CN106097318A - A kind of grain volume measuring system and method - Google Patents
A kind of grain volume measuring system and method Download PDFInfo
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- CN106097318A CN106097318A CN201610392749.4A CN201610392749A CN106097318A CN 106097318 A CN106097318 A CN 106097318A CN 201610392749 A CN201610392749 A CN 201610392749A CN 106097318 A CN106097318 A CN 106097318A
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- silo
- grain
- point cloud
- dimensional point
- photographic head
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The present invention provides a kind of grain volume measuring system and method, and this system includes server and image processing apparatus.Wherein image processing apparatus is for obtaining the laser scanning image on grain surface and calculating acquisition laser scanning image three dimensional point cloud under silo coordinate, server for splicing the three dimensional point cloud organized under silo coordinate more, build grain surface surface structure, obtain grain volume.The present invention can measure the grain volume in silo more accurately, and measurement error is little and easy to install.
Description
Technical field
The present invention relates to image processing field, specifically, relate to a kind of grain volume measuring system and method.
Background technology
The grain reserves of country are to have the regulation grain supply and demand balance in market, provision price of stabilizing the market, reply burst
The important function such as situation and natural disaster.Ensure that grain security is to concern the strategic major issue of national economy, the quality of food storage
And quantity, government will be directly affected to the macro-level policy-making of grain and electricity market price.
Metering book keeping operation method and the manual measurement estimation algorithm that quantity control also mainly delivers from godown deposited according to warehouse entry by current provision store
Calculating the quantity of grain, there are some problems in these methods.First, only grain warehouse entry delivers from godown when, grain is just carried out
Statistics, lacks the supervision to grain stored number in remaining time period, it is more likely that there is the risk that grain is stolen, causes certain
Loss.Secondly, grain volume method in traditional calculating silo, it is usually the shape piled up according to grain in silo, passes through
Measure length and width or the diameter of silo, utilize mathematics cubature formula to calculate afterwards.And measure the grain volume of outdoor scattered heap
Time, grain heap first carries out being shaped to radius and the height of bottom surface in approximate trapezoid, then measurement, then calculates volume.These sides
Method not only can expend a large amount of human and material resources and measure grain volume, and all can not meet need in efficiency, precision and reliability
Ask.Meanwhile, if silo exists extremely or arbitrary-use is stored up grain without approval, competent business department is to implement
Grasping the storage situation of different silo accurately, these information are significant for grain macro-level policy-making.Therefore, for
Silo grain reserves quantity monitors always problem demanding prompt solution fast and accurately, quick and easy, accurate in the urgent need to exploitation
True grain monitoring technology and monitoring system.
In the patent of invention of Publication No. CN103063136A, it is proposed that a kind of silo based on image collecting device stores up
Amount detection systems, in this scenario, the internal body of wall of silo is provided with mark, installs image capture device at warehouse top, passes through
Mark quantity information in detection image, is converted to warehouse inwall information, then calculates the grain volumetric reserve obtained in silo.
But, the method needs to install substantial amounts of marking plate on silo inwall, and installation and debugging are very inconvenient, and image capture device is adopted
The inner wall size information of the simply warehouse surrounding that collection arrives, it is impossible to obtain the grain face accurate information apart from each other with inwall, can cause
Bigger measurement error.
Summary of the invention
In order to overcome above-mentioned technical problem, the invention provides a kind of grain volume measuring system and method, it is possible to more accurate
The true grain volume measured in silo, measurement error is little and easy to install.
To achieve these goals, one aspect of the present invention provides a kind of grain volume measuring system, including:
Server, image processing apparatus；
Described image processing apparatus is for obtaining the laser scanning image on grain surface, and calculates the described laser scanning of acquisition
Image three dimensional point cloud under silo coordinate；
Described server for calculating the three-dimensional point under the many groups of described silo coordinates obtained by described image processing apparatus
Cloud data are spliced, and build grain surface surface structure, obtain grain volume.
