CN106839977A - Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology - Google Patents
Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology Download PDFInfo
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- CN106839977A CN106839977A CN201611204946.5A CN201611204946A CN106839977A CN 106839977 A CN106839977 A CN 106839977A CN 201611204946 A CN201611204946 A CN 201611204946A CN 106839977 A CN106839977 A CN 106839977A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
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Abstract
The invention discloses a kind of shield dregs volume measuring method based on optical grating projection binocular imaging technology, the structure light that laser-projector projection has certain coding covers slag-soil truck muck car railway carriage or compartment comprehensively, structure light shape is as shown in the figure, two video cameras are at an angle to each other, slag-soil truck muck car railway carriage or compartment optical grating projection information can preferably be gathered, then the raster image that will be collected is projected in the muck car railway carriage or compartment of slag-soil truck, the raster image for obtaining carries out Feature Points Matching by computer, point cloud pretreatment and three-dimensional reconstruction simulate slag-soil truck muck car railway carriage or compartment three-dimensional appearance, volume before slag-soil truck muck car railway carriage or compartment loads is calculated by fast volume calculating method, repeat process above and calculate the laden volume in slag-soil truck muck car railway carriage or compartment, the shield dregs amount that the latter and the former difference as to be surveyed.The method measurement facilitates speed fast, can realize measurement in real time.
Description
Technical field
The present invention relates to a kind of shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology, belong to
Machine vision and engineering machinery field.
Background technology
Subway turns into the vehicles that it is essential that people go on a journey increasingly, and application region is more and more wider, with subway construction
While, the measurement of dregs also seems increasingly important during shield, and the theory of dregs is unearthed amount such as under the conditions of normal shield
Fruit has difference with actual unearthed amount, then can guess that shield runs into bad soil layer state, and this is significant to construction safety.
The conventional method of the dregs amount record during shield mainly uses human metering, and the method workload is big and cannot be real-time
Dynamic measuring.Optical grating projection is to project to testee surface by by grating fringe, and light is carried using two camera acquisitions
The testee of grizzly bar line, deforming stripe reflects the three-dimensional information of testee, by analyzing the change of grating fringe, rebuilds
The threedimensional model of testee, carries out three-dimensional information measurement.Practical problem and optical grating projection feature are measured based on above dregs, this
Invention proposes a kind of shield dregs volume measuring method based on optical grating projection binocular imaging technology, using optical grating projection binocular into
As technology is measured to shield dregs volume, the method measurement facilitates speed fast, can realize measurement in real time.
The content of the invention
Measured in real time it is an object of the invention to provide a kind of shield dregs volume based on optical grating projection binocular imaging technology
Method, the method and apparatus that generation dregs amount volume during shield machine shield can be measured.
Concrete technical scheme of the invention is as follows：A kind of shield dregs volume reality based on optical grating projection binocular imaging technology
When measuring method, it is characterised in that comprise the steps of
(1) structure light for having certain coding using laser-projector projection covers slag-soil truck muck car railway carriage or compartment comprehensively；
(2) two video cameras are demarcated by plane reference and stereo calibration method；
(3) demarcate after completing, raster image is acquired using binocular camera, obtain grating picture；
(4) grating picture phase unwrapping is carried out using four-stepped switching policy, obtains absolute phase；
(5) Feature Points Matching is carried out using the innovatory algorithm SUORB based on algorithm combination；
(6) cloud data is pre-processed, completes three-dimensional reconstruction, simulate slag-soil truck muck car railway carriage or compartment three-dimensional appearance；
(7) volume before slag-soil truck muck car railway carriage or compartment loads is calculated using fast volume calculating method；
(8) above-mentioned 1-7 steps are repeated in and calculate the laden volume in slag-soil truck muck car railway carriage or compartment, subtract the volume before loading
The shield dregs volume as to be measured.
Advantage of the present invention：The present invention is surveyed in real time using a kind of shield dregs volume based on optical grating projection binocular imaging technology
Amount method, using structure light of the projection with a coding scheme, improves measurement efficiency, reduces detection time.Bian is high
The value difference of absolute phase anyhow that the grating fringe of resolution ratio is solved as measuring similarity, rather than gray scale value metric, so as to drop
Low matching ambiguity, improves systemic resolution.Binocular structured-light system three-dimensional reconstruction is the phase based on left and right cameras
Matching, the position with projecting apparatus is unrelated, therefore and projecting apparatus camera calibration need not be carried out, it is only necessary to conventional binocular camera mark
It is fixed, so that measuring system has greater flexibility and operability.Artificial calculating in the prior art can effectively be overcome
Dregs volume wastes time and energy, poor real, inaccurate measurement result the problems such as, improve measurement efficiency, reduce detection time,
It is time saving and energy saving, it is more most important that there is real-time.And whole-course automation of the present invention, machinery equipment operation work so that workman
Without being operated in the presence of a harsh environment.
Brief description of the drawings
Fig. 1 is the inventive method installation drawing.
In figure：1- reference planes, 2- slag-soil trucks, 3- video camera A, 4- projecting apparatus, 5- video camera B, 6- computers.
Fig. 2 is the optical grating projection shape determined according to field working conditions condition, and optical grating projection covers slag-soil truck muck car comprehensively
Railway carriage or compartment.
Fig. 3 is the inventive method flow chart.
Specific embodiment
Present invention is described in detail below in conjunction with accompanying drawing, but practical methods of the invention are not limited in
Following embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Shield machine is constantly tunneled forward, and the dregs of excavation enters soil pressure storehouse, and soil pressure storehouse rear side passes through a spiral dumper
Device at the same rate excludes the soil in soil pressure storehouse, then loads slag-soil truck by feed belt, and slag-soil truck loads onto dregs
Rear volume loaded with slag-soil truck before the volume differences dregs volume as to be measured.
Apparatus of the present invention as shown in figure 1, by a computer 6, a laser-projector 4, binocular camera 3 and 5 is constituted,
(the slag-soil truck muck car railway carriage or compartment inner bottom surface) installation site of reference planes 1 is as shown in figure 1, laser-projector 4 and binocular camera 3 and 5
It is respectively positioned on directly over the muck car railway carriage or compartment of slag-soil truck 2, the structure light that the projection of laser-projector 4 has certain coding covers slag-soil truck comprehensively
Muck car railway carriage or compartment, structure light shape can preferably gather slag-soil truck muck car as shown in Fig. 2 binocular camera 3 and 5 is at an angle to each other
Railway carriage or compartment optical grating projection information, the raster image that then will be collected is projected in the muck car railway carriage or compartment of slag-soil truck, the raster image for obtaining
Feature Points Matching is carried out by computer 6, point cloud pretreatment and three-dimensional reconstruction simulate slag-soil truck muck car railway carriage or compartment three-dimensional appearance, led to
Cross quick stereometer algorithm and calculate the volume before slag-soil truck muck car railway carriage or compartment loads, the process above that repeats calculates slag-soil truck soil bucket
The shield dregs amount that the laden volume in compartment, the latter and the former difference as to be surveyed.
Specific workflow figure of the present invention is as shown in Figure 3：
1st, structured light projection.The present invention takes structure light of the projection with certain coding, and said three-dimensional body is carried out using structure light
Product measurement has untouchable, high accuracy, high reliability.The present invention is taken based on the direct coding mode of coloud coding to structure
Light is encoded, and this coding method has resolution ratio very high, because it is usually using multicolour pattern, introduce various colors or
Value of color is set periodically to occur.Direct coding method is applied to the measurement of static scene, and in the single object measurement of color
Middle performance is good, and the measurement of operating mode slag soil body product of the present invention is the measurement under inactive state, and dregs color category ratio
It is less.Direct coding method need not in order project several coding patterns, improve measurement efficiency, reduce detection time,
The graded of the contour surface of other coding method measuring targets is very sensitive, and direct coding method is then limited without this.This
Outward, direct coding method measuring targets surface color and polish has required, i.e., surface color is neutral or grey, dregs color
Meet color requirements, so the direct coding mode for being taken based on coloud coding is encoded to structure light.By laser-projector
By on encoded a plurality of project structured light to slag-soil truck muck car railway carriage or compartment, slag-soil truck muck car railway carriage or compartment is thrown into these striations composition face
Surface.Projecting pattern is vertical striped, slag-soil truck muck car railway carriage or compartment inner surface because there is dregs to occur between concavo-convex change, script etc.
Away from vertical striped, by dregs modulate, become spoking, the striped of distortion includes dregs in slag-soil truck muck car railway carriage or compartment
Elevation information.
2nd, binocular camera is demarcated and raster image collection.The committed step of the reduction of three-dimensional body is exactly inside and outside video camera
The demarcation of parameter.Largely, the order of accuarcy of camera interior and exterior parameter directly decides the quality of three-dimensional reconstruction effect.It is single
Camera calibration is that, in order to obtain the focal length of camera, middle note, skew and distortion parameter, it is three-dimensional that demarcation is carried out to single camera
The premise of demarcation.Inside and outside parameter demarcation is carried out to single camera first with plane reference method in the present invention, then using vertical
Body standardization is demarcated to the spatial relation between two video cameras.
In computer vision, the homography of plane refers to the projection mapping from a plane to another plane.One
Mapping on point to video camera on two dimensional surface is exactly an example of plane shock wave.Single camera demarcates specific method
It is as follows：Using homogeneous coordinates, the point p on point P and imaging device is described, a littlePoint
Then it is expressed as with homography：
Wherein, s is a constant, represents zoom scale ratio.Homography matrix H includes two parts:For position observation
Object plane physical conversion and using camera intrinsic parameter matrix projection.Completed on a two dimensional surface by above formula
Point to video camera on mapping, complete single camera demarcate.
Binocular camera stereo calibration process uses equation below：
Pl=RT(Pr-T) (2)
Wherein, observation coordinate of the object point under right camera coordinate system is P under world coordinate systemr, thing under world coordinate system
Observation coordinate of the point under left camera coordinate system is Pl, T is the translation that right camera coordinate system is tied to from left camera coordinates
Vector, R is spin matrix.
3rd, demarcate after completing, raster image is acquired using binocular camera, obtain grating picture.
4th, absolute phase is obtained.The present invention carries out phase unwrapping using four-stepped switching policy to grating picture, by below equation
Calculate absolute phase：
φa(x, y)=φ (x, y)-φ0 (3)
Wherein,It is the phase main value that raster image is calculated by four amplitude grating images,
φ0The initial phase of candy strip of computer generation is assumed that for 0, and by the picture that video camera is captured be calculated it is relative
Phase.
Substantially, contrast is stronger for absolute phase identification characteristics, is easy to extract, and its form is unrestricted, meets different
Application demand,
5th, after absolute phase is obtained, Feature Points Matching is carried out using the innovatory algorithm SUORB based on algorithm combination.
ORB algorithms do not have scale invariability substantially in Feature Points Matching, are combined with SURF theoretical algorithms, propose based on algorithm combination
Innovatory algorithm SUORB.
Multiscale space is firstly generated, and the extreme point of stabilization is detected in multiscale space, so as to the feature for extracting
Point has Scale invariant information；Then carry out Expressive Features point using ORB descriptors, generate the binary system description of rotational invariance
Symbol, finally realizes Feature Points Matching, obtains cloud data.Detailed process method is as follows：
Extreme point formula is detected by SURF algorithm：
det(Happrox)=DxxDyy-(wDxy)2 (4)
Wherein Dxx、Dyy、DxySecond-order partial differential coefficient of the Gaussian function at (x, y) place is represented respectively；W is weight coefficient.
Using the method for non-maxima suppression, characteristic point is determined.Again by ORB algorithms using BRIEF binary system sequences
Form Expressive Features point.τ criterion formulas are as follows：
P points grey scale pixel value in the x direction, is designated as p (x).P points grey scale pixel value in y-direction, is designated as p (y).
6th, cloud data is processed, completes three-dimensional reconstruction.The present invention is gone using standard gaussian filtering to dispersion point cloud
Make an uproar, cloud data is simplified using direct method for simplifying, the neighborhood information of cloud data is obtained by some neighbour structures,
Partial simplified is carried out in contiguous range, the method thinking is simple, calculates the speed of service fast.Cutd open using based on Delaunay triangles
The Tetrahedron subdivision method divided carries out Tetrahedron subdivision to the convex closure to dispersion point cloud, is then based on least square plane and is calculated
Whether the normal vector of each scattered points, the normal vector using tetrahedron top intersects to reject external four sides with tetrahedron circumsphere
Body, obtains accurate tetrahedral structure after treatment.Normal vector is tried to achieve by below equation：
Wherein Vx,Vy,Vz, respectively measuring point V is worth on x, y, z direction, the k neighbour S={ p of measuring point Vi| i=1,2,
... k }, pix,piy,pizRespectively k neighbor points piIt is worth on x, y, z direction, the minimal eigenvalue of covariance matrix CVM is survey
Normal vector at point.
