CN109029303B - Method, device and system for measuring bottom area parameters of object and readable storage medium - Google Patents
Method, device and system for measuring bottom area parameters of object and readable storage medium Download PDFInfo
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Abstract
The invention discloses a method for measuring bottom area parameters of an object, which comprises the steps of obtaining a projection graph by projecting target three-dimensional data to a plane formed by an X axis and a Y axis, obtaining a first bottom graph by rotation transformation and inverse rotation transformation, eliminating error coordinate points in the first bottom graph by constructing the target bottom graph, finally obtaining a more accurate target graph, and calculating the bottom area parameters according to the area parameters of the target graph, thereby completing the measurement of the bottom area parameters of the object. Therefore, the measuring method takes the three-dimensional data as the measuring basis without any picture data, so that the problem of inaccurate measuring result caused by picture distortion is solved, and the picture data can be avoided from being processed, thereby reducing the calculated amount of the bottom area parameters of the measured object. In addition, the invention also discloses a device and a system for measuring the bottom area parameters of the object and a computer readable storage medium, and the effects are as above.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a method, a device and a system for measuring bottom area parameters of an object and a readable storage medium.
Background
In the field of logistics, since the volume of an object relates to logistics billing, loading transportation and warehouse storage, it is extremely important to accurately acquire the volume of the object.
The volume parameters of the object comprise an object base area parameter and a height parameter, and in the prior art, methods for obtaining the object base area parameter are various, wherein one method which is commonly used is as follows: the method comprises the steps of acquiring image information of an object to be detected by adopting image acquisition equipment, generating a picture, processing the picture by adopting image processing equipment, extracting picture information, and obtaining bottom area parameters of the object according to comparison of multiple groups of picture information. On one hand, however, the quality of the image generated by the image acquisition device is closely related to the surrounding environment, so that when the surface of the object to be measured has an adhesive tape or other substances having a reflection effect on light, the image generated by the image acquisition device is often distorted, resulting in poor accuracy of the measurement result; on the other hand, the application of the method needs a large amount of processing picture data, and the calculation amount for measuring the bottom area parameters of the object is also large.
Therefore, how to improve the accuracy of the measurement result of the object base area parameter and reduce the calculation amount of the measured object base area parameter is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide a method, a device and a system for measuring bottom area parameters of an object and a readable storage medium, which can improve the accuracy of the measurement result of the bottom area parameters of the object and reduce the calculation amount of the measured bottom area parameters of the object.
In order to solve the above technical problem, the present invention provides a method for measuring a bottom area parameter of an object, comprising:
projecting target three-dimensional data corresponding to the height value of the object to be detected, which is acquired by using a three-dimensional laser camera, to a plane formed by an X axis and a Y axis to form a projection graph, and calculating a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point;
carrying out rotation transformation on the projection graph according to the first included angle, determining a minimum external bottom graph comprising the rotated projection graph, and carrying out inverse rotation transformation on the minimum external bottom graph according to the first included angle to obtain a first bottom graph;
calculating a second included angle between the reference edge of the first bottom surface graph and the X axis so as to construct more than or equal to a preset number of target bottom surface graphs, wherein the target three-dimensional data projected to the plane is included in the plane according to the second included angle;
and calculating the base area parameter according to the area parameter of a target graph, wherein the target graph is a graph formed by the intersection of the complementary sets of the target bottom graphs in the first bottom graph.
Preferably, the object to be measured is a cuboid, and the determining the minimum external bottom surface figure including the rotated projection figure specifically includes:
determining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value in the corner point coordinates of the rotated projection graph;
arranging and combining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value to obtain four target coordinates;
and constructing the minimum external bottom surface graph by taking the four target coordinates as vertex coordinates.
Preferably, before the projecting the target three-dimensional data corresponding to the height value of the object to be measured onto the plane formed by the X axis and the Y axis to form a projection graph, the method further includes:
filtering the target three-dimensional data according to a preset height threshold value;
correspondingly, the step of projecting the target three-dimensional data corresponding to the height value of the object to be measured, which is acquired by using the three-dimensional laser camera, onto a plane formed by an X axis and a Y axis to form a projection graph specifically includes:
and projecting the filtered target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by the X axis and the Y axis to form the projection graph.
Preferably, the calculating a first included angle between a reference corner point of the projection graph and a corner point adjacent to the reference corner point specifically includes:
carrying out convex hull processing on each projection coordinate forming the projection graph, and acquiring corner point coordinates of the projection graph;
and taking each corner point of the projection graph as the reference corner point, and correspondingly calculating a plurality of first included angles according to the clockwise direction or the anticlockwise direction.
Preferably, the object to be measured is a cuboid, the number of the target bottom surface patterns is four, and the four target bottom surface patterns are distributed in the lower region, the left region, the right region and the upper region of the first bottom surface pattern respectively.
Preferably, the constructing, in the plane according to the second included angle, more than or equal to a predetermined number of target three-dimensional data included in the target three-dimensional data projected to the plane specifically includes:
constructing the target bottom surface graph by taking the product of the target step value and the cosine value of the second included angle as the coordinate increment of the X axis and taking the product of the target step value and the sine value of the second included angle as the coordinate increment of the Y axis;
judging whether the target three-dimensional data projected to the plane and contained in the target bottom surface graph is more than or equal to a preset number;
and if not, adding one target step value as the current target step value to reconstruct the target bottom graph as the current target bottom graph until the target three-dimensional data projected to the plane contained in the current target bottom graph is more than or equal to the preset number.
