CN101281021A - Wood automatic monitoring method and system - Google Patents
Wood automatic monitoring method and system Download PDFInfo
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- CN101281021A CN101281021A CNA2008101065366A CN200810106536A CN101281021A CN 101281021 A CN101281021 A CN 101281021A CN A2008101065366 A CNA2008101065366 A CN A2008101065366A CN 200810106536 A CN200810106536 A CN 200810106536A CN 101281021 A CN101281021 A CN 101281021A
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Abstract
The invention relates to a wood automatic supervision method and a system which combines a laser contour detection, a machine vision recognition and an image processing technology, scans wood contour line for a laser scanning device used for train to transporting wood to gain cross section area of loading wood, uses a machine vision device to gain carriage length of the train, automatically gains volume of the loading wood. The invention also provides an automatic supervision method for yard logs or vehicle loading logs which process to scan for head faces of the logs, gain the cross section area of each log according to a head face image, and then try to obtain log volume according to the wood length, so as to realize the wood automatic supervision. The method and the system provided by the invention are applied to the customs, so as to reduce artificial examination strength of the customs system, improve examination accuracy, and effectively attack smuggling crime.
Description
Technical field
The present invention relates to the supervision field, be specifically related to a kind of Wood automatic monitoring method and system, be used for supervising automatically driving vehicle and load loading log volume, place log volume in timber, the driving vehicle.
Background technology
China's log import in 2007 is nearly more than 3,000 ten thousand cubes according to statistics, 5,300,000,000 dollars of total values, and log is the bulk supply tariff of a lot of frontier custom houses of China port import, therefore need the emphasis supervision, wood volume is measured, checked, whether conceal to check, understatement with declaring quantity.The hand gauging method is adopted in the present stage metering of timber, to the suspicious timber of declaring, according to the specifying measurement of national standard, manually with tape measure every timber is measured, and the accuracy of this method and rationality are not very desirable.Regulation according to national standard, its specific practice is: at each root timber, and by the first amount minor axis (amount to millimeter calculate to centimetre) in microcephaly's end face center, the central vertical inspection amount major diameter by minor axis again, by the profile of the less end of its xsect, manually use box chi (tape measure) to determine its footpath level; Footpath level according to each root wood multiply by a coefficient of determining, obtains the volume number of this root wood, and all need the volume number of the wood of dipping accumulative total, just can obtain the volume number of required dipping wood, i.e. volume of timber number.
The hand gauging mode not only exists needs the shortcoming that personnel are many, labour intensity is big, efficient is low, potential safety hazard is many, and gauging error is big, fluctuation is big because human factor causes.Still do not reach comparatively ideal result even recheck to check and accept and strengthen management, inspection speed is slow, can only spot-check, and can't stop to smuggle phenomenon and exist.
For the automatic measurement test of wood volume, reported that remote sensing technology via satellite estimated the wood volume in some forest zone, land in 1997, but the precision of these methods and operating process obviously do not meet the existing national standard of China.
1992, people such as Brodie used computer vision and have detected log volume.This system has adopted the Hough Hough transform method that detects circular target, obtains the maximum value of Hough transformation results by the K means clustering algorithm, utilizes these maximum value to determine end face footpath grade, thereby calculates log volume.But this system can only handle the log end face of very approaching circle, and its measuring error scope is difficult to practicality in the timber metering at home of such gauging error within 10%.
Domestic, there is the research report based on the Computer Vision Detection log volume in Qingdao Marine University.This system has adopted the obtain instrument of video camera as image, the video input computing machine of gathering at the scene, in video, select image effect preferably picture handle.This system has adopted the technology of cluster analysis and fuzzy diagnosis, and the end face that is extracted depends on the threshold value that is adopted.System all is approximately circular to all end faces, and the average length that multiply by timber again of getting all timber two ends face area summations is as total volume of timber, and as seen, this system does not meet the existing national standard of China yet.
The research of Zhejiang Polytechnic College related work was arranged in 2002.This system has adopted a kind of improved Hausdorff distance algorithm to extract end profile.Though this method has certain innovation, only be to use some predetermined masterplates to approach end profile.
Said system does not extract its profile at each log end face, therefore also can't calculate the footpath level according to national standard, do not consider in the practical application except to log yet, also need demand that sheet material, sawn timber are measured, can't measure loading timber in the train under the motion state, can't satisfy the needs of customs field the timber supervision.
Summary of the invention
The purpose of this invention is to provide a kind of Wood automatic monitoring method, realize the extraction of log end profile in the image, and then according to national standard calculating footpath level, the statistics log volume, and with laser measurement calculate, Machine Vision Recognition Technology measures the transportation timber measurement, the application of this method can reduce hand inspection intensity, improves and checks accuracy rate, the crime of effectively cracking down on smuggling.
For achieving the above object, the present invention adopts following technical scheme:
A kind of Wood automatic monitoring method is provided, be used for the timber that the train that travels loads is supervised, this method may further comprise the steps: scan the railway car that travels with laser scanning device, obtain the appearance profile line data of timber xsect in the compartment, obtain the cross-sectional area of timber according to described appearance profile line data; With camera head take continuously railway car by the time picture, obtain the car length of the train that travels according to shot picture; The volume that obtains timber by the cross-sectional area and the described car length of described timber; Volume according to the described timber that obtains judges whether to go beyond the scope, and supervises.
Wherein, described scanister is a laser scanner, described appearance profile line data are the coordinate of each point on the timber outline line in the compartment that scans, obtain in the laser instrument of laser scanner and the compartment distance of each point on the timber outline line in the scanning, obtain in the described compartment coordinate of each point on the timber outline line through coordinate transform.
