CN105674908A - Measuring device, and volume measuring and monitoring system - Google Patents
Measuring device, and volume measuring and monitoring system Download PDFInfo
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- CN105674908A CN105674908A CN201511020893.7A CN201511020893A CN105674908A CN 105674908 A CN105674908 A CN 105674908A CN 201511020893 A CN201511020893 A CN 201511020893A CN 105674908 A CN105674908 A CN 105674908A
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- measuring apparatus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
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- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a measuring device. The measuring device includes a controller, a motor, a line laser and a camera, wherein the controller is connected with the motor and the camera; the motor is connected with the line laser; the controller controls the motor to drive the line laser to scan the surface of an object, and controls the camera to shoot the scanning image of the line laser; and the controller generates point cloud data according to the scanning image. The invention also provides a volume measuring and monitoring system. The volume measuring and monitoring system includes the measuring device, a point cloud data processing module and a display module. Compared with a traditional rough measuring method, the measuring device has the advantages of being high in the measuring speed and being high in the calculating accuracy. The volume measuring and monitoring system which is formed according to the measuring device is suitable for accurate measurement of an abnormal grain surface and a micro fluctuating grain surface, and can perform remote control on measurement and calculation of reserves, thus saving the investment of manpower and material resources.
Description
Technical field
The present invention relates to a kind of measuring apparatus and cubing and system of supervision, can be used for grain calculation of reserves in silo, monitoring management field.
Background technology
Bread is the staff of life, and country's grain depot is related to the safety of country, concerns national economy, won't does least bit falseness, country can not one day without grain. Annual China all can carry out national grain stock's thorough examination, wherein relate to by 10 departments such as State Council, the Committee of Development and Reform, grains bureaus, organize in concert, joint survey silo stock's situation, and participate in check personnel reach more than 100,000 people, expend billions of fund. But still cannot effectively suppress to steal and sell storehouse grain, false grain, adulterate, privately divert and the problem of harm national food stock's safety such as grain depot is idle, so grain stock's problem should fully be paid close attention to.
Large granary has all been built for storing grain in all parts of the country, grain needs the factors such as the water content according to grain, kind and weight to be separately stored in different grain depots before warehouse-in, evaporate Deng moisture in grain after the regular hour, in addition it is also necessary to grain is carried out the work of falling storehouse and prevents the problems such as bottom grain goes mouldy and rots. If effectively not supervising mode in this process, just likely there is the problem made a false report false account, privately resell at a profit, adulterate. And various places statistically still adopt the management recording method of tradition poor efficiency at grain reserves, namely when increasing in silo and move out of grain every time, being all recorded in account, grain depot inspection is mainly checked by country according to record situation and practical situation. But the today in rapid development of information technology, there is bigger problem in this kind of metering method, cannot realize the reserves to silo and accurately monitor in real time.
Publication number is that CN104296847A uses pressure transmitter to realize grain storage weight detecting, and its principle is two circle bottom surface setting pressure sensor respectively inside and outside the inner bottom part of storehouse, by gathering pressure everywhere, then by the analytical calculation of treater, obtains grain reserves in storehouse. This kind of method can the change of grain weight in Real-Time Monitoring silo, but the sensor of the method is generally embedded in grain bin bottom, once occur breaking-up situation to repair and be not easy. Cost is higher by this way in institute, and cost performance is low, function singleness, and maintenance cost is very high, it is difficult to promoted.
Piling in cubing at grain, traditional method generally adopts laser ranger equal length survey instrument to measure the outer molded dimension of grain heap, puts out cereal heap volume according to the geometry computations of grain heap.It is noted that whether grain heap shape is regular, and adopts an effective measure and make grain face smooth. The method is measured simple, but often cannot ensure smooth in actual mechanical process China Oil and Food Import and Export Corporation face, and warehouse shape is also not exclusively regular, and measuring result has relatively big error.
Summary of the invention
In view of this, the present invention provides measuring apparatus and cubing and system of supervision, it is possible to remote measurement and monitor grain reserves, solves the problem.