In the optional embodiment of one, described system also includes:
Laser instrument, is positioned at the left and right photographic head of described laser instrument both sides；
Described laser instrument is for being scanned described grain surface；
Described left and right photographic head is for gathering the described laser scanning image on described grain surface respectively.
In the optional embodiment of one, described image processing apparatus specifically for:
Described laser scanning image is carried out gray proces, obtains gray-scale map；
Described gray-scale map is carried out threshold process, obtains remaining with the binary image of laser lines；
Extract the centrage of laser lines in described binary image；
Described centrage is carried out Feature Points Matching, obtains the matching characteristic point pair of left and right image, and be calculated shooting
Three-dimensional point cloud under head coordinate；
Three-dimensional point cloud under described photographic head coordinate is converted into the three dimensional point cloud under described silo coordinate.
In the optional embodiment of one, described system also includes that single-chip microcomputer, described server are additionally operable to described figure
Driving signal is measured as processing means sends silo；Described image processing apparatus is additionally operable to receive described silo and measures driving signal
Initialization directive is sent afterwards to described single-chip microcomputer；Described single-chip microcomputer is additionally operable to after receiving described silo measurement driving signal, control
Make described laser instrument and the work of described left and right photographic head.
In the optional embodiment of one, described server was additionally operable to the described grain volume recorded and measurement time
Information is stored in local data base.
Another aspect of the present invention additionally provides a kind of grain volume measuring method, including:
Image processing apparatus obtains the laser scanning image on grain surface, and calculates the described laser scanning image of acquisition at grain
Three dimensional point cloud under the coordinate of storehouse；
The three dimensional point cloud that described image processing apparatus calculates under the many groups of described silo coordinates obtained is entered by server
Row splicing, builds grain surface surface structure, obtains grain volume.
In the optional embodiment of one, described method also includes:
Described grain surface is scanned by laser instrument；
Left and right photographic head gathers the described laser scanning image on described grain surface respectively.
In the optional embodiment of one, described calculating obtains described laser scanning image three-dimensional under silo coordinate
Cloud data, specifically includes:
Described laser scanning image is carried out gray proces, obtains gray-scale map；
Described gray-scale map is carried out threshold process, obtains remaining with the binary image of laser lines；
Extract the centrage of laser lines in described binary image；
Described centrage is carried out Feature Points Matching, obtains the matching characteristic point pair of left and right image, and be calculated shooting
Three-dimensional point cloud under head coordinate；
Three-dimensional point cloud under described photographic head coordinate is converted into the three dimensional point cloud under described silo coordinate.
In the optional embodiment of one, described method also includes:
Described server sends silo to described image processing apparatus and measures driving signal；
Described image processing apparatus receives after driving signal measured by described silo and sends initialization directive to single-chip microcomputer；
After described single-chip microcomputer receives described initialization directive, control described laser instrument and the work of described left and right photographic head.
In the optional embodiment of one, described method also includes:
The described grain volume recorded and measurement temporal information are stored in local data base by described server.
Grain volume measuring system described in the embodiment of the present invention and method, this system includes server and image procossing
Device.Wherein image processing apparatus is for obtaining the laser scanning image on grain surface and calculating acquisition laser scanning image at grain
Three dimensional point cloud under the coordinate of storehouse, server, for being spliced by the three dimensional point cloud organized under silo coordinate, builds more
Grain surface surface structure, obtains grain volume.The present invention program is the most accurate to the measurement of grain volume, the peace of simultaneity factor
Dress uses more convenient.
Accompanying drawing explanation
The composition frame chart of a kind of grain volume measuring system that Fig. 1 a provides for the embodiment of the present invention；
The composition frame chart of the another kind of grain volume measuring system that Fig. 1 b provides for the embodiment of the present invention；
The composition frame chart of another grain volume measuring system that Fig. 2 provides for the embodiment of the present invention；
Fig. 3 is the structural representation of the measurement apparatus of grain volume measuring system；
Fig. 4 is the structural representation of the control chamber of grain volume measuring system；
Fig. 5 is the structural representation of the photographic head cabinet of grain volume measuring system；
The flow chart of a kind of grain volume measuring method that Fig. 6 provides for the embodiment of the present invention；
The flow chart of the another kind of grain volume measuring method that Fig. 7 provides for the embodiment of the present invention；
Fig. 8 is the flow chart obtaining laser scanning image three dimensional point cloud under silo coordinate；
Fig. 9 is characterized Epipolar geometry illustraton of model during Point matching.
Detailed description of the invention
Below with reference to the accompanying drawings embodiments of the invention are described.An accompanying drawing or a kind of embodiment of the present invention are retouched
The element stated and feature can combine with the element shown in one or more other accompanying drawings or embodiment and feature.Should
Work as attention, for purposes of clarity, accompanying drawing and explanation eliminate unrelated to the invention, those of ordinary skill in the art are known
Parts or the expression of process and description.
Below in conjunction with the accompanying drawings the present invention is described further.
Embodiments providing a kind of grain volume measuring system, as shown in Figure 1a, this system includes:
Server 101, image processing apparatus 105.
Image processing apparatus 105 is for obtaining the laser scanning image on grain surface, and calculates acquisition laser scanning image
Three dimensional point cloud under silo coordinate.
The server 101 three dimensional point cloud under many groups silo coordinate that image processing apparatus 105 is calculated acquisition
Splice, build grain surface surface structure, obtain grain volume.
Grain volume measuring system described in the embodiment of the present invention, this system includes server and image processing apparatus.
Wherein image processing apparatus is for obtaining the laser scanning image on grain surface and calculating acquisition laser scanning image at silo seat
Three dimensional point cloud under Biao, server, for being spliced by the three dimensional point cloud organized under silo coordinate, builds grain more
Surface surface structure, obtains grain volume.This programme is the most accurate to the measurement of grain volume, installing and using more of simultaneity factor
For convenience.
Further, as shown in Figure 1 b, this system also includes laser instrument 102, left photographic head 103 and right photographic head 104.
Laser instrument 102 is for being scanned grain surface.Left photographic head 103 and right photographic head 104 are positioned at laser instrument 102
Both sides, respectively gather grain surface laser scanning image.Image processing apparatus 105 receives laser scanning image and and then obtains
Obtain laser scanning image three dimensional point cloud under silo coordinate.
Server 101 obtains three dimensional point cloud from image processing apparatus 105, will organize the three-dimensional under described silo coordinate more
Cloud data splices, and builds grain surface surface structure, obtains grain volume.
Further, image processing apparatus 105 specifically for:
Laser scanning image is carried out gray proces, obtains gray-scale map；Gray-scale map is carried out threshold process, is remained with
The binary image of laser lines；The centrage of the laser lines in extraction binary image；Centrage is carried out characteristic point
Join, obtain the matching characteristic point pair of left and right image, and be calculated the three-dimensional point cloud under photographic head coordinate；By photographic head coordinate
Under three-dimensional point cloud be converted into the three dimensional point cloud under silo coordinate.
Further, image processing apparatus 105 is calculated the three-dimensional point cloud under photographic head coordinate, specifically includes:
Obtain left photographic head coordinate and be tied to the spin matrix R of right photographic head coordinate systemCWith translation matrix TC；
According to spin matrix RCWith translation matrix TC, it is calculated any spatial point P degree of depth in left photographic head coordinate system
Information (XC,YC,ZC)。
Further, the three-dimensional point cloud under photographic head coordinate is converted into three under silo coordinate by image processing apparatus 105
Dimension cloud data, specifically includes:
Obtain the left photographic head coordinate system spin matrix R relative to silo coordinate systemWWith translation matrix TW；
According to spin matrix RWWith translation matrix TW, by the depth information (X in left photographic head coordinate systemC,YC,ZC) conversion is extremely
Three-dimensional coordinate (X under silo coordinateW,YW,ZW)。
This grain volume measuring system still further comprises single-chip microcomputer 106, as shown in Figure 2.Server 101 is to image procossing
Device 105 sends silo and measures driving signal.After receiving silo measurement driving signal, image processing apparatus 105 is to single-chip microcomputer 106
Send initialization directive.After single-chip microcomputer 106 receives this initialization directive, control laser instrument 102 and carry out the scanning on grain surface, and
Control left photographic head 103 and right photographic head 104 carries out image acquisition.