In order to solve the above technical problem, the present invention further provides an apparatus for measuring a bottom area parameter of an object, comprising:
the projection unit is used for projecting target three-dimensional data corresponding to the height value of the object to be measured, which is acquired by using the three-dimensional laser camera, to a plane formed by an X axis and a Y axis to form a projection graph, and calculating a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point;
the determining unit is used for performing rotation transformation on the projection graph according to the first included angle, determining a minimum external bottom graph comprising the rotated projection graph, and performing inverse rotation transformation on the minimum external bottom graph according to the first included angle to obtain a first bottom graph;
the construction unit is used for calculating a second included angle between the reference edge of the first bottom surface graph and the X axis so as to construct more than or equal to a preset number of target bottom surface graphs, which contain target three-dimensional data projected to the plane, in the plane according to the second included angle;
and the calculation unit is used for calculating the bottom area parameter according to the area parameter of a target graph, wherein the target graph is a graph formed by the intersection of the complementary sets of the target bottom graphs in the first bottom graph.
In order to solve the above technical problem, the present invention further provides a system for measuring a bottom area parameter of an object, comprising:
the three-dimensional laser camera is used for acquiring three-dimensional image information of an object to be detected and converting the three-dimensional image information into three-dimensional data;
the conveying belt is used for conveying the object to be detected, wherein a conveying path of the conveying belt comprises an acquisition area of the three-dimensional laser camera;
and the adjusting baffle is arranged on the conveying belt and used for adjusting the position of the object to be detected so as to enable the object to be detected to be positioned in the collecting area.
And the data processing equipment is connected with the three-dimensional laser camera and is used for executing the steps of any one of the methods for measuring the bottom area parameters of the object.
Preferably, the system further comprises a camera trigger device connected with the three-dimensional laser camera;
when the object to be detected enters the acquisition area of the three-dimensional laser camera, the camera trigger device sends a trigger signal to the three-dimensional laser camera to control the three-dimensional laser camera to acquire the three-dimensional image information.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of any one of the above methods for measuring a floor area parameter of an object.
The invention provides a method for measuring bottom area parameters of an object, which comprises the steps of obtaining a projection graph corresponding to a bottom graph of the object by projecting target three-dimensional data to a plane formed by an X axis and a Y axis, obtaining a first bottom graph which is more similar to the bottom graph of the object by rotation transformation and inverse rotation transformation, eliminating error coordinate points in the first bottom graph by constructing the target bottom graph, finally obtaining a more accurate target graph, and calculating the bottom area parameters according to the area parameters of the target graph, thereby completing the measurement of the bottom area parameters of the object. Therefore, the measuring method takes the three-dimensional data as the measuring basis without any picture data, so that the problem of inaccurate measuring result caused by picture distortion is solved, and the picture data can be avoided from being processed, thereby reducing the calculation amount of the bottom area parameter of the measured object. In addition, the invention also provides a device and a system for measuring the bottom area parameters of the object and a computer readable storage medium, and the effects are as above.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for measuring a bottom area parameter of an object according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus for measuring a bottom area parameter of an object according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a system for measuring a bottom area parameter of an object according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for measuring a bottom area parameter of an object according to an embodiment of the present invention;
FIG. 5 is a three-dimensional coordinate diagram of a rectangular solid object to be measured according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a minimum bounding rectangle in the plane formed by the X-axis and the Y-axis according to an embodiment of the present invention;
fig. 7 is a schematic diagram of determining a target pattern according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The invention aims to provide a method, a device and a system for measuring bottom area parameters of an object and a readable storage medium, which can improve the accuracy of the measurement result of the bottom area parameters of the object and reduce the calculation amount of the measured bottom area parameters of the object.
In order to make the technical solutions of the present invention better understood, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of a method for measuring a bottom area parameter of an object according to an embodiment of the present invention. As shown in fig. 1, the measurement method provided by this embodiment includes:
s10: the method comprises the steps of projecting target three-dimensional data corresponding to the height value of an object to be measured acquired by a three-dimensional laser camera to a plane formed by an X axis and a Y axis to form a projection graph, and calculating a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point.
The target three-dimensional data refers to three-dimensional data corresponding to the height value of the object to be detected and belongs to non-picture data; the reference corner point refers to any one corner point of the projected graph, that is, any one corner point of the projected graph can be used as the reference corner point; the first included angle may be an included angle with an adjacent corner point on a plane formed by the X axis and the Y axis, which is calculated clockwise or counterclockwise from the reference corner point.
The three-dimensional laser camera applies a laser three-dimensional imaging technology, has the advantages of high measuring point precision, large measuring point density, rich information quantity, high automation of data processing, high digitalization of products and the like, and compared with image acquisition equipment for acquiring image and generating picture data, the acquired three-dimensional data is slightly influenced by the environment, the situation of measurement result output errors caused by picture distortion cannot occur, and the reliability is high. Therefore, in step S10, the target three-dimensional data acquired by the three-dimensional laser camera has higher reliability, and the accuracy of the measurement result can be improved. In addition, since the projection pattern formed by projecting the target three-dimensional data onto the plane formed by the X axis and the Y axis is the main basis for calculating the base area parameters, the target three-dimensional data is the original data for forming the projection pattern and is the measurement basis for the base area parameters, and not only is the calculation amount smaller compared with the case of directly processing the picture data because the three-dimensional data belongs to non-picture data, but also the risk caused by the fact that the picture data is greatly influenced by the environment is avoided by taking the three-dimensional data as the measurement basis.
In step S10, after the projection pattern is obtained, in order to improve the accuracy of the measurement result, each corner point of the projection pattern may be used as a reference corner point, and a plurality of first included angles are obtained correspondingly. Of course, in a specific application, only one or more corner points of the projection pattern may be respectively used as the reference corner points to calculate the first included angle according to actual requirements, which does not affect the implementation of the embodiment, and the present invention is not limited thereto.