Wherein, when described timber is log, obtain the area that described outline line and coordinate surround by the coordinate of each point on the timber outline line in the described compartment, it with described area and numerical range 0.96～0.98 coefficient product, be used to remove the area that the log space takies, obtain the cross-sectional area of described log.
Wherein, described camera head is a digital camera, scanning the compartment at laser scanning device enters in the time period of leaving with the compartment and takes continuously, coordinate transform is carried out in displacement by characteristic area in the shot picture, obtain the distance that the true train compartment moves, determine car length by the distance that described railway car moves.
Wherein, carrying out the method that coordinate transform obtains the distance that moves in the true train compartment by described displacement is: the physical length of obtaining a pixel correspondence in the captured picture of described digital camera; Obtain the shared number of pixels of described displacement; Physical length and number of pixels product by a described pixel correspondence obtain the distance that the true train compartment moves.
Wherein, the sweep frequency of described laser scanner is 60～80Hz, scanning obtains the timber cross-sectional profile cross-sectional data of compartment diverse location in the train driving process, according to the timber cross-sectional profile cross-sectional data of described compartment diverse location, obtain the cross-sectional area of the timber of compartment diverse location; By digital camera take from the compartment enter with compartment time departure section in picture, the displacement of obtaining characteristic area in every adjacent two pictures is carried out coordinate transform to described displacement and is obtained the segment distance that the true train compartment moves; The volume that timber in the compartment is obtained in the cross-sectional area and the described segment distance accumulation summation of the timber of described diverse location.
The present invention also provides a kind of Wood automatic monitoring system, be used for the timber that the train that travels loads is supervised, this system comprises: timber cross-sectional scans unit, be used for the railway car that travels is scanned, obtain the appearance profile line data of timber xsect in the compartment, obtain the cross-sectional area of timber according to described appearance profile line data; The car length measuring unit, be used for to railway car by the time take continuously, obtain the car length of the train that travels according to shot picture; The timber measurement acquiring unit is used for the volume that obtains timber by the cross-sectional area and the described car length of described timber; Timber measurement supervision unit is used for judging whether to go beyond the scope according to the volume of the described timber that obtains, and supervises.
Wherein, described timber cross-sectional scans unit comprises that laser scanner and cross-sectional area ask for the unit, wherein: and described laser scanner, by the laser scans compartment, obtain in described laser instrument and the compartment distance of each point on the timber outline line, and send to cross-sectional area and ask for the unit; Described cross-sectional area is asked for the unit, distance according to each point on the timber outline line in described laser instrument and the compartment, set the coordinate row-coordinate conversion of going forward side by side, obtain in the described compartment coordinate of each point on the timber outline line, obtain the cross-sectional area of timber in the compartment by described coordinate.
Wherein, described laser scanner is the two dimensional laser scanning instrument, is installed in the gantry frame of top, compartment or the both sides of support, and described gantry frame is striden track and set up, and described support is at track two side positions.
Wherein, described car length measuring unit comprises that digital camera, displacement deriving means and car length ask for device, digital camera, be used for the compartment enter with time departure in pictures taken continuously, and picture shot sent to the displacement deriving means; The displacement deriving means, the displacement that is used for obtaining described picture characteristic area is carried out coordinate transform to described displacement and is obtained the distance that the true train compartment moves; Car length is asked for device, determines car length by the distance that the true train compartment moves.
Wherein, described digital camera is installed on portal frame or the support, is taking from the train top, makes the visual field of video camera can cover track.
The present invention has also improved a kind of Wood automatic monitoring method, be used for the loading log of stockyard log or stationary vehicle is supervised, this method may further comprise the steps: take the end view drawing picture of described stockyard log or described loading log with camera head, according to the cross-sectional area of described end face Image Acquisition log radical and every log; Utilize rule to measure the length of log; Obtain described stockyard log or load the volume of timber of log by the cross-sectional area of log radical, every log and log length; The volume of timber according to described stockyard log that obtains or loading log judges whether to go beyond the scope, and supervises.
Wherein, the method for the cross-sectional area of described end face Image Acquisition log radical of foundation and every log is: described end view drawing is looked like to carry out pre-service, remove the background of log in the image; Pretreated end view drawing is looked like to carry out image segmentation, obtain the zone of log radical and every log correspondence in the end view drawing picture; End view drawing after cutting apart is looked like to carry out profile extract, obtain the profile of every log corresponding region in the end view drawing picture; According to the profile of described every log corresponding region in the end view drawing picture, determine the line of apsides and the center of different log end faces, obtain the cross-sectional area of described stockyard log or loading log.
Wherein, described image segmentation is comprised step: described end view drawing is looked like to carry out Hough transformation,, determine the center of every log end region according to the Hough variation peak value of every log end region correspondence in the end view drawing picture; Setting is the circular shuttering in the center of circle with the center of described every log end region, obtain described circular shuttering under different-diameter with the matching degree of every log end region; Greater than stopping coupling under the setting threshold, determine that the circular shuttering of matching degree maximum is a matching template in matching degree, the zone that falls in the described matching template is that log is in the corresponding zone of end view drawing picture.
Wherein, end view drawing picture after cutting apart is carried out rim detection based on wavelet transformation, distinguish credible point and insincere point according to the edge that is detected, removal detects the insincere point in the edge, the credible point that detects the edge is carried out interpolation recover edge contour, obtain the profile of every log corresponding region in the end view drawing picture.