According to the first aspect of the invention, a kind of measuring apparatus is provided, comprise: controller, motor, laser line generator and camera, described controller connects with described motor, described camera respectively, described motor and described laser line generator connect, and wherein, described controller controls described motor and drives described laser line generator to scan described body surface, and controlling the scan image that described camera takes described laser line generator, described controller generates cloud data according to described scan image.
Preferably, described camera is two cameras that separation is arranged.
Preferably, the scan image that described controller is taken according to described camera calculates laser matching point, and generates described cloud data according to described laser matching point.
Preferably, also comprising: dust-proof box, described dust-proof box comprises dust-proof door, and dust-proof box described in described electric machine control opens or closes described dust-proof door.
Preferably, described measuring apparatus is used for the irregular object of surface measurements.
According to the second aspect of the invention, it is provided that a kind of cubing and system of supervision, for the volume of surface measurements irregularly shaped object, comprising: above-mentioned measuring apparatus, for generating the cloud data of described object; Point Cloud Processing module, and described measuring apparatus connects, and for controlling described measuring apparatus, and calculates the volume of described object according to described cloud data; Display module, for showing three-dimensional structure and the volume of described object.
Preferably, also comprise: according to the size of described object, position, multiple described measuring apparatus is set.
Preferably, the scan image of multiple described measuring apparatus can cover the surface-area of described object.
Preferably, described Point Cloud Processing module controls described measuring apparatus timesharing and is measured by described object.
Preferably, described Point Cloud Processing module control described measuring apparatus grouping timesharing in described silo grain heap measure.
Preferably, described Point Cloud Processing module controls the grouping timesharing measurement of described measuring apparatus by coded signal.
Preferably, also comprise: memory module, for storing described cloud data and the volume of described irregularly shaped object.
Preferably, described object is the heap of the grain in silo.
The present invention provides a kind of measuring apparatus, comprise: controller, motor, laser line generator and camera, described controller connects with described motor, described camera respectively, described motor and described laser line generator connect, wherein, described controller controls described motor and drives described laser line generator to scan described body surface, and controls the scan image that described camera takes described laser line generator, and described controller generates cloud data according to described scan image. A kind of cubing and system of supervision are provided simultaneously, comprise above-mentioned measuring apparatus, Point Cloud Processing module and display module. The measuring method rough relative to tradition, the measuring apparatus measuring speed of the present invention is fast, calculating precision height. The cubing formed according to this measuring apparatus and system of supervision, be applicable to irregular grain face and the Measurement accuracy in nan orelief grain face, and the measurement of remote controlled grain heap and calculation of reserves, decrease the waste of manpower and materials.
Accompanying drawing explanation
By referring to the following drawings to the description of the embodiment of the present invention, the above-mentioned and other objects, features and advantages of the present invention will be more clear, in the accompanying drawings:
Fig. 1 is the structural representation of the measuring apparatus of the embodiment of the present invention;
Fig. 2 is the cubing of the embodiment of the present invention and the structural representation of system of supervision;
Fig. 3 is the cubing of the embodiment of the present invention and the deployment figure of system of supervision;
Fig. 4 is measuring apparatus distribution schematic diagram in silo of the embodiment of the present invention.
Description of reference numerals is as follows:
1-client terminal, 2-internet, 3-monitoring server, 4-bus, 5-warehouse, 6-measuring apparatus, the dust-proof box of 7-, the left camera of 8-, the right camera of 9-, 10-laser line generator, 11-motor, 12-controller, 13-silo, 14-projection laser line, 15～26-measuring apparatus 27-Point Cloud Processing module 28 display module
Embodiment
Based on embodiment, present invention is described below, but the present invention is not restricted to these embodiments. In hereafter the details of the present invention being described, detailed describe some specific details parts. Do not have the description of these details parts can also understand the present invention completely for a person skilled in the art. In order to the essence of the present invention that avoids confusion, known method, process, flow process do not describe in detail. Accompanying drawing is not necessarily drawn in proportion in addition.