S11: and carrying out rotation transformation on the projection graph according to the first included angle, determining the minimum external bottom graph comprising the rotated projection graph, and carrying out inverse rotation transformation on the minimum external bottom graph according to the first included angle to obtain a first bottom graph.
In step S11, when the first angle is represented by θ, the rotation matrix is
Specifically, if the column vector composed of the X-axis component of the projected graphic is represented by X, the column vector composed of the Y-axis component of the projected graphic is represented by Y, and the column vector composed of the X-axis component of the projected graphic after rotation conversion is represented by RXA column vector R representing a Y-axis component of the projection pattern after the rotation conversionYIs shown to be
Further, it can be understood that if a plurality of first angles are calculated in step S10 in order to improve the accuracy of the measurement result, the projection pattern needs to be rotated a plurality of times in step S11, so as to obtain a plurality of rotated projection patterns corresponding to different first angles. The minimum circumscribed base pattern conforms to the shape of the projected pattern, including all of the rotated projected patterns, e.g., the projected pattern isAnd if the minimum circumscribed bottom surface graph is a circumscribed rectangle comprising all the rotated projection graphs. If the first angle is still expressed by theta, the inverse rotation matrix is
Specifically, if the column vector composed of the X-axis component of the minimum circumscribed figure is represented by XRIndicating that the column vector consisting of the Y-axis component of the minimum circumscribed figure is represented by YRIndicating that the column vector formed by the X-axis component of the first bottom pattern is represented by XSIndicating that the column vector formed by the Y-axis component of the first bottom pattern is represented by YSIs shown to be
The first bottom pattern is formed by a column vector X on a plane formed by an X axis and a Y axisSAnd column vector YSA pattern of the formation.
S12: and calculating a second included angle between the reference edge of the first bottom surface graph and the X axis so as to construct more than or equal to a preset number of target bottom surface graphs of the target three-dimensional data projected to the plane in the first bottom surface graph according to the second included angle.
In step S12, the reference edge refers to any one edge of the first bottom surface pattern, and in order to improve the accuracy of the measurement result, each edge of the first bottom surface pattern may be used as the reference edge to obtain a plurality of second included angles, and accordingly, a plurality of target bottom surface patterns corresponding to the second included angles need to be constructed in the first bottom surface pattern according to the second included angles. The preset number is preset according to the measurement precision requirement, and is not suitable to be too large or too small, if too small, error data cannot be completely filtered, and if too large, valid data can be filtered.
if the two end points of any one side of the first bottom surface pattern are represented by coordinates (recx 1, recy 1) and coordinates (recx 2, recy 2), the second included angle is represented by α, and the target increment value is represented by step, the four vertex coordinates of the target bottom surface pattern are (recx 1, recy 1), (recx 2, recy 2), (recx 2+ step cos (α), recy 2+ step sin (α)) and (recx 1+ step cos (α), recy 1+ step sin (α)), respectively.
It should be noted that although the target three-dimensional data projected onto the plane included in the target floor pattern is required to be greater than or equal to the predetermined number, it is preferable that the target three-dimensional data projected onto the plane included in the target floor pattern is equal to the predetermined number, and when the target three-dimensional data projected onto the plane included in the target floor pattern cannot be equal to the predetermined number, the target three-dimensional data projected onto the plane included in the target floor pattern may be slightly greater than the predetermined number, but is not greater than the predetermined number, otherwise the measurement accuracy may be affected. For example, the target increment value may be set to a value that can be dynamically adjusted according to the construction result, or a plurality of fixed increment values may be set, a plurality of bottom surface patterns may be constructed, and finally, the fixed increment value corresponding to the target bottom surface pattern that meets the requirements in the bottom surface patterns may be set as the target increment value.
S13: and calculating the base area parameter according to the area parameter of the target graph, wherein the target graph is a graph formed by intersection of complementary sets of all the target base graphs in the first base graph.
Projection target three-dimensional data included in the target bottom surface graph are located on the boundary of the first target graph and are error data, so that the error data are filtered, a graph formed by intersection of complementary sets of the target bottom surface graphs in the first target graph is used as the target graph, the bottom area parameter is calculated according to the area parameter of the target graph, and the accuracy of a measuring result can be improved.
In summary, in the method for measuring a bottom area parameter of an object provided in this embodiment, a projection graph corresponding to a bottom graph of the object is obtained by projecting target three-dimensional data onto a plane formed by an X axis and a Y axis, a first bottom graph closer to the bottom graph of the object is obtained by rotation transformation and inverse rotation transformation, an error coordinate point in the first bottom graph is eliminated by constructing the target bottom graph, and a more accurate target graph is finally obtained, and a bottom area parameter is obtained by calculating according to an area parameter of the target graph, so that measurement of the bottom area parameter of the object is completed. Therefore, the measuring method takes the three-dimensional data as the measuring basis without any picture data, so that the problem of inaccurate measuring result caused by picture distortion is solved, and the picture data can be avoided from being processed, thereby reducing the calculation amount of the bottom area parameter of the measured object.
When the object to be measured is a rectangular parallelepiped, in order to further reduce the calculation amount in the measurement process, as a preferred implementation manner based on the foregoing embodiment, the determining the minimum circumscribed bottom surface pattern including the rotated projection pattern specifically includes:
determining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value in the corner point coordinates of the rotated projection graph;
arranging and combining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value to obtain four target coordinates;
and constructing a minimum circumscribed bottom surface graph by taking the four target coordinates as vertex coordinates.
