CN102721367A - Method for measuring volume of large irregular bulk grain pile based on dynamic three-dimensional laser scanning - Google Patents
Method for measuring volume of large irregular bulk grain pile based on dynamic three-dimensional laser scanning Download PDFInfo
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- 235000013339 cereals Nutrition 0.000 description 71
- 238000011161 development Methods 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 240000008042 Zea mays Species 0.000 description 2
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
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Abstract
The invention relates to a method for measuring the volume of a large irregular bulk grain pile based on dynamic three-dimensional laser scanning. The method comprises the following steps of: arranging a guide rail in the middle of the top of a barn along the width direction, wherein the guide rail is provided with a slide block controlled by a stepping motor, and a laser radar scanner is installed on the slide block; moving the slide block from one end to the other end of the top of the barn at a constant speed to drive the laser radar scanner by the slide block to finish scanning on the surface of the whole bulk grain pile, wherein the laser radar device is a one-dimensional scanning device to realize linear scanning and returning coordinate data, and the master control computer is used for transmitting pulses to the stepping motor and processing the signal; acquiring point cloud data of the surface of the bulk grain pile through the master control computer, determining the distribution density of scanned points for calculating the volume according to an allowed error value of the grain pile measured by the user, and calculating the weight of the grain pile according to the grain density provided by the user; and generating a point cloud graphic matrix attached with coordinates through scanning space morphology by guide rail moving type three-dimensional laser, performing surface fitting to form an irregular bulk grain pile appearance, and thus obtaining the volume of the irregular bulk grain pile. The volume of the large irregular bulk grain pile can be rapidly and effectively measured at high precision, and remote monitoring can be realized; and moreover, the method is low in cost and easy to implement.
Description
Technical field
The present invention relates to a kind of large-scale irregular Bulk Grain heap volume measuring method, be used for grain reserves monitoring field based on dynamic 3 D laser scanning.
Background technology
Grain reserves are be to guarantee consumption demand, regulate the grain supply and demand balance, stablize the grain market price, tackle major natural disasters or other accidents and a material stock system setting up.This system directly influences national security.For this grain real-time monitoring and the quantity of deposit in the warehouse being appraised and decided, is the key that ensures national interests and grain security.Simultaneously also be the emphasis and the difficult point of stored grain management.About 3,000 hundred million jin of China's grain reserves, nearly approximately 10,000,000,000 yuan of year grain reserves subsidy.Because storage level quantity is huge, relate to the tremendous economic interests, make empty storehouse, make a false report discount, with difference finish changing, all kinds of violations, illegal incidents such as pilferage emerge in an endless stream, and have caused the tremendous economic loss to country.During two Conferences in 2008, Yuan Longping academician points out that some grain depot is the sky storehouse, causes that state leader and various circles of society show great attention to.Annual later on by the National Development and Reform Commission, State Grain Administration, the Ministry of Finance and the co-anchor whole nation grain Stock Check work of four big departments of the Agricultural Development Bank of China.The statistical monitoring mode that tradition is taken an inventory of warehouses; Not only spent great amount of manpower and material resources; Costly (nearly 3,000,000,000 yuan of annual national supervisory personnel's travel subsidy, inspection carrying subsidy), and be difficult to guarantee State Grain Reserve Administration quantity monitoring accuracy and real-time.Therefore State Grain Reserve Administration quantity rapid and precise monitoring problem is the major issue that national food supervision department needs to be resolved hurrily always, presses for the convenient, fast and accurate grain reserves monitoring technology of exploitation, develops corresponding monitoring system.
For grasping grain stock's truth all-sidedly and accurately; Better implement the macro adjustments and controls task; The National Development and Reform Commission, State Grain Administration, the Ministry of Finance and four big departments of the Agricultural Development Bank of China all want the grain Stock Check work of the co-anchor whole nation every year, and whether verify national stock's grain quantity true and reliable.
Stock's grain volume check mode is the meter algorithm, promptly measures grain heap volume and bulk density of grain in every warehouse, and the two multiplies each other and obtains grain quantity.If Stock Check time point stock enterprise carries out when buying grain and selling the grain business (when grain outbound and input work), the grain heap will appear irregularly shaped, and can't effectively calculate this storehouse grain quantity this moment, has influence on whole grain quantity statistics and Stock Check work.
The measuring and calculating of irregular grain heap volume is the difficult point that grain quantity is appraised and decided, and also is the key point of grain quantity real-time monitoring system exploitation, and this problem fails effectively to solve for many years always.
Summary of the invention
The object of the present invention is to provide a kind of large-scale irregular Bulk Grain heap volume measuring method based on dynamic 3 D laser scanning.To existing grain storage pattern, through the portable 3 D laser scanning of guide rail space pattern, generate and attach point cloud chart battle array with coordinate, surface fitting becomes irregular Bulk Grain heap pattern, and then provides its volume; It can be fast, high precision and effectively measure the volume of large-scale irregular shape Bulk Grain heap, and can realize remote monitoring; The method is with low cost, and is easy to implement.