Wood automatic monitoring method provided by the invention for simply, fast, mill scale method accurately, measure the volume of timber by adopting laser measurement, profile detection technique to loading timber in the train that travels, adopt Flame Image Process and recognition technology that the log volume in travel train and the stockyard is measured, the project implementation can realize on the train in current and the wood volume in the stockyard carries out automatically, measurement fast, can substitute hand gauging fully, realize 100% examination, the crime of can effectively cracking down on smuggling.
Description of drawings
Fig. 1 loads the Wood automatic monitoring method process flow diagram of timber to driving vehicle for the present invention;
Fig. 2 obtains the synoptic diagram of the appearance profile line of timber xsect in the compartment for the present invention utilizes laser scanner;
Fig. 3 is the installation site synoptic diagram of digital camera in Wood automatic monitoring method of the present invention and the system;
Fig. 4 is for loading the outline figure of timber in the compartment in the Wood automatic monitoring method of the present invention;
Fig. 5 is the composition frame chart of Wood automatic monitoring of the present invention system;
Fig. 6 loads the automatic monitoring method process flow diagram of log to stockyard log and stationary vehicle for the present invention;
Fig. 7 is the invention process 3 Wood automatic monitoring system schematic.
Among the figure: 1, image collecting device; 2, control computer; 3, converter; 4, switch; 5, data server.
Embodiment
Wood automatic monitoring method and system that the present invention proposes are described as follows in conjunction with the accompanying drawings and embodiments.
Be illustrated in figure 1 as the Wood automatic monitoring method process flow diagram that driving vehicle is loaded timber, this method is used for the timber that the train that travels loads is supervised, this method mainly comprises step: step S101, scan the railway car that travels with laser scanning device, obtain the appearance profile line data of timber xsect in the compartment, obtain the cross-sectional area of timber according to described appearance profile line data; Step S102, with camera head take continuously railway car by the time picture, obtain the car length of the train that travels according to shot picture; Step S103, the volume that obtains timber by the cross-sectional area and the described car length of described timber; Step S104 judges whether to go beyond the scope according to the volume of the described timber that obtains, and supervises, and the implementation of each step in the present embodiment is described in detail in detail below.
Step S101 scans the railway car that travels with laser scanning device, obtains the appearance profile line data of timber xsect in the compartment.
When if the above-mentioned train that travels is train, for in train is run at high speed process, obtain the volume that every joint compartment loads timber, must be able to obtain the cross-sectional profile cross-sectional data of timber in the compartment, adopt the diffuse reflection laser scanner to obtain the cross-sectional profile outline line of timber in the compartment in the present embodiment, be specially and use two two dimensional laser scanning instrument, as shown in Figure 2, laser setup scanning angle in each laser scanner is 90 degree, sweep frequency 75Hz, obtain the xsect outline each point distance of each laser instrument timber in the compartment by above-mentioned two laser scanners, the distance calculation that the process coordinate conversion is obtained two laser scanners, analyze, obtain each point coordinate on the appearance profile of timber xsect in the compartment, thereby generate the appearance profile line of timber in the compartment.
Being illustrated in figure 2 as the present invention utilizes laser scanner to obtain the synoptic diagram of the appearance profile line of timber xsect in the compartment, top position, both sides at the train vibration influence track, place the two dimensional laser scanning instrument respectively, because the scanning angle of laser setup is 90 degree in the scanner, can guarantee the outer contour of timber xsect in the compartment is carried out complete scan, because the sweep frequency of setting is 75Hz, can obtain 75 timber cross-sectional profile outline lines by above-mentioned scanner per second, this train is the train that travels, therefore, the appearance profile line of the timber xsect that at every turn scans all is different, can obtain appearance profile like this at the timber xsect of railway carriage diverse location, the appearance profile line that present embodiment obtains the timber xsect with laser scanner is based on laser distance measuring principle, promptly at first obtain the laser instrument and the each point distance of loading the timber outline of scanner, as A wherein, the distance that B is 2, according to this distance setting coordinate, the process coordinate transform can draw and load A on the timber outline in the compartment, coordinate A (the X that B is 2
j, Y
j), B (X
J+1, Y
J+1), set coordinate, and the distance value that obtains is carried out coordinate transformating technology for existing common technology, no longer describe in detail here.2 area Δ S that project to X-Y shade and shadow that axle surrounds part through coordinate transform of above-mentioned A, B
jComputing formula be:
Railway carriage can scan several timber cross-sectional profiles lines that are positioned at the compartment diverse location from entering scanning area during leave, to i cross-sectional area S that timber cross-sectional profiles line surrounds wherein
iJust can obtain, be specially by the accumulation summation:
Counting on the timber xsect outer contour of being gathered when wherein, m is the laser scans compartment xsect of scanner subtracts 1.
By said method, can obtain the timber cross-sectional area that is positioned at the compartment diverse location that scans, promptly can obtain to load the cross-sectional area of timber diverse location in the compartment.
In addition, the profile of timber xsect can judge that the timber that is loaded is sheet material or log in the compartment that scanner obtains, if sheet material, promptly the area that surrounds of timber cross-sectional profiles line that obtains by above-mentioned steps and coordinate axis is learnt the cross-sectional area of sheet material, if log, after obtaining the area that surrounds of timber cross-sectional profiles line and coordinate axis, also to handle it, because when rollway is put together, see over from end face, its inside is apertured, so remove the shared area in slit between each log, the area that surrounds that is specially above-mentioned timber cross-sectional profiles line that obtains and coordinate axis multiply by conversion factor, and this coefficient is to obtain by experiment, and employed coefficient scope is 0.96-0.98 in the present embodiment.
Step S102, with camera head take continuously railway car by the time picture, obtain the car length of the train that travels according to shot picture.
Camera head in the present embodiment is the black and white digital camera, as shown in Figure 3, is installed on (or on support) on the portal frame, takes from the train top, makes the visual field of video camera can cover the train vibration influence track.
The compartment of taking continuously according to video camera by the time picture, by in adjacent two width of cloth pictures, seeking the shift length of compartment characteristic area, just can calculate the actual mobile distance L in compartment by coordinate conversion according to this displacement
i
Method according to the actual distance that moves in above-mentioned displacement calculating compartment in the present embodiment is: the physical length of obtaining a pixel correspondence in the captured image of digital camera; Obtain the shared number of pixels of described displacement; Physical length and number of pixels product by a described pixel correspondence obtain the distance that the true train compartment moves.
For the above-mentioned method of obtaining the physical length of a pixel correspondence in the captured image of digital camera, can erect scale in the visual field of video camera demarcates, if the length of scale is 2m, adjust camera parameter, make the number of pixels of scale correspondence be about 2000, then a pairing physical length of pixel in the image is about 1mm, therefore, as long as the edge navigates to the regulation that Pixel-level just can satisfy national standard.In addition, also can use the sideline in standard length compartment to replace scale to carry out calibrating length.
Timber outline synoptic diagram in the compartment as shown in Figure 4, the compartment head that provides according to laser scanner in the present embodiment arrives and the compartment afterbody leaves signal, taken n picture from taking the compartment head continuously to taking the compartment afterbody, every two adjacent pictures are wherein calculated every section mobile distance in compartment, and then calculate the segment length in compartment, with compartment displacement addition, then obtain the compartment total length L, formula is as follows:
L＝L
0+L
1+L
2…+L
n-1
Wherein, L
0Be the distance that compartment between first pictures that arrive to take from the compartment head and second pictures moves, L
1The distance that the compartment that obtains for second pictures and the 3rd pictures from compartment head arrival shooting moves, L
2The distance that the 3rd pictures of arrive taking for the compartment head and the compartment of the 4th pictures acquisition move, L
N-1The distance that the n-1 pictures of arrive taking for the compartment head and the compartment of n pictures acquisition move.
The compartment head that provides about above-mentioned laser scanner arrives and the compartment afterbody leaves the method for signal, can use laser scanner directly to be connected with digital camera, directly reach the signal that leaves with the compartment afterbody to the compartment head to the digital camera transmission scan, or laser scanner is connected to Computer Control Unit, obtain laser scanner scans by Computer Control Unit and arrive and compartment afterbody when leaving signal to the compartment head, indirect control figure video camera starts or stops picture shooting.
The method of obtaining the compartment total length in the present embodiment is not limited to above-mentioned accumulative total summation, and the distance that also can be directly moved by the compartment that arrives first pictures taken and the acquisition of n pictures from the compartment head directly draws the total length in compartment.
Step S103: the volume that obtains timber by the cross-sectional area and the described car length of described timber.
Specifically obtain the volume that loads timber in this step following method arranged:
Got access to each cross-sectional area of loading timber of diverse location in the compartment in step S101, the product of the total total length of mean value and compartment by above-mentioned each area of section is obtained the volume that loads timber, and this method is simple, and has certain degree of accuracy;
If the sweep frequency of the laser scanner in step S101 is lower, even vehicle by the time only scan an xsect that loads timber by laser scanner, in this case, also can directly obtain the volume that loads timber by the product of this cross-sectional area and compartment total length, but the xsect of the loading timber that obtains is many more approaching more true, and precision can be high more.
The sweep frequency of laser scanner is 75Hz in the present embodiment, when the compartment passes through, the cross-sectional view that obtains has several, therefore can obtain and load the cross-sectional area of timber at each diverse location of compartment, owing to can segmentation in step S102 obtain the displacement in compartment, the accumulation of each segmentation displacement is summed to the compartment total length, therefore the different segment length in the corresponding compartment of actual every section displacement, owing to can get access to the interior a plurality of cross-sectional areas of the different sections in compartment according to laser scanner, therefore obtain every section volume that loads timber in the compartment, the volume accuracy of the loading timber that obtains like this is the highest, and present embodiment adopts this method exactly.
Video camera take train by the time picture the time, adopt time set to obtain the used time Δ t of displacement of the unique point between two adjacent pictures, obtain the displacement L in actual compartment by coordinate transform by the displacement of characteristic area in the two adjacent pictures
i, because the sweep frequency of laser instrument is 75Hz in the scanner, thus time of Δ t in, the compartment that is scanned loads timber cross section number n and is:
n＝Δt×75
Can draw timber xsect S
1(the timber xsect that zero-time scanned of Δ t), section S
1+nCar goods volume delta V between (timber xsect) through being scanned behind the Δ t
iThe computing formula of (promptly wherein loading the volume of timber in one section compartment) is:
Wherein, L
iBy the displacement that the displacement of characteristic area in the two adjacent pictures is obtained actual compartment by coordinate transform, n for time of Δ t in the compartment that scanned load timber xsect number, Δ t is the used time of displacement of the unique point between two adjacent pictures.
Thereby the volume V that loads timber in the whole compartment just can calculate according to following formula:
Wherein, p is that i is an integer by the hop count in the resulting whole compartment of the captured continuous picture of digital camera.
Step S104 judges whether to go beyond the scope according to the volume of the described timber that obtains, and supervises.
The volume of the above-mentioned loading timber that obtains is sent in the database, and managerial personnel can land database and check relevant information, manage according to these data.