The embodiment is suitable for the condition that the object to be measured is specifically a cuboid object to be measured, and under the condition, the maximum X-axis coordinate value X can be determined in all corner point coordinates of the rotated projection graphmaxMinimum X-axis coordinate value XminMaximum Y-axis coordinate value YmaxAnd a minimum Y-axis coordinate value YminThen for the maximum X-axis coordinate value XmaxMinimum X-axis coordinate value XminMaximum Y-axis coordinate value YmaxAnd a minimum Y-axis coordinate value YminThe four target coordinate points are obtained by permutation and combination, and are respectively (X)min，Ymin)、(Xmax，Ymin)、(Xmax，Ymax) And (X)min，Ymax) Then, the four target coordinates are used as the vertex coordinate structureThe established minimum external bottom surface graph is a rectangle, and the four target coordinates are respectively four vertex coordinates of the rectangle.
It can be seen that, in this embodiment, the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value, and the minimum Y-axis coordinate value in all corner point coordinates of the rotated projection graph are directly obtained, and four vertex coordinates of a rectangle can be obtained by performing permutation and combination, so as to construct a rectangle as the minimum circumscribed bottom graph.
In order to improve the accuracy of the measurement result, as a preferred implementation manner based on the foregoing embodiment, before projecting the target three-dimensional data corresponding to the height value of the object to be measured, acquired by using the three-dimensional laser camera, onto a plane formed by the X axis and the Y axis to form a projection pattern, the method further includes:
filtering the target three-dimensional data according to a preset height threshold value;
correspondingly, projecting the target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by an X axis and a Y axis to form a projection graph, which specifically comprises the following steps:
and projecting the filtered target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by an X axis and a Y axis to form a projection graph.
The preset height threshold value is preset, can be a value range, and also can be only a highest value or a lowest value, when the height value of the object to be measured exceeds the preset height threshold value, the height value is considered to have a serious error, and the height value needs to be filtered. Of course, the specific value of the preset height threshold is related to the specific application environment, and the invention is not limited thereto.
In this embodiment, the calculated height value is further filtered, so as to filter the height value with a serious error, and further remove the target three-dimensional data corresponding to the height value with a serious error from the target three-dimensional data, so as to purify the target three-dimensional data, and correspondingly, in order to achieve the purpose of improving the accuracy of the measurement result, after the filtering is completed, the target three-dimensional data corresponding to the height value of the object to be measured is projected onto a plane formed by an X axis and a Y axis, and the projection graph is formed by: and projecting the filtered target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by an X axis and a Y axis to form a projection graph. And because the target three-dimensional data with serious errors in the target three-dimensional data is filtered, and the projection graph is the main basis for calculating the base area parameters, the purified target three-dimensional data can be used for obtaining the more accurate main basis for calculating the base area parameters, so that the accuracy of the measurement result can be further improved.
In order to further improve the accuracy of the measurement result, calculating a first included angle between a reference corner point of the projection graph and a corner point adjacent to the reference corner point specifically includes:
carrying out convex hull processing on each projection coordinate forming the projection graph, and acquiring corner point coordinates of the projection graph;
and taking each corner point of the projection graph as a reference corner point, and correspondingly calculating a plurality of first included angles according to the clockwise direction or the anticlockwise direction.
In this embodiment, the acquisition convex hull algorithm processes each projection coordinate constituting the projection pattern to obtain corner point coordinates of the projection pattern, and each corner point of the projection pattern is used as a reference corner point, a first included angle is calculated, and finally a plurality of first included angles corresponding to a plurality of reference corner points can be obtained, then in step S11, the projection pattern needs to be rotated for a plurality of times correspondingly, a plurality of projection patterns after rotational transformation corresponding to different first included angles are obtained, and finally the corner point coordinates of the plurality of projection patterns are obtained, and convex hull processing or other processing is performed on all the corner point coordinates to obtain the minimum circumscribed bottom surface pattern. Moreover, it can be understood that when the object to be measured is a rectangular body, the maximum X-axis coordinate value X can be determined among all corner point coordinatesmaxMinimum X-axis coordinate value XminMaximum Y-axis coordinate value YmaxAnd a minimum Y-axis coordinate value Ymin。
For the case that the object to be measured is specifically a rectangular parallelepiped, in order to further improve the accuracy of the measurement result, based on the above embodiment, as an optimal implementation manner, the number of the target bottom surface patterns is four, and the four target bottom surface patterns are respectively distributed in the lower area, the left area, the right area, and the upper area of the first bottom surface pattern.
Wherein, the lower region, the left region, the right region and the upper region of the first bottom surface figure are respectively arranged inside the first bottom surface figure. For a cuboid object to be measured, the target bottom surface is respectively arranged in the lower area, the left area, the right area and the upper area of the first bottom surface graph, error data at the boundary of the first bottom surface graph can be completely filtered, and compared with the filtering of error data at a part of the boundary of the first bottom surface graph, the accuracy of a measuring result can be further improved.
In order to further improve the accuracy of the measurement result, as a preferred implementation manner based on the above embodiment, the constructing, in the plane, the target three-dimensional data projected to the plane, which includes more than or equal to the predetermined number of target floor patterns according to the second included angle specifically includes:
constructing a target bottom surface graph by taking the product of the target step value and the cosine value of the second included angle as the coordinate increment of the X axis and the product of the target step value and the sine value of the second included angle as the coordinate increment of the Y axis;
judging whether the target three-dimensional data projected to the plane contained in the target bottom surface graph is more than or equal to a preset number;
and if not, adding a target step value as the current target step value to reconstruct the target bottom graph as the current target bottom graph until the target three-dimensional data projected to the plane contained in the current target bottom graph is more than or equal to a preset number.