7th, the fast volume based on a cloud is calculated.Understand that calculating each tetrahedral volume sum can just count by above-mentioned steps
Calculate the volume before slag-soil truck is loaded.The present invention is calculated using new determinant method, for tetrahedron top A (x0,y0,z0), B
(x1,y1,z1), C (x2,y2,z2), D (x3,y3,z3) tetrahedron volume V can be obtained：
8th, the volume after the above (1-7) step calculates slag-soil truck loading is repeated in, dregs car body before loading is subtracted
The shield dregs volume as to be surveyed of product.
Above-mentioned specific embodiment is used for explaining the present invention, rather than limiting the invention, in spirit of the invention and
In scope of the claims, any modifications and changes made to the present invention both fall within protection scope of the present invention.
Claims (7)
1. a kind of shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology, it is characterised in that comprising with
Lower step：
Step (1), the structure light for having certain coding using laser-projector projection cover slag-soil truck muck car railway carriage or compartment comprehensively；
Step (2), binocular camera is demarcated by plane reference and stereo calibration method；
After step (3), demarcation are completed, raster image is acquired using binocular camera, obtains grating picture；
Step (4), grating picture phase unwrapping is carried out using four-stepped switching policy, obtain absolute phase；
Step (5), carry out Feature Points Matching using the innovatory algorithm SUORB based on algorithm combination；
Step (6), cloud data is pre-processed, complete three-dimensional reconstruction, simulate slag-soil truck muck car railway carriage or compartment three-dimensional appearance；
Step (7), calculated using fast volume calculating method slag-soil truck muck car railway carriage or compartment load before volume；
Step (8), it is repeated in above-mentioned (1-7) step and calculates the laden volume in slag-soil truck muck car railway carriage or compartment, before subtracting loading
The shield dregs volume that volume as to be measured.
2. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 1, its
It is characterised by, in step (1), structure light is encoded using the direct coding mode based on coloud coding, by laser projection
By on encoded a plurality of project structured light to slag-soil truck muck car railway carriage or compartment, slag-soil truck muck car is thrown into these striations composition face to instrument
Railway carriage or compartment surface；Projecting pattern is vertical striped, slag-soil truck muck car railway carriage or compartment inner surface because there is dregs that concavo-convex change, script etc. occurs
The vertical striped of spacing, modulates by dregs, becomes spoking, and the striped of distortion includes dregs in slag-soil truck muck car railway carriage or compartment
Elevation information.
3. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 1, its
It is characterised by, in step (2), inside and outside parameter demarcation is carried out to single camera using plane reference method, is then marked using three-dimensional
Determine method to demarcate the spatial relation between two video cameras.
4. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 1, its
It is characterised by, in step (5), firstly generates multiscale space, and the extreme point of stabilization is detected in multiscale space, to carry
The characteristic point of taking-up has Scale invariant information；Then Expressive Features point, the two of generation rotational invariance are come using ORB descriptors
System descriptor, finally realizes Feature Points Matching, obtains cloud data.
5. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 1, its
It is characterised by, in step (6), using standard gaussian filtering to dispersion point cloud denoising, using direct method for simplifying to cloud data
Simplified, the neighborhood information of cloud data is obtained by some neighbour structures, partial simplified is carried out in contiguous range.
6. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 5, its
It is characterised by, carrying out tetrahedron to the convex closure of dispersion point cloud using the Tetrahedron subdivision method based on Delaunay Triangulation cuts open
Point, be then based on the normal vector that least square plane is calculated each scattered points, using tetrahedron top normal vector whether with
Tetrahedron circumsphere intersects to reject external tetrahedron, and accurate tetrahedral structure is obtained after treatment.
7. the shield dregs volume method for real-time measurement of optical grating projection binocular imaging technology is based on as claimed in claim 1, its
It is characterised by, in step (7), tetrahedron top is calculated using new determinant method, tetrahedron volume V can be obtained, calculates each tetrahedral body
Product sum can just calculate the volume of dregs.
