX4+step4*cos (α), RectY4+step4*sin (α)) and (RectX3+step4*cos (α), RectY3+step4*
Sin (α)), the coordinate of the 5th rectangle is (RectX4, RectY4), (RectX1, RectY1), (RectX1+step5*cos (α),
RectY1+step5*sin (α)) and (RectX4+step5*cos (α), RectY4+step5*sin (α)).
S51: cuboid object to be measured upper surface length and width numerical value is calculated.
In step s 51, the upper surface length and width numerical value of cuboid object to be measured is floor space parameter.Specifically, to be measured
Cuboid object upper surface length and width numerical value be according to the second rectangle, third rectangle, the 4th rectangle and the 5th rectangle target delta
What the side length numerical value of value and the first rectangle calculated.
Fig. 7 is a kind of schematic diagram of determining targeted graphical provided in an embodiment of the present invention.As shown in fig. 7, the second rectangle 71,
Third rectangle 72, the 4th rectangle 73, the 5th rectangle 74 and targeted graphical 75 have collectively constituted the first rectangle, and the second rectangle 71 divides
It is distributed in the lower area of the first rectangle, third rectangle 72 is distributed in the right area of the first rectangle, and the 4th rectangle 73 is distributed in the first rectangle
Upper area, the 5th rectangle 74 are distributed in the left area of the first rectangle, and targeted graphical 75 is distributed in the middle section of the first rectangle.According to
Two rectangles 71, third rectangle 72, the 4th rectangle 73 and the target delta value of the 5th rectangle 74 and the side length numerical value of the first rectangle can
The upper surface length and width numerical value of targeted graphical, as cuboid object to be measured upper surface length and width numerical value is calculated.
The present invention also provides a kind of computer readable storage medium, computer is stored on computer readable storage medium
Program, when computer program is executed by processor the step of the realization such as measurement method of above-mentioned any object bottom surface product parameter.
Computer readable storage medium provided in this embodiment, when being executed by processor due to computer program, Ke Yishi
The step of measurement method for the object bottom surface product parameter that existing any of the above-described embodiment provides, so this computer readable storage medium
With the same actual effect of measurement method with above-mentioned object bottom surface product parameter.
In addition, it is necessary to explanation, the measurement method of object bottom surface provided by the invention product parameter, device, system and can
It reads storage medium and is advantageously employed in the floor space parameter measurement to cuboid object.
Above to a kind of measurement method, device, system and the readable storage of object bottom surface product parameter provided by the present invention
Medium is described in detail.Each embodiment is described in a progressive manner in specification, and each embodiment stresses
It is differences from other embodiments, the same or similar parts in each embodiment may refer to each other.
It should be pointed out that for those skilled in the art, without departing from the principle of the present invention,
Can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection scope of the claims in the present invention
It is interior.
It should also be noted that, in the present specification, such as first and second etc relational terms are used merely to one
A entity or operation are perhaps operated with another entity and are distinguished without necessarily requiring or implying these entities or behaviour
There are any actual relationship or orders between work.Moreover, the terms "include", "comprise" or its any variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of element not only includes that
A little elements, but also other elements including being not explicitly listed either further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of measurement method of object bottom surface product parameter characterized by comprising
The target three-dimensional data corresponding with the height value of object under test got using three-dimensional laser camera is projected to X-axis and
Y-axis constitute plane, formed projecting figure, and calculate the projecting figure benchmark corner points and with the benchmark corner points phase
First angle of adjacent corner points；
Rotation transformation is carried out to the projecting figure according to first angle, determines the minimum including postrotational projecting figure
External bottom surface figure obtains first to carry out reverse rotation transformation to the external bottom surface figure of the minimum according to first angle
Bottom surface figure；
Calculate the true edge of first bottom surface figure and the second angle of the X-axis, with according to second angle described
The target ground plan that included projection is than or equal to predetermined number to the target three-dimensional data of the plane is constructed in plane
Shape；
The floor space parameter is calculated according to the area parameters of targeted graphical, wherein the targeted graphical is each target bottom
The intersection of supplementary set of the face figure in the figure of first bottom surface is formed by figure.
2. the measurement method of object bottom surface product parameter according to claim 1, which is characterized in that the object under test is specific
For cuboid, then the determination includes that the external bottom surface figure of minimum of postrotational projecting figure specifically includes:
Determine maximum X axis coordinate value in the corner points coordinate of the postrotational projecting figure, the smallest X axis coordinate value, most
Big Y axis coordinate value and the smallest Y axis coordinate value；
To the maximum X axis coordinate value, the smallest X axis coordinate value, the maximum Y axis coordinate value and described the smallest
Y axis coordinate value carries out permutation and combination, obtains four coordinates of targets；
The external bottom surface figure of minimum is constructed by apex coordinate of four coordinates of targets.