In this embodiment, a target step value is preset, a target floor graphic is constructed by using a step value as a current target step value, if target three-dimensional data projected to a plane included in the target floor graphic is smaller than a preset number, then a target step value is added on the basis of the current target step value as the current target step value to continue constructing the target floor graphic, and so on, until the target three-dimensional data projected to the plane included in the current target floor graphic is greater than or equal to the preset number (the current target floor graphic is a final target floor graphic at this time), data of the target three-dimensional data projected to the plane included in the target floor graphic is gradually increased in a manner of gradually increasing the current target step value, and the target three-dimensional data projected to the plane included in the final target floor graphic can be slightly greater than or equal to the preset number by setting a smaller target step value, the accuracy of the measurement result is further improved.
The above detailed description of the method for measuring the floor area parameter of the object provided by the present invention, and the present invention also provides a device for measuring the floor area parameter of the object, wherein the embodiment of the measuring device part corresponds to the embodiment of the measuring method part, so the embodiment of the measuring device part of the floor area parameter of the object can refer to the description of the embodiment of the measuring method part of the floor area parameter of the object, and the same parts will not be described in detail below.
Fig. 2 is a schematic composition diagram of an apparatus for measuring a bottom area parameter of an object according to an embodiment of the present invention. As shown in fig. 2, the measurement apparatus provided in this embodiment includes:
the projection unit 20 is configured to project target three-dimensional data corresponding to a height value of an object to be measured, which is acquired by using a three-dimensional laser camera, onto a plane formed by an X axis and a Y axis to form a projection graph, and calculate a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point;
the determining unit 21 is configured to perform rotation transformation on the projection graph according to the first included angle, determine a minimum circumscribed bottom graph including the rotated projection graph, and perform inverse rotation transformation on the minimum circumscribed bottom graph according to the first included angle to obtain a first bottom graph;
a construction unit 22, configured to calculate a second included angle between the reference edge of the first bottom surface pattern and the X axis, so as to construct, in the plane, a predetermined number or more of target bottom surface patterns, which are included in the target three-dimensional data projected onto the plane, according to the second included angle;
the calculating unit 23 is configured to calculate the floor area parameter according to the area parameter of the target graph, where the target graph is a graph formed by intersection of complementary sets of the target floor graphs in the first floor graph.
In the device for measuring the bottom area parameter of the object provided by this embodiment, the projection unit obtains a projection graph corresponding to the bottom graph of the object by projecting the target three-dimensional data onto a plane formed by the X axis and the Y axis, then obtains a first bottom graph closer to the bottom graph of the object by performing rotation transformation and inverse rotation transformation through the determination unit, and finally eliminates an error coordinate point in the first bottom graph by using the construction unit to construct the target bottom graph, so as to obtain a more accurate target graph. Therefore, the measuring device takes the three-dimensional data as the measuring basis without any picture data, so that the problem of inaccurate measuring result caused by picture distortion is solved, and the picture data can be avoided being processed, thereby reducing the calculation amount of the bottom area parameter of the measured object.
The above detailed description of the method for measuring the floor area parameter of the object provided by the present invention, and the present invention also provides a system for measuring the floor area parameter of the object, wherein the embodiment of the system part corresponds to the embodiment of the method part, so the embodiment of the system part for measuring the floor area parameter of the object can refer to the description of the embodiment of the method part for measuring the floor area parameter of the object, and the details of the same parts are not repeated below.
Fig. 3 is a schematic structural diagram of a system for measuring a bottom area parameter of an object according to an embodiment of the present invention. As shown in fig. 3, the measurement system provided in this embodiment includes:
a three-dimensional laser camera 31 for acquiring three-dimensional image information of the object 30 to be measured and converting the three-dimensional image information into three-dimensional data;
the conveying belt 32 is used for conveying the object 30 to be detected, wherein the conveying path of the conveying belt 32 comprises an acquisition area of the three-dimensional laser camera 31;
and an adjusting baffle 33 provided to the conveyor belt 32 for adjusting the position of the object 30 to be measured so that the object 30 to be measured is in the collecting area.
And a data processing device 34 connected to the three-dimensional laser camera 31 for performing the steps of the method for measuring the floor area parameter of the object as any one of the above.
Wherein, the acquisition area refers to the visual field range of the three-dimensional laser camera 31; the data processing device 34 may be embodied as a device such as a computer, a tablet computer, or a mobile phone with a processor, and the processor may implement the steps of any one of the above-mentioned methods for measuring the floor area parameters of the object according to a pre-implanted program algorithm.
By applying the system for measuring the bottom area parameters of the object provided by this embodiment, the three-dimensional laser camera 31 is disposed above the conveyor belt 32, and it is to be ensured that the conveyor belt 32 cooperates with the adjusting baffle 33 in the process of conveying the object 30 to be measured, so that the object 30 to be measured can be completely located in the acquisition area of the three-dimensional laser camera 31 for a certain time, of course, the time length in the acquisition area is related to the speed and efficiency of the three-dimensional laser camera for acquiring data, which is not limited in this respect. Also, it is understood that in a specific application, in order to better fix the three-dimensional laser camera 31, an L-shaped bracket 35 for fixing the three-dimensional laser camera 31 may be configured for the measuring system.
The system for measuring the bottom area parameters of the object provided by the embodiment comprises a three-dimensional laser camera, and can acquire three-dimensional data of the object to be measured; the conveying belt can convey the object to be detected; the adjusting baffle can adjust the position of the object to be measured; the data processing equipment can realize the steps of any one of the methods for measuring the bottom area parameters of the object. Therefore, after the object to be measured is placed on the conveyor belt, the conveyor belt can convey the object to be measured to the vicinity of the acquisition area and is matched with the adjusting baffle plate, so that the three-dimensional data of the object to be measured can be acquired by the three-dimensional laser camera, and then the data processing equipment executes any one of the steps of the method for measuring the bottom area parameters of the object, and finally the measurement of the bottom area parameters of the object to be measured can be realized. Moreover, since the data processing device can implement the steps of any one of the above-mentioned methods for measuring the floor area parameters of the object, the measurement system has the same beneficial effects as any one of the above-mentioned methods for measuring the floor area parameters of the object, and the description of the invention is omitted.