The possible System Framework of schema in accompanying drawing, the block diagram illustration system of the embodiment of the present invention, method, device, function and operation, square frame on schema and block diagram can represent a module, programsegment or be only one section of code, and described module, programsegment and code all are used to realize the performed instruction of regulation logic function. The performed instruction realizing regulation logic function it should also be noted that described can be combined again, thus generates new module and programsegment. Therefore the square frame of accompanying drawing and square frame order are only used to process and the step of better illustrated embodiment, and should in this, as the restriction to invention itself.
Fig. 1 is the structural representation of measuring apparatus. This measuring apparatus mainly comprises: left camera 8, right camera 9, laser line generator 10, motor 11 and controller 12. Controller 12 and left camera 8, right camera 9 and motor 11 connect, and motor 11 and laser line generator 10 connect.
When measuring apparatus works, controller 12 controls motor 11 and drives laser line generator 10 with certain angle and velocity sweeping object specific region, left and right camera 8,9 takes image simultaneously, controller 12 gets the picture of laser scanning, by image is processed, extract coupling laser feature point, the parameter of find range according to binocular stereo vision mathematical model and known two cameras, calculate three dimension data of each laser feature point in measuring apparatus coordinate as cloud data. Cloud data is the three-dimensional coordinate (XYZ) of laser feature point.
The measuring apparatus of above-described embodiment can be used for the irregular object in surface and measures, it is possible to obtains the cloud data of irregularity surface, creates three-dimensional image according to this cloud data. In a preferred embodiment, controller is according to above-mentioned cloud data, it is possible to calculate the volume of a shape irregularly shaped object.
It will be understood by those skilled in the art that, the measuring apparatus in the present embodiment comprise two cameras be one preferred embodiment. Binocular camera does not need to know the geometrical constraint between object point, can solve the coordinate of object point. Monocular cam then needs the coordinate arranging that on object to be measured the demarcation point of some known location coordinates helps solve object point.
In a preferred embodiment, above-mentioned measuring apparatus also comprises a dust-proof box 7, the assembly of above-mentioned measuring apparatus is all arranged on dust-proof box inner.Dust-proof box 7 also comprises dust-proof door, and when measuring apparatus does not work, dust-proof door is closed, and when measuring apparatus works, controller 12 controls motor 11 and opens dust-proof box. Laser apparatus 10 is resetted when dust-proof box is closed simultaneously. Dust-proof box, for the protection of the assembly in measuring apparatus, prevents the normal operation of dust motor and laser line generator.
This measuring apparatus is applicable to surface measurements irregularly shaped object, such as grain heap. Grain in silo is generally stored by cylindrical vessel, and it is indefinite that its upper surface rises and falls. If by the grain volume in cylindrical formulae discovery silo, there is relatively big error. By the measuring apparatus in the embodiment of the present invention, it is possible to comparatively accurately obtain cloud data, thus calculate grain heap volume, i.e. grain reserves according to cloud data. For a large amount of dust that silo is entering grain and puts out cereal and cause in process, dust-proof box also can play a protective role.
Fig. 2 is the cubing of the embodiment of the present invention and the structural representation of system of supervision. Cubing shown in Fig. 2 and system of supervision comprise multiple measuring apparatus 6, points cloud processing module 27 and display module 28. Measuring apparatus 6 generates cloud data by inner assembly, and points cloud processing module 27 and measuring apparatus 6 connect, and control and measure device generates cloud data, and carries out three-dimensional modeling according to cloud data, according to the volume of Modeling Calculation object. Display module 28 shows three-dimensional structure and the volume change of object in real time.
Fig. 3 is the cubing of the embodiment of the present invention and the deployment figure of system of supervision, mainly comprise measuring apparatus 6, monitoring server 3 and client terminal 1, monitoring server 3 is provided with points cloud processing module 27, display module 28 can be arranged in monitoring server 3 or client terminal 1, and monitoring server 3 is connected (measuring apparatus 6 is arranged in a warehouse 5) by bus 4 and measuring apparatus 6. All measuring apparatuss 6 are obtained cloud data and combine by monitoring server 3, set up three-dimensional model, calculate object volume according to three-dimensional model. Meanwhile, monitoring server 3 can be connected with client terminal 1 by internet 2, and client terminal 1 can monitor object volume at any time and historic records is checked.
