CN105674908A - Measuring device, and volume measuring and monitoring system - Google Patents

Abstract

The present invention provides a measuring device, comprising: a controller, a motor, a line laser and a camera, the controller is respectively connected to the motor and the camera, the motor is connected to the line laser, wherein the control The controller controls the motor to drive the line laser to scan the surface of the object, and controls the camera to capture the scanned image of the line laser, and the controller generates point cloud data according to the scanned image. At the same time, a volume measurement and monitoring system is provided, including the above-mentioned measurement device, a point cloud data processing module and a display module. Compared with traditional rough measuring methods, the measuring device of the invention has fast measuring speed and high calculation precision. The volume measurement and monitoring system composed of the measuring device is suitable for accurate measurement of irregular grain surface and slightly undulating grain surface, and can remotely control the measurement and storage calculation of grain piles, saving manpower and material resources.

Description

Measuring devices and volume measuring and monitoring systems

technical field

The invention relates to a measuring device and a volume measuring and monitoring system, which can be used in the fields of grain storage calculation, monitoring and management in granaries.

Background technique

Food is the most important thing for the people. The national grain bank is related to the safety of the country, the national economy and the people's livelihood. Every year, our country will carry out a national grain inventory inspection, which involves 10 departments including the State Council, the Development and Reform Commission, and the Grain Bureau to jointly organize and jointly inspect the inventory of grain warehouses. More than 100,000 people participated in the inventory and cost billions of dollars. funds. However, it is still impossible to effectively suppress the problems that endanger the security of national grain stocks, such as stealing and selling stored grain, falsely reporting grain, shoddy, private embezzlement, and idle grain storage. Therefore, the problem of grain storage should be given full attention.

There are large-scale granaries built all over the country to store grain. Before the grain is put into storage, it needs to be stored in different grain depots according to factors such as the moisture content, type and weight of the grain. After a certain period of time, the water in the grain evaporates and is returned It is necessary to put the grain back into the warehouse to prevent problems such as mildew and rotting of the grain at the bottom. If there is no effective supervision method in this process, there may be problems of false reporting, private reselling, and shoddy goods. However, the traditional inefficient management and recording methods are still used in the statistics of grain reserves in various places, that is, every time grain is added to and removed from the granary, it must be recorded in the account. . However, with the rapid development of information technology today, there are big problems in this measurement method, which cannot realize real-time and accurate monitoring of the storage of granaries.

The publication number is CN104296847A, which uses a pressure sensor to detect the weight of stored grain. The principle is to install pressure sensors on the inner and outer bottom surfaces of the warehouse, and collect the pressure from various places, and then analyze and calculate the grain storage in the warehouse. This method can monitor the change of grain weight in the granary in real time, but the sensor of this method is generally buried in the bottom of the granary, and it is not easy to repair in case of damage. Therefore, this method has relatively high cost, low cost performance, single function, and high maintenance cost, so it is difficult to be popularized.

In terms of volume measurement of grain piles, traditional methods generally use length measuring tools such as laser range finders to measure the external dimensions of grain piles, and calculate the volume of grain piles according to the geometric shape of grain piles. Pay attention to whether the shape of the grain pile is regular, and take effective measures to make the grain surface smooth. This method is simple to measure, but in the actual operation process, the grain surface is often not guaranteed to be flat, and the shape of the warehouse is not completely regular, so there will be large errors in the measurement results.

Contents of the invention

In view of this, the present invention provides a measuring device and a volume measuring and monitoring system, which can remotely measure and monitor grain reserves and solve the above problems.

According to a first aspect of the present invention, a measuring device is provided, comprising: a controller, a motor, a line laser and a camera, the controller is connected to the motor and the camera respectively, and the motor is connected to the line laser , wherein the controller controls the motor to drive the line laser to scan the surface of the object, and controls the camera to capture a scanned image of the line laser, and the controller generates point cloud data according to the scanned image.

Preferably, the cameras are two separate cameras.

Preferably, the controller calculates laser matching points according to the scanned images captured by the camera, and generates the point cloud data according to the laser matching points.

Preferably, it further includes: a dustproof box, the dustproof box includes a dustproof door, and the motor controls the dustproof box to open or close the dustproof door.

Preferably, the measuring device is used for measuring objects with surface irregularities.

According to the second aspect of the present invention, a volume measurement and monitoring system is provided, which is used to measure the volume of an object with irregular surfaces, including: the above-mentioned measurement device, used to generate point cloud data of the object; a point cloud data processing module , connected with the measurement device, used to control the measurement device, and calculate the volume of the object according to the point cloud data; a display module, used to display the three-dimensional structure and volume of the object.