As shown in fig. 3, in order to make the measurement system more intelligent, based on the above embodiment, as a preferred implementation, the measurement system further includes a camera trigger device 36 connected to the three-dimensional laser camera 31;
when the object 30 to be measured enters the acquisition area of the three-dimensional laser camera 31, the camera trigger device 36 sends a trigger signal to the three-dimensional laser camera 31 to control the three-dimensional laser camera 31 to acquire three-dimensional image information.
In this embodiment, the camera trigger device 36 is configured for the measuring system, and may be disposed at a position slightly higher than the surface of the conveyor belt 32, and preferably perpendicular to the running direction of the conveyor belt 32, for sending a signal to the three-dimensional laser camera 31 whether there is an object 30 to be detected in the collecting area to control the working state of the three-dimensional laser camera 31, when there is an object 30 to be detected in the collecting area, the camera trigger device 36 sends a trigger signal to the three-dimensional laser camera 31 to control the three-dimensional laser camera 31 to work, and when there is no object 30 to be detected in the collecting area, the camera trigger device 36 does not send a trigger signal to the three-dimensional laser camera 31 to control the three-dimensional laser camera 31 to suspend working, so that the setting of the camera trigger device 36 can avoid the situation that the three-dimensional laser camera 31 is always kept in the working state or the working state of the three, making the measurement system more intelligent. In a specific application, the camera trigger device 36 may be a detection device such as a proximity switch, which can determine whether an object to be detected exists in the acquisition area. Furthermore, it is understood that the moment when the camera trigger device 36 sends the trigger signal to the three-dimensional laser camera 31 is preferably when the object 30 to be measured is located at the center of the acquisition area.
In order to make those skilled in the art better understand the technical solution provided by the present invention, the following description will take the bottom area parameter measurement process of a rectangular parallelepiped object as an example and refer to the accompanying drawings.
In the present embodiment, a three-dimensional laser camera having a model of vision-T is used as the three-dimensional laser camera 31 in the measurement system, and a computer is used as the data processing device 34. The three-dimensional laser camera with the model of Vision-T is a three-dimensional camera based on a three-dimensional laser time flight principle, a laser snapshot (3D Snap-shot) technology is adopted to acquire three-dimensional coordinate data of an object in an acquisition area, and the three-dimensional data generated by the three-dimensional laser camera with the model of Vision-T can be output through buses such as Ethernet. The three-dimensional data returned by the Vision-T three-dimensional laser camera is about 25000.
Before bottom area parameter measurement is carried out, the center line of a three-dimensional laser camera with the type of Vision-T is perpendicular to a conveyor belt 32, the conveyor belt 32 runs on the ground, the height of the three-dimensional laser camera with the type of Vision-T and the height of the conveyor belt 32 are adjustable, an object to be measured 30 is placed on the conveyor belt 32, and the three-dimensional laser camera with the type of Vision-T is connected with a computer through Ethernet. The acquisition area of a three-dimensional laser camera, model number vision-T, was made to cover the entire conveyor belt using the SOPAS software, as shown by the shaded area in fig. 3. And setting the angle of the adjusting baffle 33 according to the maximum size of the object 30 to be measured, so that the object 30 to be measured with the maximum size can be completely positioned in the acquisition area of the three-dimensional laser camera with the model of Visionary-T. Wherein, the object to be measured is a cuboid object.
Fig. 4 is a flowchart of another method for measuring a bottom area parameter of an object according to an embodiment of the present invention. As shown in fig. 4, the method includes the steps of:
s40: initializing a three-dimensional laser camera with a Visionary-T model.
S41: and judging whether a trigger signal sent by the camera trigger device is received, if so, entering the step S42, and if not, repeating the step S41.
S42: and calling a three-dimensional laser camera with the type of Vision-T to acquire three-dimensional image information in the acquisition area and acquiring a plurality of groups of discrete three-dimensional data returned by the three-dimensional laser camera with the type of Vision-T.
Fig. 5 is a three-dimensional coordinate diagram of a rectangular solid object to be measured according to an embodiment of the present invention. As shown in fig. 5, a plurality of sets of discrete three-dimensional data returned by a three-dimensional laser camera with a vision-T model are three-dimensional coordinate data, and a three-dimensional model of a cuboid object to be measured can be directly constructed.
S43: and carrying out relevant processing on the plurality of groups of discrete three-dimensional data to obtain the height value of the object to be measured.
S44: and filtering the target three-dimensional data near the height value of the cuboid to be detected, and projecting the filtered data onto a plane formed by an X axis and a Y axis.
In step S44, the target three-dimensional data near the height value of the cuboid object to be measured may be filtered by setting a height threshold, where the height threshold is set in advance according to the range of the height value of the cuboid object to be measured in actual use.
S45: and carrying out convex hull processing on the data projected onto the plane to obtain the coordinates of the corner points.
It should be noted that the plane mentioned in step S45 is a plane formed by the X axis and the Y axis, and the plane mentioned below refers to a plane formed by the X axis and the Y axis unless otherwise specified.
For step S45, in addition to using the convex hull algorithm to process the data projected onto the plane to obtain the coordinates of the corner point, other algorithms may be used to process the data projected onto the plane to obtain the coordinates of the corner point.
S46: and respectively taking each corner point as a starting point, solving an included angle theta between the starting point and the adjacent boundary point on the plane in a clockwise or anticlockwise direction, and carrying out rotation transformation on the data projected onto the plane.