Further, the grain volume recorded and measurement temporal information are also stored in local data base by server 101.
Further, laser instrument 102 and image processing apparatus 105 can be integrally disposed in a control chamber.Left photographic head 103
With the left and right sides that right photographic head 104 is separately fixed at this control chamber.
Fig. 3 to Fig. 5 shows a kind of particular make-up mode of grain volume measuring system.
Fig. 3 shows in this grain volume measuring system and is positioned at the measurement apparatus within silo, including control chamber 1, shooting
Head cabinet 2, photographic head cabinet 3 and wire casing 4.Photographic head cabinet 2, photographic head cabinet 3 are respectively fixedly disposed at control chamber about 1 two
Side.Wire casing 4 is provided with data line.
The structure of control chamber 1 forms as shown in Figure 4.Control chamber 1 includes laser instrument 102, image processing apparatus 105, monolithic
Machine 106, control chamber dust cover 107, relay 108, shaft joint 109, motor 110, motor 111, fin 112,
Dust-proof door 113, spur gear 114, tooth bar 115, drive circuit 116, drive circuit 117.
Image processing apparatus 105 can be specifically an embedded board, and this embedded board is electrically connected with single-chip microcomputer 106
Connect.Single-chip microcomputer 106 electrically connects with drive circuit 116,117, and wherein drive circuit 116 and drive circuit 117 are respectively acting on and drive
Dynamic motor 110 and motor 111.Single-chip microcomputer 106 electrically connects with the input of relay 108, the output of relay 108
End electrically connects with laser instrument 102, controls the switch of laser instrument 102.Motor 110 is solid with fin 112 by shaft coupling 109
Fixed, drive the rotation of laser instrument 102.The most fixing spur gear 114 of motor 111, tooth bar 115 is fixed with dust-proof door 113, logical
Crossing spur gear 114 and tooth bar 115 engaged transmission, motor 111 controls the opening and closing of dust-proof door 113.Embedded development
Plate, motor 110 and 111, drive circuit 116 and 117, single-chip microcomputer 106, relay 108 are all bolted on control
In case dust cover 107.
The mechanism of photographic head cabinet 2,3 is as shown in Figure 5.As a example by photographic head cabinet 2, photographic head cabinet 2 includes: dust cover
118, right photographic head 104 (left photographic head 103 is positioned in photographic head cabinet 3), cabinet dust-proof door 119, spur gear 120, tooth bar
121, motor 122, drive circuit 123.
Right photographic head 104 is fixed on the top in dust cover 118, and motor 122 is fixed on the side of dust cover 118,
Drive circuit 123 is fixed on the bottom of dust cover 118.The most fixing spur gear 120 of motor 122, tooth bar 121 and dust-proof door
119 fix, and by spur gear 120 and tooth bar 121 engaged transmission, motor 122 can control unlatching and the pass of dust-proof door 119
Close.
Optionally, server 101 is connected by 485 buses with image processing apparatus 105.Image processing apparatus 105 passes through
USB data line is connected with left and right photographic head, is connected with single-chip microcomputer 106 by duplex signaling line.
In system as shown in Figure 3-Figure 5, the control work of single-chip microcomputer 106 includes: on the one hand, and single-chip microcomputer 106 passes through
Drive circuit 117 controls rotating speed and the corner of motor 111, opens the dust-proof door 113 of control chamber, by drive circuit 123
Control rotating speed and the corner of motor 122, open the dust-proof door 119 of photographic head cabinet.On the other hand, single-chip microcomputer 106 passes through
Drive circuit 116 controls motor 110, and then controls the rotation of laser instrument 102.Another further aspect, single-chip microcomputer 106 also produces and patrols
Collect level signal, open laser instrument 102 by relay 108, launch laser rays.
This embedded board can carry Android operation system, has compiled OpenCV storehouse.This embedded board needs
There are enough serial ports and pin, for system development；Also need to enough internal memories and memory space, for processing several pictures
Use.This embedded board is responsible for communicating with server 101 and single-chip microcomputer 106, enters the camera image collected simultaneously
Row processes, it is thus achieved that cloud data in region.
The line laser of laser instrument 102 transmitting green, as the sign structure light in visual field, laser instrument 102 is projected in grain
On surface, owing to grain surface has good diffusing characteristic diffuser, the green lines of high brightness can be formed, easily known by photographic head
It is clipped to.The power of laser line generator is bigger, works long hours and laser instrument heating ratio can be caused more serious, so laser instrument is inserted in
The fin 112 of the aluminium alloy of cuboid uses.
Single-chip microcomputer 106 is responsible for communicating with image processing apparatus 105, receives the working signal of image processing apparatus 105, sends
Feedback signal after action executing is complete；Single-chip microcomputer 106 also produces the sequential working signal controlling motor work, is sent to step
Enter the drive circuit of motor, thus control rotating speed and the corner of motor；The input phase of single-chip microcomputer 106 and relay 107
Even, perform to open the operation of laser instrument 102.Owing to the power of laser instrument 102 is bigger, single-chip microcomputer 106 cannot use pin straight
Connect the switch controlling laser instrument 102, therefore use relay 17 to control.
Motor 111 controls the folding of dust-proof door 113.Motor 110 controls the angle of determining of laser instrument 102 and rotates,
Concrete, it is connected with the fin 112 around laser instrument 102 by shaft coupling 109, it is achieved the control to laser instrument 102 direction.
Additionally, the motor 122 in photographic head cabinet 2 and photographic head cabinet 3 controls the switch of dust-proof door 119.When laser instrument and
During photographic head work, being opened by corresponding dust-proof door, other times dust-proof door is closed, and prevents device by dust and steam shadow
Ring.
Photographic head 103,104 can be CMOS colour free drive photographic head, bigger to green light response.Pass through USB data line
It is connected with image processing apparatus 105；Cam lens is the short-focus lens that focal length is constant, has the bigger angle of visual field.Take the photograph for two
As the position relationship of head is invariable, use chessboard calibration plate to system calibrating, obtain location parameter.
Owing to the optical lens of photographic head and the grating camera lens of laser line generator are all that comparison is accurate, for preventing dust to camera lens
Having undesirable effect, being also prevented from other devices is affected by the dust in air and aqueous vapor, so installing additional dust-proof outside equipment
Cover 107 and dust cover 118.Each dust cover devises dust-proof door, opens when laser instrument, photographic head work dust-proof
Door, closes when not working.
Measurement apparatus as shown in Figure 3 is uniformly disposed multiple in silo, it is simple to completely carry out whole silo accurately
Grain surface measurement.Multiple measurement apparatus can measure with timesharing, finally measurement result is stitched together.Multiple measurement fills
Put all pass through 485 buses with storehouse outside server 101 be connected.485 buses can provide power supply, again can be with long-distance transmissions signal
Data.
When it should be noted that in silo the measurement apparatus shown in installation diagram 3, in addition it is also necessary to it is demarcated, this mark
Determine process and be divided into two parts.A part is the demarcation to left and right photographic head, it is thus achieved that the internal reference of left and right photographic head (includes focal distance f, abnormal
Variable element p etc.) and outer ginseng (including the spin matrix between two photographic head, translation matrix).Another part is to take the photograph about demarcating
As head location parameter in silo, i.e. relative to the spin matrix under silo coordinate system and translation matrix.
The server 101 of grain volume measuring system is usually located in the control room outside silo.Figure in measurement apparatus
As processing means 105 (can be specifically embedded board) is connected with server 101 by 485 buses, by grain volume with
The information such as measurement time feed back to server 101, and information is stored in local data base by server 101.
The grain volume measuring system that the embodiment of the present invention provides, this system includes server, laser instrument, is positioned at described sharp
The left and right photographic head of light device both sides, the ingredient such as image processing apparatus.Grain surface is scanned by laser instrument, left and right takes the photograph
Gather the laser scanning image on grain surface respectively as head, image processing apparatus receives laser scanning image and obtains laser scanning
Image three dimensional point cloud under silo coordinate.The many groups three dimensional point cloud received is spliced by server, builds
Grain surface surface structure, and then obtain grain volume.This system obtains the three of grain by installing measurement apparatus in silo
Dimension cloud data also calculates grain volume, and measurement result is the most accurate, and installing and using of simultaneity factor is convenient to, and has
It is beneficial to the silo grain statistics of modernization.
The embodiment of the present invention additionally provides a kind of grain volume measuring method, and as shown in Figure 6, the method includes:
S601, image processing apparatus obtain grain surface laser scanning image, and calculate acquisition laser scanning image exist
Three dimensional point cloud under silo coordinate.
The three dimensional point cloud that image processing apparatus calculates under the many groups silo coordinate obtained is spelled by S602, server
Connect, build grain surface surface structure, obtain grain volume.
Obtained the laser scanning image on grain surface by image processing apparatus, and and then be calculated three-dimensional point cloud number
According to, then the three dimensional point cloud organized under silo coordinate is spliced by server more, builds grain surface surface structure, obtains
Grain volume.The program is the most accurate to the measurement of grain volume, installs and uses more convenient simultaneously.
Further, as it is shown in fig. 7, the embodiment of the present invention additionally provides a kind of grain volume measuring method, the method bag
Include:
Grain surface is scanned by S701, laser instrument.
S702, left and right photographic head gather the laser scanning image on grain surface respectively.
When specifically applying, after laser instrument turns over an angle, stop certain time, the most often turn over 5 ° and stop 1 second.Wait to swash
After light stabilisation, left and right photographic head gathers image simultaneously, and laser instrument is rotated further, until having scanned whole visual field.
S703, image processing apparatus obtain laser scanning image three dimensional point cloud under silo coordinate.
The image of camera collection is processed by image processing apparatus, obtains the three dimensional point cloud on grain surface.With
The most individual visual field of laser scans, image processing apparatus obtains all three dimensional point clouds in whole visual field.Image procossing
The three dimensional point cloud obtained is transferred to server by device.The coordinate of one three dimensional point cloud can be designated as (XW, YW, ZW)。
The three dimensional point cloud organized under silo coordinate is spliced by S704, server more, builds face, grain surface type knot
Structure, obtains grain volume.
Concrete, server receives the three dimensional point cloud that the multiple image processing apparatus in silo send respectively.Service
Device uses triangulation to build grain surface surface structure, by known coordinate system relative to the spatial relationship of grain bin bottom, asks
Go out each some height h to grain bin bottomi.Differential summation is used to obtain grain volume:
V=Σ hi△Si
Wherein SiIt it is each corresponding differential floor space.
The described grain volume recorded and measurement temporal information are stored in local data base by server, for inquiry and tune
With.
It addition, before S701, server sends silo by 485 buses and measures driving signal.Receive measurement and drive signal
After, image processing apparatus sends initialization directive to single-chip microcomputer, after single-chip microcomputer receives described initialization directive, control laser instrument and
Described left and right photographic head works.This image processing apparatus is specifically as follows embedded board.
In one embodiment, S703 obtains laser scanning image three dimensional point cloud under silo coordinate, tool
Body includes herein below, as shown in Figure 8:
S801, laser scanning image is carried out gray proces, obtain gray-scale map.
If laser lines are green, then the response of the green channel in color image can be bigger, is individually divided by this passage
In time becoming gray-scale map, the feature of this image is that the gray value at laser lines is maximum.
S802, gray-scale map is carried out threshold process, obtain remaining with the binary image of laser lines.
Select suitable threshold value, gray-scale map is carried out global threshold process, obtain the binary image of only laser lines.
S803, the centrage of the laser lines extracted in binary image.
For accurate estimating depth, the center lines of extraction are preferably single pixel wide, use and morphologic hit-hit not
Bianry image is refined by middle method, extracts the centrage of laser rays on left images.
S804, centrage is carried out Feature Points Matching, obtain the matching characteristic point pair of left and right image, and be calculated and take the photograph
As the three-dimensional point cloud under head coordinate.
Feature Points Matching uses " epipolar-line constraint " of Epipolar geometry model, and Epipolar geometry model is as shown in Figure 9.From left hand view
Retrieval character point p is started in certain a line of X11, then by the basis matrix F of system calibrating, calculate p1Point is in right part of flg X2
Polar curve parameter, detect the intersection point of laser center line on this polar curve and right figure, this intersection point is match point p2." epipolar-line constraint " makes
Feature Points Matching between two width pictures is converted to the linear search along polar curve by two-dimensional search, saves amount of calculation further, and
And the match point of falseness can be got rid of.
Obtain matching characteristic point to (p1, p2After), obtain left photographic head coordinate system O by system calibratingC1-XC1YC1ZC1Arrive
Right photographic head coordinate system OC2-XC2YC2ZC2Spin matrix RCWith translation matrix TC, according to range of triangle principle, it is calculated sky
Between put P in left photographic head coordinate system OC1-XC1YC1ZC1Under depth information, i.e. coordinate (XC,YC,ZC)。
S805, the three-dimensional point cloud under photographic head coordinate is converted into the three dimensional point cloud under silo coordinate.
According to left photographic head coordinate system OC1-XC1YC1ZC1Relative to silo coordinate system OW-XWYWZWSpin matrix RWPeace
Move matrix TW, spatial point P is transformed into silo coordinate system OW-XWYWZWUnder coordinate (XW,YW,ZW), transformation process is:
Wherein, S804 is calculated the three-dimensional point cloud under photographic head coordinate, specifically includes:
Obtain left photographic head coordinate and be tied to the spin matrix R of right photographic head coordinate systemCWith translation matrix TC；
According to spin matrix RCWith translation matrix TC, it is calculated any spatial point P degree of depth in left photographic head coordinate system
Information (XC,YC,ZC)；
Three-dimensional point cloud under photographic head coordinate is converted into the three dimensional point cloud under silo coordinate by S805, specifically wraps
Include:
First the left photographic head coordinate system spin matrix R relative to described silo coordinate system is obtainedWWith translation matrix TW；
According to spin matrix RWWith described translation matrix TW, by the depth information (X in described left photographic head coordinate systemC,YC,
ZC) change the three-dimensional coordinate (X to described silo coordinateW,YW,ZW)。
The grain volume measuring method embodiment of the present invention provided, obtains grain by installing measurement apparatus in silo
Three dimensional point cloud and calculate grain volume, measurement result is the most accurate, use simultaneously the method system install make
With being convenient to, be conducive to the silo grain statistics of modernization.
Although the present invention of being described in detail and advantage thereof it should be appreciated that without departing from by appended claim
Various change can be carried out in the case of the spirit and scope of the present invention limited, substitute and convert.And, the model of the application
Enclose the process described by description of being not limited only to, equipment, means, the specific embodiment of method and steps.Common in this area
Technical staff will readily appreciate that from the disclosure, can use execution and corresponding reality described herein according to the present invention
Execute the essentially identical function of example or obtain the result essentially identical with it, the process that existing and future is the most to be developed, equipment,
Means, method or step.Therefore, appended claim is directed in the range of them including such process, equipment, hands
Section, method or step.
Claims (10)
1. a grain volume measuring system, it is characterised in that including:
Server, image processing apparatus；
Described image processing apparatus is for obtaining the laser scanning image on grain surface, and calculates the described laser scanning image of acquisition
Three dimensional point cloud under silo coordinate；
Described server for calculating the three-dimensional point cloud number under the many groups of described silo coordinates obtained by described image processing apparatus
According to splicing, build grain surface surface structure, obtain grain volume.
Grain volume measuring system the most according to claim 1, it is characterised in that described system also includes:
Laser instrument, is positioned at the left and right photographic head of described laser instrument both sides；
Described laser instrument is for being scanned described grain surface；
Described left and right photographic head is for gathering the described laser scanning image on described grain surface respectively.
Grain volume measuring system the most according to claim 2, it is characterised in that described image processing apparatus is specifically used
In:
Described laser scanning image is carried out gray proces, obtains gray-scale map；
Described gray-scale map is carried out threshold process, obtains remaining with the binary image of laser lines；
Extract the centrage of laser lines in described binary image；
Described centrage is carried out Feature Points Matching, obtains the matching characteristic point pair of left and right image, and be calculated photographic head seat
Three-dimensional point cloud under Biao；
Three-dimensional point cloud under described photographic head coordinate is converted into the three dimensional point cloud under described silo coordinate.
Grain volume measuring system the most according to claim 2, it is characterised in that described system also includes single-chip microcomputer, institute
State server to be additionally operable to send silo measurement driving signal to described image processing apparatus；Described image processing apparatus is additionally operable to receive
Measure to described silo and send initialization directive to described single-chip microcomputer after driving signal；Described single-chip microcomputer be additionally operable to receive described
Silo is measured after driving signal, controls described laser instrument and the work of described left and right photographic head.
Grain volume measuring system the most according to claim 4, it is characterised in that described server is additionally operable to record
Described grain volume and measurement temporal information are stored in local data base.
6. a grain volume measuring method, it is characterised in that including:
Image processing apparatus obtains the laser scanning image on grain surface, and calculates the described laser scanning image of acquisition at silo seat
Three dimensional point cloud under Biao；
The three dimensional point cloud that described image processing apparatus calculates under the many groups of described silo coordinates obtained is spelled by server
Connect, build grain surface surface structure, obtain grain volume.
Grain volume measuring method the most according to claim 6, it is characterised in that described method also includes:
Described grain surface is scanned by laser instrument；
Left and right photographic head gathers the described laser scanning image on described grain surface respectively.
Grain volume measuring method the most according to claim 7, it is characterised in that described calculating obtains described laser scanning
Image three dimensional point cloud under silo coordinate, specifically includes:
Described laser scanning image is carried out gray proces, obtains gray-scale map；
Described gray-scale map is carried out threshold process, obtains remaining with the binary image of laser lines；
Extract the centrage of laser lines in described binary image；
Described centrage is carried out Feature Points Matching, obtains the matching characteristic point pair of left and right image, and be calculated photographic head seat
Three-dimensional point cloud under Biao；
Three-dimensional point cloud under described photographic head coordinate is converted into the three dimensional point cloud under described silo coordinate.
Grain volume measuring method the most according to claim 7, it is characterised in that described method also includes:
Described server sends silo to described image processing apparatus and measures driving signal；
Described image processing apparatus receives after driving signal measured by described silo and sends initialization directive to single-chip microcomputer；
After described single-chip microcomputer receives described initialization directive, control described laser instrument and the work of described left and right photographic head.
Grain volume measuring method the most according to claim 9, it is characterised in that described method also includes:
The described grain volume recorded and measurement temporal information are stored in local data base by described server.
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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 |
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