Preferably, the method further includes: setting a plurality of measuring devices according to the size and position of the object.

Preferably, a plurality of scanned images of said measuring means is capable of covering the surface area of said object.

Preferably, the point cloud data processing module controls the measuring device to measure the object in time division.

Preferably, the point cloud data processing module controls the measuring devices to measure the grain piles in the granary by grouping and time-sharing.

Preferably, the point cloud data processing module controls the measurement device to group and time-share measurement through coded signals.

Preferably, it further includes: a storage module, configured to store the point cloud data and the volume of the irregular object.

Preferably, the object is a grain pile in a grain silo.

The present invention provides a measuring device, comprising: a controller, a motor, a line laser and a camera, the controller is respectively connected to the motor and the camera, the motor is connected to the line laser, wherein the control The controller controls the motor to drive the line laser to scan the surface of the object, and controls the camera to capture the scanned image of the line laser, and the controller generates point cloud data according to the scanned image. At the same time, a volume measurement and monitoring system is provided, including the above-mentioned measurement device, a point cloud data processing module and a display module. Compared with the traditional rough measuring method, the measuring device of the present invention has fast measuring speed and high calculation precision. The volume measurement and monitoring system composed of the measuring device is suitable for accurate measurement of irregular grain surface and slightly undulating grain surface, and can remotely control the measurement and storage calculation of grain piles, reducing the waste of manpower and material resources.

Description of drawings

By referring to the description of the embodiments of the present invention with reference to the following drawings, the above 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 device of the embodiment of the present invention;

Fig. 2 is a schematic structural view of a volume measurement and monitoring system according to an embodiment of the present invention;

FIG. 3 is a deployment diagram of a volume measurement and monitoring system according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of the distribution of measuring devices in the granary according to the embodiment of the present invention.

The reference signs are explained as follows:

1-client, 2-Internet, 3-monitoring server, 4-bus, 5-warehouse, 6-measurement device, 7-dustproof box, 8-left camera, 9-right camera, 10-line laser, 11- Motor, 12-controller, 13-granary, 14-projection laser line, 15-26-measuring device, 27-point cloud data processing module, 28 display module

detailed description

The present invention is described below based on examples, but the present invention is not limited to these examples. In the following detailed description of the invention, some specific details are set forth in detail. The present invention can be fully understood by those skilled in the art without the description of these detailed parts. In order to avoid obscuring the essence of the present invention, well-known methods, procedures, and flow charts are not described in detail. Additionally, the drawings are not necessarily drawn to scale.

The flow charts and block diagrams in the accompanying drawings illustrate the possible system framework, functions and operations of the systems, methods, and devices of the embodiments of the present invention, and the blocks on the flow charts and block diagrams can represent a module, program segment, or just a segment Code, said modules, program segments and codes are all executable instructions for implementing prescribed logical functions. It should also be noted that the executable instructions implementing the specified logical functions can be recombined to generate new modules and program segments. Therefore, the blocks and the sequence of the blocks in the drawings are only used to better illustrate the process and steps of the embodiment, and should not be used as a limitation to the invention itself.

Figure 1 is a schematic diagram of the structure of the measuring device. The measuring device mainly includes: a left camera 8 , a right camera 9 , a line laser 10 , a motor 11 and a controller 12 . The controller 12 is connected with the left camera 8 , the right camera 9 and the motor 11 , and the motor 11 is connected with the line laser 10 .

When the measuring device is working, the controller 12 controls the motor 11 to drive the line laser 10 to scan a specific area of the object at a certain angle and speed, and at the same time the left and right cameras 8 and 9 take pictures, the controller 12 acquires the pictures scanned by the laser, and processes the images , extract the matching laser feature points, and calculate the three-dimensional data of each laser feature point in the coordinates of the measuring device as point cloud data according to the binocular stereo vision distance measurement mathematical model and the known parameters of the two cameras. The point cloud data is the three-dimensional coordinates (XYZ) of the laser feature points.

The measuring device in the above embodiments can be used for measuring objects with irregular surfaces, can acquire point cloud data on the surface of irregular objects, and create a three-dimensional stereoscopic image based on the point cloud data. In a preferred embodiment, the controller can calculate the volume of an irregularly shaped object according to the aforementioned point cloud data.