The transformation process of the rotation transformation in step S46 is as follows:
wherein X and Y are X-axis components and X-axis components of data projected onto a plane formed by the X-axis and Y-axis, respectivelyColumn vector R consisting of Y-axis componentXAnd RYAnd respectively carrying out rotation transformation on the vectors X and Y to obtain column vectors.
S47: and respectively solving the maximum value and the minimum value in the two column vectors obtained by rotation transformation, and obtaining four vertex coordinates.
In step S47, the four vertex coordinates are obtained by arranging and combining the maximum value and the minimum value in the two column vectors. Specifically, if the maximum and minimum values in two column vectors are respectively denoted as Xmax、Xmin、YmaxAnd YminThen the coordinates of the four vertexes are respectively (X)min，Ymin)、(Xmax，Ymin)、(Xmax，Ymax) And (X)min，Ymax)。
Fig. 6 is a schematic diagram of a minimum bounding rectangle on a plane formed by an X axis and a Y axis according to an embodiment of the present invention. As shown in fig. 6, the minimum bounding rectangle including the rotated projection data can be formed by connecting four vertex coordinates in sequence on the plane formed by the X axis and the Y axis.
and S48, performing inverse rotation transformation on the coordinates of the four vertexes, constructing a first rectangle on the plane, and respectively calculating the included angle α between each side of the first rectangle and the X axis.
The transformation procedure of the inverse rotation transformation in step S48 is as follows:
in the formula, XRAnd YRRespectively a column vector composed of an X-axis component and a Y-axis component of four vertex coordinates, XSAnd YSAre respectively vector XRAnd YRAnd performing inverse rotation transformation to obtain a column vector.
Specifically, the first rectangle is constructed on a plane using a column vector obtained by inverse rotation transformation.
S49: second, third, fourth and fifth rectangles are constructed, and the number of data projected onto the plane in the second, third, fourth and fifth rectangles, respectively, is counted.
in step S, the second, third, fourth and fifth rectangles are respectively constructed in the lower, right, upper and left regions of the first rectangle, i.e. if the coordinates of the first rectangle are defined as (recx, recy), (recx, recy) and (recx, recy), the coordinates of the second rectangle are (recx, recy), (recx + step &, recy + step sin (α)) and (recx + step & (α 0), recy + step sin (α 1)), the coordinates of the third rectangle are (recx, recy + step sin (α 2)), the coordinates of the second rectangle are (recx + step &, recy + step & (α 1)), the coordinates of the third rectangle are (recx, recy + step & (α 2)), the coordinates of the second rectangle are (recx + step &, y + step &, 5), the coordinates of the second rectangle are (recx + step x + step &, recx + step x), the coordinates of the third rectangle are (recx + step x + step &, recy + step x, recy), and the target value (recx + step x, y + step x + sin (α) is + y).
S50: and adjusting the size of the target increment value according to the deviation of the number of the data projected onto the plane in the second rectangle, the third rectangle, the fourth rectangle and the fifth rectangle and the preset number until the number of the data projected onto the plane in the second rectangle, the third rectangle, the fourth rectangle and the fifth rectangle is larger than or equal to the preset number.
in step S, the preset number is preset according to measurement accuracy, and in the present embodiment, the preset number is set to 5. if the number of data projected onto a plane is greater than or equal to 5 in the second, third, fourth, and fifth rectangles, respectively, when the target increment value of the second, third, fourth, and fifth rectangles is step, and step, respectively, (recx, recy), (recx + step, α) and (recx + step, α 0, recy + step sin (α 1)), the coordinates of the third rectangle is (recx, recy), (recx, y, step + step, y + step, α + step, y + step, α 1)), the coordinates of the second and fifth rectangles are (recx + step, step x + step, step + step, y + step, step + step, and step, y + step, step x + step, and step, step).
S51: and calculating the length and width values of the upper surface of the cuboid object to be measured.
In step S51, the length and width values of the upper surface of the rectangular solid object to be measured are the bottom area parameters. Specifically, the length and width values of the upper surface of the cuboid object to be measured are calculated according to the target increment values of the second rectangle, the third rectangle, the fourth rectangle and the fifth rectangle and the side length value of the first rectangle.
Fig. 7 is a schematic diagram of determining a target pattern according to an embodiment of the present invention. As shown in fig. 7, the second rectangle 71, the third rectangle 72, the fourth rectangle 73, the fifth rectangle 74 and the target pattern 75 together form a first rectangle, the second rectangle 71 is distributed in a lower region of the first rectangle, the third rectangle 72 is distributed in a right region of the first rectangle, the fourth rectangle 73 is distributed in an upper region of the first rectangle, the fifth rectangle 74 is distributed in a left region of the first rectangle, and the target pattern 75 is distributed in a middle portion of the first rectangle. And calculating the length and width values of the upper surface of the target graph according to the target increment values of the second rectangle 71, the third rectangle 72, the fourth rectangle 73 and the fifth rectangle 74 and the side length value of the first rectangle, wherein the length and width values of the upper surface of the cuboid object to be detected are the length and width values of the upper surface of the cuboid object to be detected.
The invention also provides a computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of any one of the methods for measuring a floor area parameter of an object as described above.
The computer-readable storage medium provided in this embodiment may implement the steps of the method for measuring a floor area parameter of an object provided in any of the above embodiments when the computer program is executed by the processor, so that the computer-readable storage medium has the same practical effects as the method for measuring a floor area parameter of an object.
In addition, the method, the device, the system and the readable storage medium for measuring the bottom area parameters of the object provided by the invention are preferably applied to the measurement of the bottom area parameters of the cuboid object.