3. the measurement method of object bottom surface product parameter according to claim 1, which is characterized in that three-dimensional will be utilized described
The target three-dimensional data corresponding with the height value of object under test that laser camera is got is projected to the plane of X-axis and Y-axis composition,
It is formed before projecting figure, further includes:
The target three-dimensional data is filtered according to preset height threshold value；
Then corresponding, described project target three-dimensional data corresponding with the height value of object under test to what X-axis and Y-axis were constituted is put down
Face forms projecting figure specifically:
Filtered target three-dimensional data corresponding with the height value of the object under test is projected to the X-axis and the Y-axis
The plane of composition forms the projecting figure.
4. the measurement method of object bottom surface product parameter according to claim 1, which is characterized in that described to calculate the projection
First angle of the benchmark corner points of figure and the corner points adjacent with the benchmark corner points specifically includes:
Convex closure processing is carried out to each projection coordinate for constituting the projecting figure, and the corner points for obtaining the projecting figure are sat
Mark；
It regard each corner points of the projecting figure as the benchmark corner points, and according to clockwise or counterclockwise
Direction is corresponding to calculate multiple first angles.
5. the measurement method of object bottom surface product parameter according to claim 1-4, which is characterized in that described to be measured
Object is specially cuboid, then the number of target bottom surface figure is four, and four target bottom surface figures divide respectively
Be distributed in first bottom surface figure Xia Qu, Zuo Qu, You Qu and upper area.
6. the measurement method of object bottom surface product parameter according to claim 5, which is characterized in that described according to described second
Angle constructs the target three-dimensional data of included projection to the plane than or equal to predetermined number in the plane
Target bottom surface figure specifically includes:
It take target step value and the product of the cosine value of second angle as the increment of coordinate of the X-axis, with target step
The product of the sine value of long value and second angle constructs target bottom surface figure as the increment of coordinate of the Y-axis；
Judge whether projection to the target three-dimensional data of the plane included in the figure of the target bottom surface is than or equal to
Preset number；
If it is not, then increasing a target step value as current goal step value rebuilds the figure conduct of target bottom surface
Current goal bottom surface figure until the projection that is included of current goal bottom surface figure to the plane target three-dimensional data
Than or equal to the predetermined number.
7. a kind of measuring device of object bottom surface product parameter characterized by comprising
Projecting cell, three dimension of target corresponding with the height value of object under test for three-dimensional laser camera will to be utilized to get
According to the plane that projection to X-axis and Y-axis is constituted, form projecting figure, and calculate the projecting figure benchmark corner points and with institute
State the first angle of the adjacent corner points of benchmark corner points；
Determination unit determines to include postrotational for carrying out rotation transformation to the projecting figure according to first angle
The external bottom surface figure of minimum of projecting figure, to carry out reverse rotation to the external bottom surface figure of the minimum according to first angle
Transformation, obtains the first bottom surface figure；
Construction unit, for calculating the true edge of first bottom surface figure and the second angle of the X-axis, according to described
Two angles construct the target three-dimensional data of included projection to the plane than or equal to predetermined number in the plane
Target bottom surface figure；
Computing unit, for calculating the floor space parameter according to the area parameters of targeted graphical, wherein the targeted graphical is
The intersection of supplementary set of each target bottom surface figure in the figure of first bottom surface is formed by figure.
8. a kind of measuring system of object bottom surface product parameter characterized by comprising
For acquiring the three-dimensional image information of object under test, and it is converted into the three-dimensional laser camera of three-dimensional data；
For transmitting the conveyer belt of the object under test, wherein include the three-dimensional laser in the transmitting path of the conveyer belt
The pickup area of camera；
It is set to the conveyer belt, for adjusting the position of the object under test so that the object under test is in the acquisition zone
Controllable register in domain.
It is connect with the three-dimensional laser camera, for executing object bottom surface product parameter as claimed in any one of claims 1 to 6
The data processing equipment of the step of measurement method.