Be illustrated in figure 5 as the block diagram of system of the Wood automatic monitoring of the present invention's proposition, be used for the timber that the train that travels loads is supervised, this system comprises: timber cross-sectional scans unit, be used for the railway car that travels is scanned, obtain the appearance profile line data of timber xsect in the compartment, obtain the cross-sectional area of timber according to described appearance profile line data; The car length measuring unit, be used for to railway car by the time take continuously, obtain the car length of the train that travels according to shot picture; The timber measurement acquiring unit is used for the volume that obtains timber by the cross-sectional area and the described car length of described timber; Timber measurement supervision unit is used for judging whether to go beyond the scope according to the volume of the described timber that obtains, and supervises.
In this system, timber cross-sectional scans unit comprises that laser scanner and cross-sectional area ask for the unit, and described laser scanner is by the laser scans compartment, obtain in laser instrument and the compartment distance of each point on the timber outline line, and send to cross-sectional area and ask for the unit; Cross-sectional area is asked for the unit, according to the distance of each point on the timber outline line in laser instrument and the compartment, sets the coordinate row-coordinate conversion of going forward side by side, and obtains in the compartment coordinate of each point on the timber outline line, is obtained the cross-sectional area of timber in the compartment by coordinate.
In this system, laser scanner is the two dimensional laser scanning instrument, is installed in the gantry frame of top, compartment or the both sides of support, and described gantry frame is striden track and set up, and described support is at track two side positions.
In this system, the car length measuring unit comprises that digital camera, displacement deriving means and car length ask for device, digital camera, be used for the compartment enter with time departure in pictures taken continuously, and picture shot sent to the displacement deriving means; The displacement deriving means, the displacement that is used for obtaining the picture characteristic area, the conversion of contraposition shift-in row-coordinate obtains the distance that the true train compartment moves; Car length is asked for device, determines car length by the distance that the true train compartment moves.
In this system, digital camera is installed on portal frame or the support, is taking from the train top, makes the visual field of video camera can cover track.
Method and system in the present embodiment, adopt software and hardware combining to realize to transporting the automatic measurement of timber measurement in the driving vehicle, managerial personnel judge whether to go beyond the scope according to the timber measurement that obtains, practice is supervision automatically, owing to replaced traditional manual measurement, omission can not appear, and the volume accuracy height of the timber of detection, play positive role to hitting smuggling offences, the artificial examination of reduction intensity, raising customs clearance efficiency and examination accuracy.
Embodiment 2
The method of the Wood automatic monitoring that is provided in the present embodiment is used for stockyard log or stationary vehicle loading log are supervised, because the static laser scanning device that can't use of timber obtains outline line, by image processing method the timber end face is discerned, calculated the cross-sectional area of every timber.
For the present invention stockyard log and static train are loaded the Wood automatic monitoring method process flow diagram of log as Fig. 6, this method may further comprise the steps: step S201, take the end view drawing picture of described stockyard log or described loading log with camera head, according to the cross-sectional area of described end face Image Acquisition log radical and every log; Step S202 utilizes rule to measure the length of log; Step S203 is obtained described stockyard log or is loaded the volume of timber of log by the cross-sectional area of log radical, every log and log length; Step S204 judges whether to go beyond the scope according to the described stockyard log of acquisition or the volume of timber of loading log, supervises.
The end view drawing picture of taking described stockyard log or described loading log with camera head is described in detail below in detail, the embodiment of the cross-sectional area of described end face Image Acquisition log radical of foundation and every log.
In the present embodiment, because the cross-sectional area of log is obtained by image, need set up the proportionate relationship of captured image and actual range, the concrete method that adopts is when video camera imaging, below rollway, place the scale of regular length, make it with the log end face in same plane.By calculating length of the scale pairing number of pixels in image, just can obtain the physical length of a pixel correspondence in the image.If length of the scale is 2m, adjust camera parameter, make the number of pixels of scale correspondence be about 2000, then a pairing physical length of pixel in the image is about 1mm, therefore, as long as the edge navigates to the regulation that Pixel-level just can satisfy national standard.In like manner, it also is the same that the log xsect obtains principle, in fact for most log end faces, even the length of its minor axis has small difference with physical length, also can not influence the division of its footpath level.
For near the situation that is not suitable for the log end face, placing scale, as the compartment end face of motion train, can use the sideline in standard length compartment to replace scale to carry out calibrating length, also can in the visual field of video camera, erect scale in addition and demarcate.
Because a captured width of cloth log end view drawing looks like to have comprised hundreds of log end faces, extract the cross-sectional area that just can obtain log to the accurate profile of these different log end faces respectively.After obtaining log end view drawing picture, extract the end profile of different logs in the present embodiment: the end face image is carried out pre-service, remove the background of log in the image by following method; Pretreated end view drawing is looked like to carry out image segmentation, obtain the zone of log radical and every log correspondence in the end view drawing picture; End view drawing after cutting apart is looked like to carry out profile extract, obtain the profile of every log corresponding region in the end view drawing picture; According to the profile of described every log corresponding region in the end view drawing picture, determine the line of apsides and the center of different log end faces, obtain the cross-sectional area of described stockyard log or loading log.
(1) the end face image is carried out pre-service, remove the background of log in the image
The pre-service of log image comprises that artificial pre-service and edge of image detect two parts.
Usually comprised other scenery except that log to be measured in the original log image, for eliminating the influence of these backgrounds, need carry out artificial pre-service, for next step processing provides unified information representation.
In the log volume automated detection system, because the variation of viewing field of camera, and the variation of detected object, make to exist some other scenery in the image.These scenery can bring influence to identification, so the problem that the pre-service of image will solve removes these irrelevant backgrounds exactly, unified information representation are provided for next step processing.Usually, the background more complicated that has nothing to do with the detection target in the image is so this operation is finished by hand by the operator.
The subsequent treatment of image is carried out in artificial pretreated zone, thereby can get rid of the interference of background.Owing to adopted the scale of standard length to determine the physical length of image pixel correspondence in the present embodiment, so the positional information of scale in image is most important, must position scale exactly, to reduce the measuring error of being brought because of the error of scale.Therefore, the definite of scale finished by the operator.
The porch that also comprises the end view drawing picture after the artificial pre-service detects, the edge is meant that image local brightness changes the most significant part, because the edge detection algorithm based on wavelet transformation has multiple dimensioned characteristic, its edge detection results has important use to be worth in the successive image identifying, so present embodiment has been selected the rim detection based on small echo for use.
(2) pretreated end view drawing is looked like to carry out image segmentation, obtain the zone of log radical and every log correspondence in the end view drawing picture
In one width of cloth log end view drawing picture up to a hundred log end faces are often arranged, to analyze these end faces, at first will cut apart them, utilize the result of cutting apart that end face is further analyzed then, promptly the multi-target detection problem is converted into detection problem to a plurality of single goals to one, thereby makes follow-up graphical analysis become possibility.Like this, the image segmentation of log just has following two purposes, and the one, log end face and background separation in the image are opened, the 2nd, make it to separate thereby give specific markers with other end faces of image to each end face.It is accurate as far as possible to cut apart the feature description that should make each end face, makes the situation of many inspections, omission few as far as possible again.
Log end face image segmentation is to set up a kind of description to the image end face, and this description can reflect the approximate region at each log end face place in the image, and promptly different end faces is corresponding corresponding zone in image.Because the log end face overwhelming majority is the similar round shape, therefore the result who describes image segmentation with circle (coordinate and the radius of a circle that comprise the center of circle) is effectively, and the cluster that the essence of log end face image segmentation is just justified the class of each log end face correspondence in the image.
Image segmentation comprises step:
1. described end view drawing is looked like to carry out Hough transformation,, determine the center of every log end region, in log end view drawing picture according to the Hough variation peak value of every log end region correspondence in the end view drawing picture.
End face can be divided into different class circle zones through Hough transformation, and the peak value of the Hough Hough conversion that each zone is corresponding is confirmable, characteristics according to Hough transformation, by the peak value of the Hough transformation center in class circle zone according to a preliminary estimate, this process no longer describes in detail here for existing method commonly used.
2. the center of setting with described every log end region is the circular shuttering in the center of circle, obtain described circular shuttering under different-diameter with the matching degree of every log end region.
As other A is point set in the end region to be matched, B is a circular shuttering, our purpose is to find a suitable circular shuttering B to try one's best and point set A coupling, be specially threshold value D of definition, among point among the statistics point set A and the template B each point apart from minimum value less than the number K of threshold value D (A, B).When template B is the bowlder of radius r, (A, meaning B) is exactly that point among the point set A is positioned at external diameter and is (r+D), internal diameter counting for the annulus inside of (r-D) to K.The systematicness of end surface shape is depended in the selection of threshold value D.For irregular end face, the big then easier point with end face of D value comprises into annulus.Usually get D=3.As seen (A B) is the tolerance of matching degree between point set A and the template B to K.
3. mate greater than stopping under the setting threshold in matching degree, determine that the circular shuttering of matching degree maximum is a matching template, the zone that falls in the described matching template is that log is in the corresponding zone of end view drawing picture.
Find the parameter (x of template, y, r), (x wherein, y) be the center of circle of template B, r is its radius, makes the matching degree maximum of this template and point set A, and then this template is the matching template with point set A, to each end region in the end face image, this end region is class circle zone, and search need be tried to achieve matching degree K to the template translation within the specific limits of each possibility size with the template of its coupling
k, get then and make K
kMaximum template.
(3) end view drawing after cutting apart being looked like to carry out profile extracts, obtain the profile of different logs corresponding region in the end view drawing picture, end view drawing picture after cutting apart is carried out rim detection based on wavelet transformation, distinguish credible point and insincere point according to the edge that is detected, removal detects the insincere point in the edge, the credible point that detects the edge is carried out interpolation recover edge contour, obtain the profile of every log corresponding region in the end view drawing picture.
After image segmentation is finished, need analyze segmentation result.Analyzing of task is to extract the end profile of each log in each image, calculates its footpath level according to the profile that is extracted according to national standard then.
Profile extracts and adopts existing Snake profile extraction method in the present embodiment, based on the rim detection that the front utilizes wavelet transformation to do, should remove incredible point as far as possible, utilizes interpolation algorithm to recover the profile of end face according to believable point then.The key that realizes this strategy is how correctly to distinguish believable point and incredible point.According to the analysis to the image wavelet transform result, when yardstick was big, during the mould of wavelet transformation was very big, though the part that has is bigger with the actual conditions skew, they still can better reflect the profile information of end face.Therefore, the point in these neighborhoods of a point is more credible.But for the end face that has, the point that obtains like this still has part insincere.Further, yardstick hour, the great amplitude of the WAVELET TRANSFORM MODULUS of comparatively believable point is corresponding to higher.
(4) according to the profile of every log corresponding region in the end view drawing picture, determine the line of apsides and the center of different log end faces, obtain the cross-sectional area of described stockyard log or loading log
Behind the profile that has obtained the log end face, need carry out the calculating of footpath level.Calculate the footpath level and will meet request of national standard.At first need to determine the center of log end face.Yet in the national standard, regulation is not determined the method at log end face center.During hand gauging, the center of log end face is to determine according to culler's experience.After test of many times and research, we are defined as the center of log end face in the center of circle of the maximum inscribed circle of log profile.
After obtaining the end face center, the length that can determine the log end face according to the profile and the center thereof of end face, minor axis.Its algorithm is: straight line is made at the center of crossing end face, the length of the line segment between two intersection points of record straight line and profile, and in all these line segments, the shortest line segment of length is the minor axis of end face.After obtaining the minor axis of end face, the straight line vertical with minor axis made at the center of crossing, and the line segment between two intersection points of this straight line and end profile is major diameter.So just obtained the line of apsides of end face, can follow national standard then and calculate the footpath level of end face and try to achieve the log area of section.
Method in the embodiment of the invention 1 has realized the automatic supervision to the train loading timber that travels, embodiment 2 has realized the Wood automatic monitoring in stockyard log and the stationary vehicle, said method and system is required to the system of customs, can realize automatic supervision, effectively hit smuggling each occasion timber.
Embodiment 3
Owing to proposed to obtain the method for cross-sectional area of the every log of end face Image Acquisition of log in the embodiment of the invention 2, loading Wood automatic monitoring to driving vehicle can also adopt mode shown in Figure 7, the train that wherein travels is a train, X-1, X, the compartment that the X+1 representative is different, be mounted with timber in this compartment, diverse location is separately installed with three video cameras above the train vibration influence track, video camera C1, C3 is used to take the end view drawing picture of timber in the compartment, C1, C3 is positioned at the track top, after the certain angle that tilts is respectively taken, the front end face image, video camera C2, C4 be positioned at both sides, track top be used for taking continuously the compartment by the time picture, be used to obtain car length, video camera C1, C2, C3, C4 is connected with image collecting device 1 respectively, image collecting device 1 is connected with control computer 2, image collecting device 1 is used for the image that video camera is taken is carried out data acquisition and sends to control computer 2, software in control is calculated can obtain the length in compartment by the method described in the embodiment 1, laser scanning instrument C5, C6 is used to scan the outline of timber in the compartment, be positioned at the left and right sides, track top, laser scanning instrument C5, C6 is connected back Access Control computing machine 2 with converter 3, converter 5 is used for that the distance value that laser scanner obtains is converted to coordinate figure and obtains timber outline data, the outline data are sent to control computer 2, press embodiment 1 described method by the software in the control computer 2 and calculate the timber cross-sectional area, control computer 2 can also be judged the signal that the compartment enters and leaves according to the outline data that receive simultaneously, thus control video camera C2, the startup of C4 and static.Control computer can comprise each data of above-mentioned acquisition: compartment end face view data, car length data, compartment cross-sectional data, timber measurement data of calculating etc. send to by switch 4 preserves on the data server 5, and managerial personnel login this server can get access to each data.In the present embodiment because the translational speed of train of travelling is very fast, so the end view drawing picture by timber in the compartment of video camera C1, C3 shooting is not very accurate, so loading timber is that the situation of log is obtained the log cross-sectional area without this picture by the method for embodiment 2, but the image of taking is sent to file in the data server 5 by control computer 2, access the kind that above-mentioned picture obtains timber by managerial personnel, as the supplemental characteristic of management timber.
Above embodiment only is used to illustrate the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; under the situation that does not break away from the spirit and scope of the present invention; can also make various variations and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (15)
1, a kind of Wood automatic monitoring method is used for the timber that the train that travels loads is supervised, and it is characterized in that this method may further comprise the steps:
Scan the railway car that travels with laser scanning device, obtain the appearance profile line data of timber xsect in the compartment, obtain the cross-sectional area of timber according to described appearance profile line data;
With camera head take continuously railway car by the time picture, obtain the car length of the train that travels according to shot picture;
The volume that obtains timber by the cross-sectional area and the described car length of described timber;
Volume according to the described timber that obtains judges whether to go beyond the scope, and supervises.
2, Wood automatic monitoring method as claimed in claim 1, it is characterized in that, described scanister is a laser scanner, described appearance profile line data are the coordinate of each point on the timber outline line in the compartment that scans, obtain in the laser instrument of laser scanner and the compartment distance of each point on the timber outline line in the scanning, obtain in the described compartment coordinate of each point on the timber outline line through coordinate transform.
3, Wood automatic monitoring method as claimed in claim 2, it is characterized in that, when described timber is log, obtain the area that described outline line and coordinate surround by the coordinate of each point on the timber outline line in the described compartment, it with described area and numerical range 0.96～0.98 coefficient product, be used to remove the area that the log space takies, obtain the cross-sectional area of described log.
4, as claim 1 or 3 described Wood automatic monitoring methods, it is characterized in that, described camera head is a digital camera, scanning the compartment at laser scanning device enters in the time period of leaving with the compartment and takes continuously, coordinate transform is carried out in displacement by characteristic area in the shot picture, obtain the distance that the true train compartment moves, determine car length by the distance that described railway car moves.
5, Wood automatic monitoring method as claimed in claim 4 is characterized in that, carries out the method that coordinate transform obtains the distance that moves in the true train compartment by described displacement to be:
Obtain the physical length of a pixel correspondence in the captured picture of described digital camera;
Obtain the shared number of pixels of described displacement;
Physical length and number of pixels product by a described pixel correspondence obtain the distance that the true train compartment moves.
6, Wood automatic monitoring method as claimed in claim 5 is characterized in that,
The sweep frequency of described laser scanner is 60～80Hz, scanning obtains the timber cross-sectional profile cross-sectional data of compartment diverse location in the train driving process, according to the timber cross-sectional profile cross-sectional data of described compartment diverse location, obtain the cross-sectional area of the timber of compartment diverse location;
By digital camera take from the compartment enter with compartment time departure section in picture, the displacement of obtaining characteristic area in every adjacent two pictures is carried out coordinate transform to described displacement and is obtained the segment distance that the true train compartment moves;
The volume that timber in the compartment is obtained in the cross-sectional area and the described segment distance accumulation summation of the timber of described diverse location.
7, a kind of Wood automatic monitoring system is used for the timber that the train that travels loads is supervised, and it is characterized in that this system comprises:
Timber cross-sectional scans unit is used for the railway car that travels is scanned, and obtains the appearance profile line data of timber xsect in the compartment, obtains the cross-sectional area of timber according to described appearance profile line data;
The car length measuring unit, be used for to railway car by the time take continuously, obtain the car length of the train that travels according to shot picture;
The timber measurement acquiring unit is used for the volume that obtains timber by the cross-sectional area and the described car length of described timber;
Timber measurement supervision unit is used for judging whether to go beyond the scope according to the volume of the described timber that obtains, and supervises.
8, Wood automatic monitoring as claimed in claim 7 system is characterized in that, described timber cross-sectional scans unit comprises that laser scanner and cross-sectional area ask for the unit, wherein:
Described laser scanner by the laser scans compartment, obtains in described laser instrument and the compartment distance of each point on the timber outline line, and sends to cross-sectional area and ask for the unit;
Described cross-sectional area is asked for the unit, distance according to each point on the timber outline line in described laser instrument and the compartment, set the coordinate row-coordinate conversion of going forward side by side, obtain in the described compartment coordinate of each point on the timber outline line, obtain the cross-sectional area of timber in the compartment by described coordinate.
9, Wood automatic monitoring as claimed in claim 8 system, it is characterized in that described laser scanner is the two dimensional laser scanning instrument, be installed in the gantry frame of top, compartment or the both sides of support, described gantry frame is striden track and is set up, and described support is at track two side positions.
10, Wood automatic monitoring as claimed in claim 7 system is characterized in that, described car length measuring unit comprises that digital camera, displacement deriving means and car length ask for device, wherein:
Digital camera, be used for the compartment enter with time departure in continuous pictures taken, and picture shot sent to the displacement deriving means;
The displacement deriving means, the displacement that is used for obtaining described picture characteristic area is carried out coordinate transform to described displacement and is obtained the distance that the true train compartment moves;
Car length is asked for device, determines car length by the distance that the true train compartment moves.
11, Wood automatic monitoring as claimed in claim 10 system is characterized in that described digital camera is installed on portal frame or the support, is taking from the train top, makes the visual field of video camera can cover track.
12, a kind of Wood automatic monitoring method is used for the loading log of stockyard log or stationary vehicle is supervised, and it is characterized in that this method may further comprise the steps:
Take the end view drawing picture of described stockyard log or described loading log with camera head, according to the cross-sectional area of described end face Image Acquisition log radical and every log;
Utilize rule to measure the length of log;
Obtain described stockyard log or load the volume of timber of log by the cross-sectional area of log radical, every log and log length;
The volume of timber according to described stockyard log that obtains or loading log judges whether to go beyond the scope, and supervises.
13, Wood automatic monitoring method as claimed in claim 12 is characterized in that, the method for the cross-sectional area of described end face Image Acquisition log radical of foundation and every log is:
Described end view drawing is looked like to carry out pre-service, remove the background of log in the image;
Pretreated end view drawing is looked like to carry out image segmentation, obtain the zone of log radical and every log correspondence in the end view drawing picture;
End view drawing after cutting apart is looked like to carry out profile extract, obtain the profile of every log corresponding region in the end view drawing picture;
According to the profile of described every log corresponding region in the end view drawing picture, determine the line of apsides and the center of different log end faces, obtain the cross-sectional area of described stockyard log or loading log.
14, Wood automatic monitoring method as claimed in claim 13 is characterized in that, described image segmentation is comprised step:
Described end view drawing is looked like to carry out Hough transformation,, determine the center of every log end region according to the Hough variation peak value of every log end region correspondence in the end view drawing picture;
Setting is the circular shuttering in the center of circle with the center of described every log end region, obtain described circular shuttering under different-diameter with the matching degree of every log end region;
Greater than stopping coupling under the setting threshold, determine that the circular shuttering of matching degree maximum is a matching template in matching degree, the zone that falls in the described matching template is that log is in the corresponding zone of end view drawing picture.
15, Wood automatic monitoring method as claimed in claim 13, it is characterized in that, end view drawing picture after cutting apart is carried out rim detection based on wavelet transformation, distinguish credible point and insincere point according to the edge that is detected, removal detects the insincere point in the edge, the credible point that detects the edge is carried out interpolation recover edge contour, obtain the profile of every log corresponding region in the end view drawing picture.
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Effective date of registration: 20110523 Address after: 100190, room 1301, satellite building, No. 63, Zhichun Road, Beijing, Haidian District Patentee after: Beijing Hualixing Sci-Tech Development Co., Ltd. Address before: 100036 Beijing city Haidian District Fuchengmen Road Beijing Yindu Building No. 67 room 910 Patentee before: Tianhengwei Technology (Beijing) Co., Ltd. |