The present invention provides a method, an apparatus, a system and a readable storage medium for measuring bottom area parameters of an object. The embodiments are described in a progressive mode in the specification, the emphasis of each embodiment is different from that of other embodiments, and the same and similar parts among the embodiments are referred to each other.
It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for measuring parameters of the bottom area of an object is characterized by comprising the following steps:
projecting target three-dimensional data corresponding to the height value of the object to be detected, which is acquired by using a three-dimensional laser camera, to a plane formed by an X axis and a Y axis to form a projection graph, and calculating a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point;
carrying out rotation transformation on the projection graph according to the first included angle, determining a minimum external bottom graph comprising the rotated projection graph, and carrying out inverse rotation transformation on the minimum external bottom graph according to the first included angle to obtain a first bottom graph;
calculating a second included angle between the reference edge of the first bottom surface graph and the X axis so as to construct more than or equal to a preset number of target bottom surface graphs, wherein the target three-dimensional data projected to the plane is included in the plane according to the second included angle;
and calculating the base area parameter according to the area parameter of a target graph, wherein the target graph is a graph formed by the intersection of the complementary sets of the target bottom graphs in the first bottom graph.
2. The method for measuring the floor area parameters of the object according to claim 1, wherein if the object to be measured is a rectangular parallelepiped, the determining the minimum circumscribed floor pattern including the rotated projection pattern specifically comprises:
determining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value in the corner point coordinates of the rotated projection graph;
arranging and combining the maximum X-axis coordinate value, the minimum X-axis coordinate value, the maximum Y-axis coordinate value and the minimum Y-axis coordinate value to obtain four target coordinates;
and constructing the minimum external bottom surface graph by taking the four target coordinates as vertex coordinates.
3. The method for measuring the floor area parameters of the object according to claim 1, further comprising, before projecting the target three-dimensional data onto the plane formed by the X-axis and the Y-axis:
filtering the target three-dimensional data according to a preset height threshold value;
correspondingly, the step of projecting the target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by an X axis and a Y axis to form a projection graph specifically comprises the following steps:
and projecting the filtered target three-dimensional data corresponding to the height value of the object to be measured to a plane formed by the X axis and the Y axis to form the projection graph.
4. The method for measuring the floor area parameters of the object according to claim 1, wherein the calculating the first included angle between the reference corner point of the projection pattern and the corner point adjacent to the reference corner point specifically comprises:
carrying out convex hull processing on each projection coordinate forming the projection graph, and acquiring corner point coordinates of the projection graph;
and taking each corner point of the projection graph as the reference corner point, and correspondingly calculating a plurality of first included angles according to the clockwise direction or the anticlockwise direction.
5. The method for measuring the bottom area parameters of the object according to any one of claims 1 to 4, wherein the object to be measured is a rectangular parallelepiped, the number of the target bottom surface patterns is four, and the four target bottom surface patterns are respectively distributed in a lower region, a left region, a right region and an upper region of the first bottom surface pattern.
6. The method for measuring floor area parameters of an object according to claim 5, wherein said constructing more than or equal to a predetermined number of target floor patterns in said plane containing target three-dimensional data projected to said plane according to said second included angle comprises:
constructing the target bottom surface graph by taking the product of the target step value and the cosine value of the second included angle as the coordinate increment of the X axis and taking the product of the target step value and the sine value of the second included angle as the coordinate increment of the Y axis;
judging whether the target three-dimensional data projected to the plane and contained in the target bottom surface graph is more than or equal to a preset number;
and if not, adding one target step value as the current target step value to reconstruct the target bottom graph as the current target bottom graph until the target three-dimensional data projected to the plane contained in the current target bottom graph is more than or equal to the preset number.
7. An apparatus for measuring a bottom area parameter of an object, comprising:
the projection unit is used for projecting target three-dimensional data corresponding to the height value of the object to be measured, which is acquired by using the three-dimensional laser camera, to a plane formed by an X axis and a Y axis to form a projection graph, and calculating a reference corner point of the projection graph and a first included angle of a corner point adjacent to the reference corner point;
the determining unit is used for performing rotation transformation on the projection graph according to the first included angle, determining a minimum external bottom graph comprising the rotated projection graph, and performing inverse rotation transformation on the minimum external bottom graph according to the first included angle to obtain a first bottom graph;
the construction unit is used for calculating a second included angle between the reference edge of the first bottom surface graph and the X axis so as to construct more than or equal to a preset number of target bottom surface graphs, which contain target three-dimensional data projected to the plane, in the plane according to the second included angle;
and the calculation unit is used for calculating the bottom area parameter according to the area parameter of a target graph, wherein the target graph is a graph formed by the intersection of the complementary sets of the target bottom graphs in the first bottom graph.
8. A system for measuring parameters of the floor area of an object, comprising:
the three-dimensional laser camera is used for acquiring three-dimensional image information of an object to be detected and converting the three-dimensional image information into three-dimensional data;
the conveying belt is used for conveying the object to be detected, wherein a conveying path of the conveying belt comprises an acquisition area of the three-dimensional laser camera;
the adjusting baffle is arranged on the conveying belt and used for adjusting the position of the object to be detected so as to enable the object to be detected to be positioned in the collecting area;
data processing equipment connected with the three-dimensional laser camera for executing the steps of the method for measuring the parameters of the base area of an object as claimed in any one of claims 1 to 6.
9. The system for measuring floor area parameters of an object of claim 8, further comprising a camera triggering device connected to said three-dimensional laser camera;
when the object to be detected enters the acquisition area of the three-dimensional laser camera, the camera trigger device sends a trigger signal to the three-dimensional laser camera to control the three-dimensional laser camera to acquire the three-dimensional image information.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for measuring a floor area parameter of an object according to any one of claims 1 to 6.
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| 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 |
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