Those of ordinary skill in the art can understand that it is a preferred implementation manner that the measuring device in this embodiment includes two cameras. The binocular camera can solve the coordinates of the target points without knowing the geometric constraints between the target points. The monocular camera needs to arrange some calibration points with known position coordinates on the object to be measured to help solve the coordinates of the target point.

In a preferred embodiment, the above-mentioned measuring device further includes a dustproof box 7, and the components of the above-mentioned measuring device are arranged inside the dustproof box. The dustproof box 7 also includes a dustproof door. When the measuring device is not working, the dustproof door is closed. When the measuring device is working, the controller 12 controls the motor 11 to open the dustproof box. Reset the laser 10 at the same time when the dustproof box is closed. The dustproof box is used to protect the components in the measuring device and prevent dust from affecting the normal operation of the motor and line laser.

This measuring device is suitable for measuring objects with irregular surfaces, such as grain piles. Grain in granaries is generally stored in cylindrical containers with undulating upper surfaces. If the volume of grain in the granary is calculated by the cylindrical formula, there will be a large error. Through the measuring device in the embodiment of the present invention, the point cloud data can be obtained more accurately, so as to calculate the volume of the grain pile, that is, the grain storage capacity, according to the point cloud data. The dust-proof box can also protect the large amount of dust caused by the granary in the process of grain in and out.

Fig. 2 is a schematic structural diagram of a volume measurement and monitoring system according to an embodiment of the present invention. The volume measurement and monitoring system shown in FIG. 2 includes a plurality of measurement devices 6 , a point cloud processing module 27 and a display module 28 . The measurement device 6 generates point cloud data through internal components, and the point cloud processing module 27 is connected to the measurement device 6 to control the measurement device to generate point cloud data, perform three-dimensional modeling according to the point cloud data, and calculate the volume of the object according to the modeling. The display module 28 displays the three-dimensional structure and volume change of the object in real time.

Fig. 3 is a deployment diagram of a volume measurement and monitoring system according to an embodiment of the present invention, mainly comprising a measuring device 6, a monitoring server 3 and a client terminal 1, a point cloud processing module 27 is installed on the monitoring server 3, and a display module 28 can be installed on the monitoring server 3 or on the client 1, the monitoring server 3 is connected to the measuring device 6 through the bus 4 (the measuring device 6 is set in a warehouse 5). The monitoring server 3 combines the point cloud data obtained by all the measuring devices 6 to build a three-dimensional model, and calculates the volume of the object according to the three-dimensional model. At the same time, the monitoring server 3 can be connected to the client 1 through the Internet 2, and the client 1 can monitor the volume of the object and check the historical records at any time.

In a preferred embodiment, the volume measurement and monitoring system further includes a storage module for storing point cloud data and volume values.

The volume measurement and monitoring system shown in FIGS. 2 and 3 is a system combining the measuring devices shown in FIG. 1 . Since the accuracy of the visual measurement method generally decreases with the increase of the sampling distance, and the measurement range of the measurement device is also limited by the field of view of the camera, a single measurement device may not be able to measure the three-dimensional data of the entire object surface, so multiple combination of measuring devices. The scanned images of multiple measurement devices are combined to completely cover the surface area of the object to obtain complete and dense point cloud data.

In an application scenario of the volume measurement and monitoring system, the measuring device is set according to the size and position of the grain pile in the granary, and the monitoring server stitches the point cloud data according to the positional relationship of each measuring device in the granary, including the inclination angle and height information In one coordinate system, all the point cloud data of the grain surface can be obtained. By calculating the height of each point relative to the bottom of the granary, the grain volume in the granary can be obtained, and the change of the point cloud during this period can also be obtained by comparing the grain point cloud at the previous moment.

Fig. 4 is a schematic diagram of the distribution of measuring devices in a granary according to an embodiment of the present invention. The granary 13 has a length of 75m, a width of 25m, and a height of 8m. Because the granary is relatively large, a measuring device cannot cover a large area, so the granary is divided into 12 pieces on average, and the length and width of each piece are 12.5m*12.5m. 12 collecting and measuring devices 15-26 are symmetrically distributed on the top beam of the granary at equal intervals, and each device measures the granary area opposite to it, and projects a bright laser line 14 on the grain surface, that is, the grain below the device 15 measures the module 26 surface area, device 26 measures the grain surface area below module 15.