In a preferred embodiment, cubing and system of supervision also comprise memory module, for storing cloud data and volume cost.
Cubing shown in Fig. 2 and Fig. 3 and system of supervision are the systems of the combination of measuring apparatus as shown in Figure 1. Owing to the precision of view-based access control model measuring method generally can reduce along with the increase of sampled distance, and the useful range of measuring apparatus is also limited to the visual field size of camera, single measuring apparatus possibly cannot measure three dimension data of whole body surface, so adopting multiple measuring apparatus work in combination. Being got up by the combination of the scan image of multiple measuring apparatus, complete coverture body surface area, to obtain complete and that intensity is higher cloud data.
In an application scene of cubing and system of supervision, according to the grain heap size in silo and position, measuring apparatus is set, monitoring server is according to the position relation of each measuring apparatus in silo, comprise inclination angle and elevation information, cloud data is spliced under a system of coordinates, obtains the cloud data that grain surface is all. By calculating the height of each point relative to grain bin bottom, it is possible to obtain grain volume in silo, it is also possible to compared by the grain of previous moment point cloud, obtain the changing conditions of this section of time point cloud.
Fig. 4 is measuring apparatus distribution schematic diagram in a silo of the embodiment of the present invention. The length of this silo 13 is 75m, and wide is 25m, and height is 8m. Owing to silo is bigger, a measuring apparatus cannot realize big area and cover, so silo average mark is slit into 12 pieces, the length and width of each piece are 12.5m*12.5m. The spacing such as 12 collection measuring apparatus 15-26 be symmetrically distributed in silo top cross-bar, the silo region on each its opposite of measurement device, projecting out highlighted laser rays 14 on grain face, namely device 15 measures the region, grain face below module 26, and device 26 measures the region, grain face below module 15.
When scanning, in order to reduce Measuring Time, and prevent the folded interference of friendship of different zones scanning laser, it may also be useful to the method for timesharing, grouping, subregion scanning. 12 measuring apparatuss are mainly divided into four groups by the method, are respectively: 15-19-24 group, 16-20-23 group, 17-22-26 group, 18-21-25 group. When monitoring server receives the measurement request of client terminal, produce 4 group coding signals, the measuring apparatus being sent in silo by bus. Measuring apparatus is after receiving coded signal, and verification signal is qualified, and corresponding device carries out work, if verifying defective, request resends. First group (15-24-19) starts working, measuring apparatus wherein starts projection laser line simultaneously, laser apparatus is uniform speed scanning under the control of motor, left and right camera gathers two width images every 1s, and it is carried out image procossing, extract coupling laser feature point, according to binocular stereo vision three-dimensional reconstruction principle, calculate the cloud data of each module corresponding zone. When first group of measurement terminates, measuring apparatus device resets, and closes dust-proof box, cloud data is passed to monitoring server. Coded signal after monitoring server transmission, controls the 2nd group, the 3rd group, the 4th group measuring apparatus work successively.
Monitoring server is according to the position of each measuring apparatus in silo and angle, under obtain four groups of cloud datas are spliced to a coordinate, and calculate the height of each point relative to grain bin bottom, it may also be useful to the method for integration summation obtains grain quantity, obtains grain volume in silo. Under measurement pointcloud data, grain volume and measuring state information can be stored in local folders by monitoring server, measuring state information Measuring Time, survey crew and grain number change etc., facilitate Administrator silo grain quantity to be checked, show, call and historic records inquiry. Finally it is shown to the client custom accessed by internet.