Technical scheme of the present invention is achieved in that the large-scale irregular Bulk Grain heap volume measuring method based on dynamic 3 D laser scanning, it is characterized in that its measuring method, and concrete steps are following:
1) at first in silo crown center position, broad ways is arranged guide rail; Guide rail is provided with the slide block of step motor control, and laser radar scanner is installed on the slide block; One end at the uniform velocity moves to the other end to slide block from the silo top, and slide block drives the scanning that laser radar scanner is accomplished whole Bulk Grain heap surface;
2) at the uniform velocity through guide rail and scanning, laser radar apparatus is the one-dimensional scanning device to laser radar scanner along an end, realizes line sweep and returns coordinate data; Return cylindrical coordinates information through laser radar scanner, and stepper motor returns the slide block moving coordinate in real time, laser radar apparatus all is connected with the main control computer through LAN with stepper motor; The main control computer is used for to the stepper motor transponder pulse, thus excitation slide block movement and the scanning of control laser radar apparatus, and receive return signal, signal is handled; Calculate the volume coordinate of analyzing spot, thereby obtain the cloud data of grain heap top pattern profile;
3) the main control computer obtains the cloud data on Bulk Grain heap surface; According to the user grain heap is measured the error amount that is allowed, confirm in order to volume calculated by the distribution density of analyzing spot, thereby in the main control computer data processing module evenly select some by the analyzing spot coordinate data; Carry out the image process of fitting treatment through computing machine; Obtain Bulk Grain heap 3-D view, realize cloud data is carried out screening effective and reasonablely, and calculate Bulk Grain heap volume according to data integrate; According to the user grain density is provided, calculates Bulk Grain heap weight.
Good effect of the present invention is to adopt the dynamic laser radar installations to measure large-scale irregular shape Bulk Grain heap volume automatically, and this is first laser technology to be applied in the grain cubing; And for guaranteeing the precision of large-area scanning, can access rational control, it has designed the guide rail pattern, dynamically carries out laser radar apparatus and measures, and precision is high, can access comparatively accurate cloud data, thereby in the grain cubing, can guarantee high precision.
Because the cloud data quantity of information that obtains is very big, utilize simple integral and calculating just can access the volume of Bulk Grain heap, have great advantage on the counting yield.Whole scanister all is by computer control, but system's networking operation realizes remote monitoring and data statistics, saves the cost of grain quantity deposit statistics.
Description of drawings
Fig. 1 is the diagrammatic top view in grain storage storehouse.
Fig. 2 is embodiments of the invention sketch (along the side view of A direction among Fig. 1).
Fig. 3 is that the present invention scans synoptic diagram (attempting along B direction among Fig. 1).
Fig. 4 three dimensional point cloud figure.
Fig. 5 is the diagram of block of Bulk Grain heap.
Among Fig. 2,1 is silo (long 53.5m * wide 30m * high 9m), and 2 is grain heap in the silo, and 3 is laser radar scanner, and 4 is slide block, and 5 is guide rail, and 6 are the main control computer.
Embodiment
In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearer,, the present invention is carried out detailed explanation below in conjunction with accompanying drawing and embodiment; Should be noted that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
As shown in Figure 1, the silo that present embodiment is used is the rectangle silo, specifically is of a size of long 53.5m * wide 30m * high 9m, and grain storage line position height is 6m.The grain situation is following: the storage material is a corn, and unit weight is 746kg/m
3In conjunction with the applied environment of present embodiment and error less than 3 ‰ cubing accuracy requirement; The key technical indexes parameter of the laser radar scanner that present embodiment adopts is following: laser center wavelength is 905nm (can not influence grain quality); The laser repetition is 10kHz; Effectively measuring distance is 2～30m, and measuring accuracy is 3～5cm.
Like Fig. 2, shown in 3,1 is silo, and it is of a size of long 53.5m * wide 30m * high 9m.Grain heap 2 is positioned at silo 1 grain storage line bottom, and grain is piled 2 upper surfaces and is irregular distribution.The long guide rail 5 of 30m is equipped with along silo 1 Width in centre position in silo 1 top length direction.Slide block 4 is housed on the guide rail 5, and slide block 4 connects stepper motor and special-purpose drive unit, and slide block 4 can move at the drive lower edge of stepper motor guide rail.Laser radar scanner 3 is fixed on the slide block 4, and laser radar scanner 3 can the edge direction vertical with guide rail be the length direction scanning of silo 1.Main control computer 6 links to each other through LAN with laser radar 3, stepper motor and special-purpose drive unit, and main control computer 6 is provided with signal emission module and digital sampling and processing.