9. the measuring system of object bottom surface product parameter according to claim 8, which is characterized in that further include swashing with the three-dimensional
The camera trigger device of light camera connection；
When the object under test enters the pickup area of the three-dimensional laser camera, the camera trigger device is to the three-dimensional
Laser camera sends trigger signal and acquires the three-dimensional image information to control the three-dimensional laser camera.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor such as object bottom surface as claimed in any one of claims 1 to 6 product parameter
Measurement method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594828.2A CN109029303B (en) | 2018-06-11 | 2018-06-11 | Method, device and system for measuring bottom area parameters of object and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594828.2A CN109029303B (en) | 2018-06-11 | 2018-06-11 | Method, device and system for measuring bottom area parameters of object and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109029303A true CN109029303A (en) | 2018-12-18 |
| CN109029303B CN109029303B (en) | 2020-05-19 |
Family
ID=64612506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810594828.2A Expired - Fee Related CN109029303B (en) | 2018-06-11 | 2018-06-11 | Method, device and system for measuring bottom area parameters of object and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109029303B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540241A (en) * | 2019-01-22 | 2019-03-29 | 艾信智慧医疗科技发展（苏州）有限公司 | Volume measuring system and method |
| CN111238369A (en) * | 2020-01-19 | 2020-06-05 | 广东工业大学 | Method, system and equipment for measuring volume of double rectangular objects |
| CN112991429A (en) * | 2019-12-13 | 2021-06-18 | 顺丰科技有限公司 | Box volume measuring method and device, computer equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001084385A (en) * | 1999-09-10 | 2001-03-30 | Nec Corp | Three-dimensional video identification device, threedimensional video identification method and computer readable recording medium |
| KR20080101570A (en) * | 2007-05-18 | 2008-11-21 | 최종주 | Apparatus and method for measuring outer section and three dimensional shape of object |
| CN102997871A (en) * | 2012-11-23 | 2013-03-27 | 南京大学 | Method for inverting effective leaf area index by utilizing geometric projection and laser radar |
| CN103528545A (en) * | 2012-07-02 | 2014-01-22 | 奥林巴斯株式会社 | Measuring device and measuring method |
| JP2014106164A (en) * | 2012-11-29 | 2014-06-09 | Mitsubishi Motors Corp | Method and apparatus for inspecting fitting state of connector |
-
2018
- 2018-06-11 CN CN201810594828.2A patent/CN109029303B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001084385A (en) * | 1999-09-10 | 2001-03-30 | Nec Corp | Three-dimensional video identification device, threedimensional video identification method and computer readable recording medium |
| KR20080101570A (en) * | 2007-05-18 | 2008-11-21 | 최종주 | Apparatus and method for measuring outer section and three dimensional shape of object |
| CN103528545A (en) * | 2012-07-02 | 2014-01-22 | 奥林巴斯株式会社 | Measuring device and measuring method |
| CN102997871A (en) * | 2012-11-23 | 2013-03-27 | 南京大学 | Method for inverting effective leaf area index by utilizing geometric projection and laser radar |
| JP2014106164A (en) * | 2012-11-29 | 2014-06-09 | Mitsubishi Motors Corp | Method and apparatus for inspecting fitting state of connector |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540241A (en) * | 2019-01-22 | 2019-03-29 | 艾信智慧医疗科技发展（苏州）有限公司 | Volume measuring system and method |
| WO2020151311A1 (en) * | 2019-01-22 | 2020-07-30 | 艾信智慧医疗科技发展（苏州）有限公司 | Volume measuring system and method |
| CN112991429A (en) * | 2019-12-13 | 2021-06-18 | 顺丰科技有限公司 | Box volume measuring method and device, computer equipment and storage medium |
| CN111238369A (en) * | 2020-01-19 | 2020-06-05 | 广东工业大学 | Method, system and equipment for measuring volume of double rectangular objects |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109029303B (en) | 2020-05-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206441238U (en) | Scaling board and calibration system | |
| CN109000559A (en) | A kind of measurement method of object volume, device, system and readable storage medium storing program for executing | |
| CN109029303A (en) | Measurement method, device, system and the readable storage medium storing program for executing of object bottom surface product parameter | |
| CN102376089B (en) | Target correction method and system | |
| CN104484857B (en) | A kind of instrumented data read method and system | |
| WO2021004416A1 (en) | Method and apparatus for establishing beacon map on basis of visual beacons | |
| CN104613930B (en) | Method and device for measuring distance as well as mobile terminal | |
| CN110276786A (en) | Determine method and device, tracking device and the system of the location information of tracking target | |
| CN108537834A (en) | A kind of volume measuring method, system and depth camera based on depth image | |
| CN104484887B (en) | External parameters calibration method when video camera is used in combination with scanning laser range finder | |
| CN104089628B (en) | Self-adaption geometric calibration method of light field camera | |
| CN103795935B (en) | A kind of camera shooting type multi-target orientation method and device based on image rectification | |
| CN107710283A (en) | A kind of filming control method, device and control device | |
| CN103411553A (en) | Fast calibration method of multiple line structured light visual sensor | |
| CN102930551B (en) | Camera intrinsic parameters determined by utilizing projected coordinate and epipolar line of centres of circles | |
| CN107734449A (en) | A kind of outdoor assisted location method, system and equipment based on optical label | |
| CN106504287B (en) | Monocular vision object space positioning system based on template | |
| CN112254633B (en) | Object size measuring method, device and equipment | |
| CN105608703A (en) | Current transformer oil level detection method of intelligent substation inspection robot | |
| CN108225328A (en) | A kind of interior three dimensional data collection method | |
| CN107103056A (en) | A kind of binocular vision indoor positioning database building method and localization method based on local identities | |
| CN109029250A (en) | A kind of method, apparatus and equipment based on three-dimensional camera detection package dimensions | |
| CN106840111A (en) | The real-time integrated system of position and attitude relation and method between object | |
| CN111307046A (en) | Tree height measuring method based on hemispherical image | |
| CN110823899A (en) | Fault positioning method, device and system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 Termination date: 20210611 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |