CN107255498A - Conveyer belt weight of material measuring system and measuring method based on binocular vision - Google Patents
Conveyer belt weight of material measuring system and measuring method based on binocular vision Download PDFInfo
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- CN107255498A CN107255498A CN201710408959.2A CN201710408959A CN107255498A CN 107255498 A CN107255498 A CN 107255498A CN 201710408959 A CN201710408959 A CN 201710408959A CN 107255498 A CN107255498 A CN 107255498A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
Abstract
The invention discloses a kind of conveyer belt weight of material measuring system based on binocular vision, in the weighing area original position of conveyer belt, one fore-stock is set, in ultimate position, one after-poppet is set, the original position is arranged on directly over a disk roller of conveyer belt, and velocity sensor is provided with the disk roller shaft end；Laser bar strip array is installed on the fore-stock of original position, two ccd video cameras are installed on the after-poppet of ultimate position, light source is provided between fore-stock and after-poppet；Above-mentioned two ccd video cameras, velocity sensor are connected by respective cable with Computer signal.The invention also discloses a kind of conveyer belt weight of material measuring method based on binocular vision.The device and method of the present invention, flexibly changes weighing area, Δ t weight of material is preserved every the time, the weight of material of each time can be checked at any time by the visual field for adjusting CCD imaging systems.
Description
Technical field
The invention belongs to conveyer belt material metage technical field, it is related to a kind of conveyer belt weight of material based on binocular vision
Measuring system, the invention further relates to a kind of conveyer belt weight of material measuring method based on binocular vision.
Background technology
Conveyer belt delivery application realizes assembling, detection, debugging, packaging and transport of object etc. in all trades and professions.Conveyer belt
The material variety that can be conveyed is various, can both convey various bulk cargos, can also convey the piece weights such as various cartons, packaging bag little
Goods part, it is widely used, therefore weighing for conveyer belt is very important.The weighing device of current conveyer belt transport is using more
It is uclear scale and electronic scale.
The measurement error of uclear scale has following several influencing factors：Convey the fair wear and tear of tape thickness, ionisation chamber surface area
Dust, the penetration thickness for being considered ray is changed, and can influence measurement result；As belt deflection makes conveyer belt
Even material is gone to outside ray overlay area, can produce larger or even serious measurement error；Material kind, composition, moisture content
Change, the change of mass-absorption coefficient can be caused, measurement error can be produced；Granularity increase can cause the multiple folding of ray
Penetrate, measurement result can be reduced.
The measuring principle of conveyer belt electronic scale is to complete online to material metage using pressure sensor, and that applies at present is defeated
Send having electronic scale main based on lever and suspended scale rack structure.The unit load or weight of material of conveyer belt electronic scale will
Weighing sensor, centre any one are passed to by a series of mechanical devices such as conveyer belt, load-bearing carrying roller, lever and bindiny mechanisms
Individual link is improper, can all introduce measurement error.The weight of material is acted on by conveyer belt to be transmitted to next stage, if conveyer belt
Power is unstable necessarily to cause measurement error；The fair wear and tear of conveyer belt and scale frame dust stratification, buildup can also influence the stress of sensor,
Cause measurement error；If scale frame and sensor connection means Rig up error, can have internal stress, if synoptic climate is for example cold
Heat, Drought-wet change substantially, can cause the change of internal stress, necessarily bring measurement error；Conveyer belt operation neutralize weighing carrier roller it
Between there is rolling friction, the size of frictional force changes with conveyer belt payload, frictional force can weighing lever system produce it is non-
Torque is measured, so as to cause weighing error；Conveyer belt electronic scale belongs to suspension cable class Weighing system, and weight of material is transmitted through conveyer belt
To by Force system, because fine motion of the weighing frame after loading is moved down, necessarily reduce force acting on transducer, missed so as to produce measurement
Difference；If debugged in an installation without unbalance loading, belt deflection can produce measurement error at work.
The content of the invention
It is an object of the invention to provide a kind of conveyer belt weight of material measuring system based on binocular vision, solve existing
Technology conveyer belt electronic scale is more to the influence factor of material measurement error in conveying, and measurement error is difficult to control to, and measurement accuracy is not
Reliable the problem of.
It is a further object of the present invention to provide a kind of conveyer belt weight of material measuring method based on binocular vision.
The technical solution adopted in the present invention is, a kind of conveyer belt weight of material measuring system based on binocular vision,
The weighing area original position of conveyer belt sets a fore-stock, and an after-poppet is set in ultimate position, and the start bit is installed
Put directly over a disk roller of conveyer belt, velocity sensor is installed in the disk roller shaft end；On the fore-stock of original position
Laser bar strip array is installed, two ccd video cameras are installed on the after-poppet of ultimate position, in fore-stock and after-poppet
Between be provided with light source；Above-mentioned two ccd video cameras, velocity sensor pass through respective cable and Computer signal connects
Connect.