When implement measuring, by the inner pulse emitter of the signal emission module control slide block of main control computer 64, the stepper motors in the excitation slide block 4 drive slide blocks 4 and are at the uniform velocity moved to the other end by an end along guide rail 5 with the laser radar scanner 3 that is installed on the slide block 4.When slide block 4 moved with laser radar scanner 3, main control computer 6 sent signal to laser radar scanner 3, and 3 pairs of grains of laser radar scanner are piled 2 upper surfaces and carried out one-dimensional scanning, obtained the cylindrical coordinates on grain heap 2 surfaces.Laser radar scanner 3 moving directions are vertical with its direction of scanning, thereby realize grain is piled the scanning of 2 upper surface shapes.
Laser radar scanner 3 return signals return to main control computer 6 through receiving trap.Digital sampling and processing in the main control computer 6 is slide block 4 during with scanning with the signal that returns, and promptly the position coordinates at laser radar scanner 3 places combines, and obtains by the three-dimensional coordinate of analyzing spot, accomplishes single pass.After the whole grain of laser radar scanner 3 completion is piled the scanning of 2 upper surfaces.Main control computer 6 promptly obtains the cloud data that grain is piled 2 upper surfaces, and three dimensional point cloud figure is as shown in Figure 4.According to error less than 3 ‰ accuracy requirement; Data processing modules in the main control computer 6 evenly select some by the analyzing spot coordinate data; Carry out Flame Image Process, obtain the three-dimension curved surface of Bulk Grain heap and make up grid as shown in Figure 5, it is 4100.397m that the application specific algorithm is tried to achieve the grain volume
3Error precision is 1.46 ‰, satisfies error less than 3 ‰ accuracy requirement.
Embodiment
Experiment warehouse situation: No. 2 storehouses of East Lake, Changchun grain and oil warehouse, long 53.5m, wide 30m, line of placing rice 6m.
The corn that puts in storage in February, 2012, moisture 14.4%, unit weight 746g/L, 3063.360 tons of quantity.
The three-dimensional laser scanner measuring and calculating: scanner obtains each point three-dimensional coordinate in the silo; Be that the inner prism of three-dimensional laser scanner passes through rotation fast, convert the one dimension laser of laser head emission into two-dimensional laser, meanwhile; Servo motor also is rotated, to obtain the information of the third dimension.Obtain the angle β of laser beam and vertical direction through the rotation of record prism; The rotation of servo motor can obtain the angle of laser beam and horizontal inceptive direction and record distance R, and the three combines and calculates, and just can obtain the three-dimensional coordinate (x of measured point; Y, z).
X=?Rcosβ?cosα
y=?Rcosβ
z=?Rcosβ?sinα
The each point three-dimensional coordinate is imported 3 d modeling software (like CATIA or 3DMax etc.) back generate silo inner scanning effect as shown in Figure 4, and further the conversion obtains effect as shown in Figure 5 in this software.
The following spatial overall of line of placing rice is long-pending: 53.5m * 30m * 6m=9630m
3
The following grain of line of placing rice is piled above volume of air: the interpolation integral and calculating draws 5529.6030 m
3
Grain heap volume: 9630m
3-5529.6030 m
3=4100.397 m
3
The grain actual quantity:3063.360 ton.
Weight is calculated:Weight=the 4100.397m of grain
3* 0.746kg/m
3=3058. 896 tons.
Weight error:Error=3063.360-3058.896=4.464 ton.
Error precision:4.464 ton/3063.360 tons=1.46 ‰ meet the demands.
Claims (1)
1. based on the large-scale irregular Bulk Grain heap volume measuring method of dynamic 3 D laser scanning, it is characterized in that its measuring method, concrete steps are following:
1) at first in silo crown center position, broad ways is arranged guide rail; Guide rail is provided with the slide block of step motor control, and laser radar scanner is installed on the slide block; One end at the uniform velocity moves to the other end to slide block from the silo top, and slide block drives the scanning that laser radar scanner is accomplished whole Bulk Grain heap surface;
2) at the uniform velocity through guide rail and scanning, laser radar apparatus is the one-dimensional scanning device to laser radar scanner along an end, realizes line sweep and returns coordinate data; Return cylindrical coordinates information through laser radar scanner, and stepper motor returns the slide block moving coordinate in real time, laser radar apparatus all is connected with the main control computer through LAN with stepper motor; The main control computer is used for to the stepper motor transponder pulse, thus excitation slide block movement and the scanning of control laser radar apparatus, and receive return signal, signal is handled; Calculate the volume coordinate of analyzing spot, thereby obtain the cloud data of grain heap top pattern profile;
3) the main control computer obtains the cloud data on Bulk Grain heap surface; According to the user grain heap is measured the error amount that is allowed, confirm in order to volume calculated by the distribution density of analyzing spot, thereby in the main control computer data processing module evenly select some by the analyzing spot coordinate data; Carry out the image process of fitting treatment through computing machine; Obtain Bulk Grain heap 3-D view, realize cloud data is carried out screening effective and reasonablely, and calculate Bulk Grain heap volume according to data integrate; According to the user grain density is provided, calculates Bulk Grain heap weight.
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