When scanning, in order to reduce the measurement time and prevent overlapping interference of scanning lasers in different areas, the method of time-sharing, grouping, and sub-area scanning is used. This method mainly divides 12 measuring devices into four groups, namely: 15-19-24 groups, 16-20-23 groups, 17-22-26 groups, and 18-21-25 groups. When the monitoring server receives the measurement request from the client, it generates 4 sets of coded signals and sends them to the measurement device in the granary through the bus. After the measuring device receives the encoded signal, the verification signal is qualified, and the corresponding device works. If the verification fails, request to resend. The first group (15-24-19) starts to work, and the measuring device starts to project the laser line at the same time. The laser scans at a constant speed under the control of the motor. The left and right cameras collect two images every 1s, and perform image processing on them to extract The matching laser feature points are obtained, and the point cloud data of the corresponding area of each module is calculated according to the principle of binocular stereo vision 3D reconstruction. When the first set of measurements is over, the measuring device is reset, the dustproof box is closed, and the point cloud data is transmitted to the monitoring server. The coded signal sent by the monitoring server controls the work of the second, third and fourth measuring devices in sequence.

According to the position and angle of each measuring device in the granary, the monitoring server stitches the obtained four sets of point cloud data into one coordinate, and calculates the height of each point relative to the bottom of the granary, and uses the integral sum method to obtain the grain Quantity, to get the grain volume in the granary. The monitoring server can store the measurement point cloud data, grain volume and measurement status information in the local folder. The measurement status information includes measurement time, measurement personnel and changes in grain quantity, etc., which is convenient for the administrator to view, display, call and monitor the grain quantity of the granary. History query. Finally displayed to client clients accessing via internet.

The measurement device in the present invention uses laser lines as marking points, combined with binocular stereo vision reconstruction technology, can accurately obtain the point cloud result of the object, and then obtain the real volume of the object with irregular surface by calculating the real height of the point cloud. Compared with the traditional rough measurement method, the present invention has fast measurement speed, high calculation accuracy, convenience and quickness, is suitable for accurate measurement of irregular grain surface and slightly undulating grain surface, and greatly reduces the waste of manpower and material resources.

The volume measurement and monitoring system in the invention realizes the remote control of granary measurement, and monitors the grain storage in real time when used for granary monitoring. Different granaries are connected to the monitoring server through the bus, and the supervisors can remotely control the simultaneous measurement of multiple granaries through the network, reducing the waste of resources, and effectively preventing false reports and self-theft in the granary.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (13)

1. A measuring device, comprising: a controller, a motor, a line laser and a camera, the controller is connected with the motor and the camera respectively, and the motor is connected with the line laser, wherein the controller The motor is controlled to drive the line laser to scan the surface of the object, and the camera is controlled to capture the scanned image of the line laser, and the controller generates point cloud data according to the scanned image. 2. The measuring device according to claim 1, wherein the cameras are two cameras arranged separately. 3. The measuring device according to claim 2, wherein the controller calculates laser matching points according to the scanned image captured by the camera, and generates the point cloud data according to the laser matching points. 4. The measuring device according to claim 1, further comprising: a dustproof box, the dustproof box includes a dustproof door, and the motor controls the dustproof box to open or close the dustproof door. 5. The measuring device according to claim 1, wherein the measuring device is used to measure objects with surface irregularities. 6. A volume measurement and monitoring system for measuring the volume of surface irregularities, comprising: The measuring device according to any one of claims 1 to 5, used to generate point cloud data of the object; A point cloud data processing module, connected to the measuring device, used to control the measuring device, and calculate the volume of the object according to the point cloud data; The display module is used for displaying the three-dimensional structure and volume of the object. 7. The volume measurement and monitoring system according to claim 6, further comprising: setting a plurality of said measuring devices according to the size and position of said object. 8. The volumetric measurement and monitoring system of claim 7, wherein a plurality of scanned images of said measurement devices are capable of covering a surface area of said object. 9. The volume measurement and monitoring system according to claim 6, wherein the point cloud data processing module controls the measurement device to measure the object in time-sharing. 10. The volume measurement and monitoring system according to claim 6, wherein the point cloud data processing module controls the measurement devices to measure the grain piles in the granary by grouping and time-sharing. 11. The volume measurement and monitoring system according to claim 10, wherein the point cloud data processing module controls the measurement device to group and time-share measurement through coded signals. 12. The volume measurement and monitoring system according to claim 6, further comprising: a storage module for storing the point cloud data and the volume of the irregular object. 13. The volume measurement and monitoring system of claim 6, wherein the object is a grain pile in a grain silo.