Measuring apparatus in the present invention uses laser rays to do monumented point, in conjunction with binocular stereo vision reconstruction technique, it is possible to obtain the some cloud result of object accurately, and then by calculation level cloud true altitude, obtains the true volume of the object of irregular surface. The measuring method rough relative to tradition, the present invention have measuring speed fast, calculate precision height, convenient and swift, be applicable to irregular grain face and the Measurement accuracy in nan orelief grain face, greatly reduce the waste of manpower and materials.
Cubing and system of supervision in the present invention realize the measurement of Long-distance Control silo, when monitoring for silo, monitor grain reserves in real time. Different silos is connected with monitoring server by bus, and supervisor can control multiple silo synchro measure by network remote, reduces the waste of resource, effectively prevent and occurs the thing made a false report false report, defalcate to occur in silo.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various change and change. Any amendment of doing within all spirit in the present invention and principle, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. a measuring apparatus, comprise: controller, motor, laser line generator and camera, described controller connects with described motor, described camera respectively, described motor and described laser line generator connect, wherein, described controller controls described motor and drives described laser line generator to scan described body surface, and controls the scan image that described camera takes described laser line generator, and described controller generates cloud data according to described scan image.
2. measuring apparatus according to claim 1, wherein, described camera is two cameras that separation is arranged.
3. measuring apparatus according to claim 2, wherein, the scan image that described controller is taken according to described camera calculates laser matching point, and generates described cloud data according to described laser matching point.
4. measuring apparatus according to claim 1, also comprises: dust-proof box, and described dust-proof box comprises dust-proof door, and dust-proof box described in described electric machine control opens or closes described dust-proof door.
5. measuring apparatus according to claim 1, wherein, described measuring apparatus is used for the irregular object of surface measurements.
6. cubing and a system of supervision, for the volume of surface measurements irregularly shaped object, comprising:
Measuring apparatus as described in item as arbitrary in claim 1 to 5, for generating the cloud data of described object;
Point Cloud Processing module, and described measuring apparatus connects, and for controlling described measuring apparatus, and calculates the volume of described object according to described cloud data;
Display module, for showing three-dimensional structure and the volume of described object.
7. cubing according to claim 6 and system of supervision, also comprises: arrange multiple described measuring apparatus according to the size of described object, position.
8. cubing according to claim 7 and system of supervision, wherein, the scan image of multiple described measuring apparatus can cover the surface-area of described object.
9. cubing according to claim 6 and system of supervision, wherein, described Point Cloud Processing module controls described measuring apparatus timesharing and is measured by described object.
10. cubing according to claim 6 and system of supervision, wherein, described Point Cloud Processing module controls the grouping timesharing of described measuring apparatus and is measured by the grain heap in described silo.
11. cubing according to claim 10 and system of supervision, wherein, described Point Cloud Processing module controls the grouping timesharing of described measuring apparatus by coded signal and measures.
12. cubing according to claim 6 and system of supervision, also comprise: memory module, for storing described cloud data and the volume of described irregularly shaped object.
13. cubing according to claim 6 and system of supervision, wherein, described object is the heap of the grain in silo.