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| CN109002421A (en) * | 2018-06-25 | 2018-12-14 | 深圳市四叶草物联网科技有限公司 | Slag-soil truck transports yardage statistical method, system and server, storage medium |
| CN109186491A (en) * | 2018-09-30 | 2019-01-11 | 南京航空航天大学 | Parallel multi-thread laser measurement system and measurement method based on homography matrix |
| CN110130921A (en) * | 2019-06-26 | 2019-08-16 | 中国铁建重工集团股份有限公司 | A kind of TBM and its belt feeder are slagged tap information collecting device |
| CN110174079A (en) * | 2019-06-04 | 2019-08-27 | 重庆大学 | A kind of three-dimensional rebuilding method based on the code-shaped area-structure light of four-step phase-shifting |
| CN110595356A (en) * | 2019-09-10 | 2019-12-20 | 湖南海森格诺信息技术有限公司 | Method for measuring solid volume in artificial storage environment |
| CN110675499A (en) * | 2019-07-23 | 2020-01-10 | 电子科技大学 | Three-dimensional modeling method based on binocular structured light three-dimensional scanning system |
| CN110887440A (en) * | 2019-12-03 | 2020-03-17 | 西安科技大学 | Real-time measuring method and device for volume of earth of excavator bucket based on structured light |
| CN110926426A (en) * | 2019-12-03 | 2020-03-27 | 西安科技大学 | Real-time detection device and detection method for residual muck volume of subway shield segment |
| CN111119264A (en) * | 2019-11-27 | 2020-05-08 | 朱来清 | Intelligent soil excavation frequency estimation platform |
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| CN109002421A (en) * | 2018-06-25 | 2018-12-14 | 深圳市四叶草物联网科技有限公司 | Slag-soil truck transports yardage statistical method, system and server, storage medium |
| CN109002421B (en) * | 2018-06-25 | 2023-04-18 | 深圳市四叶草物联网科技有限公司 | Muck truck transportation earth square number statistical method, muck truck transportation earth square number statistical system, muck truck transportation earth square number statistical server and storage medium |
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| CN110174079A (en) * | 2019-06-04 | 2019-08-27 | 重庆大学 | A kind of three-dimensional rebuilding method based on the code-shaped area-structure light of four-step phase-shifting |
| CN110130921A (en) * | 2019-06-26 | 2019-08-16 | 中国铁建重工集团股份有限公司 | A kind of TBM and its belt feeder are slagged tap information collecting device |
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| CN110675499B (en) * | 2019-07-23 | 2023-04-11 | 电子科技大学 | Three-dimensional modeling method based on binocular structured light three-dimensional scanning system |
| CN110595356A (en) * | 2019-09-10 | 2019-12-20 | 湖南海森格诺信息技术有限公司 | Method for measuring solid volume in artificial storage environment |
| CN111119264A (en) * | 2019-11-27 | 2020-05-08 | 朱来清 | Intelligent soil excavation frequency estimation platform |
| CN110887440B (en) * | 2019-12-03 | 2021-05-04 | 西安科技大学 | Real-time measuring method and device for volume of earth of excavator bucket based on structured light |
| CN110926426A (en) * | 2019-12-03 | 2020-03-27 | 西安科技大学 | Real-time detection device and detection method for residual muck volume of subway shield segment |
| CN110887440A (en) * | 2019-12-03 | 2020-03-17 | 西安科技大学 | Real-time measuring method and device for volume of earth of excavator bucket based on structured light |
| CN111275753A (en) * | 2020-01-17 | 2020-06-12 | 中国建筑第八工程局有限公司 | Method for measuring volume of sand and stone in carriage |
| CN111275753B (en) * | 2020-01-17 | 2023-03-24 | 中国建筑第八工程局有限公司 | Method for measuring volume of sand and stone in carriage |
| CN112082608A (en) * | 2020-08-05 | 2020-12-15 | 陕西天诚合创智能控制工程有限责任公司 | Method for detecting solid particle flow on conveyer belt by using binocular vision |
| CN112184707A (en) * | 2020-10-30 | 2021-01-05 | 三峡大学 | Method and system for judging earth and stone load of muck vehicle based on point cloud data |
| CN113838112A (en) * | 2021-09-24 | 2021-12-24 | 东莞市诺丽电子科技有限公司 | Trigger signal determining method and trigger signal determining system of image acquisition system |
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