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| CN201511020893.7A CN105674908A (en) | 2015-12-29 | 2015-12-29 | Measuring device, and volume measuring and monitoring system |
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| CN106152942A (en) * | 2016-08-03 | 2016-11-23 | 湖南航天机电设备与特种材料研究所 | A kind of aerostatics utricule polyphaser union measuring method |
| CN106851108A (en) * | 2017-03-13 | 2017-06-13 | 新石器龙码（北京）科技有限公司 | A kind of intelligent terminal of measurable object length and width volume |
| CN106989691A (en) * | 2017-04-01 | 2017-07-28 | 成都雅骏新能源汽车科技股份有限公司 | A kind of electronic logistic car container intelligent integrated machine |
| CN107036687A (en) * | 2017-03-08 | 2017-08-11 | 湖北叶威(集团)智能科技有限公司 | The grain storage Monitoring of Quantity method and device of view-based access control model |
| WO2018049818A1 (en) * | 2016-08-16 | 2018-03-22 | 上海汇像信息技术有限公司 | Three-dimensional measurement technology-based system and method for measuring surface area of object |
| RU2661314C1 (en) * | 2017-05-16 | 2018-07-13 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Томский государственный университет систем управления и радиоэлектроники" (ТУСУР) | Method of loose material parameters monitoring in tanks |
| CN108917645A (en) * | 2018-07-20 | 2018-11-30 | 清华大学苏州汽车研究院（吴江） | Binocular vision system based on laser modulation |
| CN109163775A (en) * | 2018-08-30 | 2019-01-08 | 北京广天夏科技有限公司 | A kind of mass measuring method and device based on ribbon conveyer |
| CN110008947A (en) * | 2019-04-12 | 2019-07-12 | 河南工业大学 | A kind of silo Grain Quantity monitoring method and device based on convolutional neural networks |
| CN110108205A (en) * | 2019-05-13 | 2019-08-09 | 中国农业科学院农产品加工研究所 | The device and method that volume quickly measures |
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| CN111174699A (en) * | 2020-01-09 | 2020-05-19 | 富德康(北京)科技股份有限公司 | Bulk cargo quality measuring method |
| CN111442814A (en) * | 2020-05-13 | 2020-07-24 | 武汉市异方体科技有限公司 | Device for non-contact measurement of drainage volume of special-shaped object |
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| CN106152942A (en) * | 2016-08-03 | 2016-11-23 | 湖南航天机电设备与特种材料研究所 | A kind of aerostatics utricule polyphaser union measuring method |
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| CN107036687A (en) * | 2017-03-08 | 2017-08-11 | 湖北叶威(集团)智能科技有限公司 | The grain storage Monitoring of Quantity method and device of view-based access control model |
| CN106851108A (en) * | 2017-03-13 | 2017-06-13 | 新石器龙码（北京）科技有限公司 | A kind of intelligent terminal of measurable object length and width volume |
| CN106989691A (en) * | 2017-04-01 | 2017-07-28 | 成都雅骏新能源汽车科技股份有限公司 | A kind of electronic logistic car container intelligent integrated machine |
| RU2661314C1 (en) * | 2017-05-16 | 2018-07-13 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Томский государственный университет систем управления и радиоэлектроники" (ТУСУР) | Method of loose material parameters monitoring in tanks |
| CN108917645A (en) * | 2018-07-20 | 2018-11-30 | 清华大学苏州汽车研究院（吴江） | Binocular vision system based on laser modulation |
| CN109163775A (en) * | 2018-08-30 | 2019-01-08 | 北京广天夏科技有限公司 | A kind of mass measuring method and device based on ribbon conveyer |
| CN110008947A (en) * | 2019-04-12 | 2019-07-12 | 河南工业大学 | A kind of silo Grain Quantity monitoring method and device based on convolutional neural networks |
| CN110008947B (en) * | 2019-04-12 | 2021-06-29 | 河南工业大学 | Granary grain quantity monitoring method and device based on convolutional neural network |
| CN110108205A (en) * | 2019-05-13 | 2019-08-09 | 中国农业科学院农产品加工研究所 | The device and method that volume quickly measures |
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| CN110531772A (en) * | 2019-09-12 | 2019-12-03 | 四川阿泰因机器人智能装备有限公司 | A kind of control method and its system of grain-levelling machine device people |
| CN110531772B (en) * | 2019-09-12 | 2022-12-20 | 四川阿泰因机器人智能装备有限公司 | Control method and system of grain leveling robot |
| CN111174699A (en) * | 2020-01-09 | 2020-05-19 | 富德康(北京)科技股份有限公司 | Bulk cargo quality measuring method |
| CN111442814A (en) * | 2020-05-13 | 2020-07-24 | 武汉市异方体科技有限公司 | Device for non-contact measurement of drainage volume of special-shaped object |
| CN117268474A (en) * | 2023-11-21 | 2023-12-22 | 江西中汇云链供应链管理有限公司 | Device and method for estimating volume, number and weight of objects in scene |
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