Another technical scheme of the present invention is, a kind of conveyer belt weight of material measurement side based on binocular vision
Method, using the above-mentioned conveyer belt weight of material measuring system based on binocular vision, implements according to following steps：
Step 1, erection weight measuring system
Make two ccd video cameras (1) close to material as far as possible, title can be covered simultaneously by keeping the visual field of two ccd video cameras (1)
Weight region；
Step 2, two ccd video cameras (1) are demarcated, conveyer belt (9) is Light Condition during demarcation；
Step 3, the image for gathering and handling material on conveyer belt (9)
Try to achieve hot spot point to binocular imaging mechanism apart from d using binocular range measurement principle, further ask for it is divided not
With the height of materials h of fritteri；
Step 4, the weight data for calculating material.
The beneficial effects of the invention are as follows, including following aspect：
1) the difference different number of uncalibrated image of multi collect, is joined by the way that the scene point in space coordinates is based on into demarcation
Number re-projections to the plane of delineation of ccd video camera, it is compared with the correspondence position on real image, between difference be
The absolute error of ccd video camera demarcation；By the way that to binocular imaging mechanism calibration, the height of surface of material, precision are obtained well
It is higher.
2) main determining factor of check weighing is the number for splitting block, and segmentation is more, and precision are higher, and the present invention uses laser
Bar strip array, can be good at splitting surface of material.
3) the big I in weighing area is adjusted flexibly, according to the weighing area weight of material stored every time, when can inquire about any
Between section material conveying amount and generate material conveying amount form.
Brief description of the drawings
Fig. 1 is the structural representation of weight measuring system of the present invention；
Fig. 2 is the IMAQ schematic diagram that weight measurements of the present invention are used；
Fig. 3 is the binocular ranging geometrical principle figure that weight measurements of the present invention are used；
Fig. 4 is the binocular ranging hot spot schematic diagram that weight measurements of the present invention are used.
In figure, 1.CCD video cameras, 2. cables, 3. laser bar strip arrays, 4. light sources, 5. computers, 6. fore-stocks,
7. disk roller, 8. velocity sensors, 9. conveyer belts, 10. after-poppets.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Reference picture 1, Fig. 4, the hardware configuration of weight measuring system of the present invention is, in the weighing area start bit of conveyer belt 9
A fore-stock 6 is installed, one after-poppet 10 is set in ultimate position, the original position is arranged on a roller of conveyer belt 9
Directly over wheel 7, velocity sensor 8 is installed in the shaft end of disk roller 7；Laser bar is installed on the fore-stock 6 of original position
Strip array 3, is provided with two ccd video cameras 1 on the after-poppet 10 of ultimate position, is set between fore-stock 6 and after-poppet 10
It is equipped with light source 4；Above-mentioned two ccd video cameras 1, velocity sensor 8 are connected by respective cable 2 with the signal of computer 5.
Weighing area, and two can be completely covered in the visual field of two ccd video cameras 1 (being collectively referred to as binocular imaging mechanism)
The individual optical axis of ccd video camera 1 is parallel and center line is located on the longitudinal centre line of conveyer belt 9；Two relative positions of ccd video camera 1 are consolidated
It can be rotated after fixed around respective support, to debug suitable shooting angle.
Two ccd video cameras 1 can need light when environment is dark because target is not seen and error is very big
Source 4 provides light filling；Laser bar strip array 3 is the bar strip structure of multiple laser constitutions, produces the laser being parallel to each other
The surface of Shu Chuizhi directives conveyer belt 9, drop point is equally distributed circular light spot；Velocity sensor 8 is hall device, will be obtained
Information transmission obtain the transmission speed v of material to the processing of computer 5；Because when having material on conveyer belt 9, under the meeting of conveyer belt 9
It is heavy to bring measurement error, therefore laser bar strip array 3 is arranged on the just upper position of the disk roller 7 of conveyer belt 9, it is to avoid under conveyer belt 9
The heavy measurement error brought.When conveyer belt is unloaded and has material, the hot spot that laser bar strip array 3 is produced from binocular into
The distance of camera structure is also different, and hot spot is obtained to the distance of binocular imaging mechanism by binocular ranging.
The assembling process of weight measuring system of the present invention is：
1) conveyer belt 9 is when conveying material, and the weight of material can cause conveyer belt 9 to sink, so in a disk roller 7 just
Top installing front support 6, as the original position of weighing area, installs laser bar bar battle array on the fore-stock 6 of the original position
Row 3.
2) two ccd video cameras 1 are arranged on after-poppet 10, as the ultimate position of weighing area, two CCD take the photograph
The optical axis of camera 1 is placed in same horizontal line parallel and perpendicular to conveyer belt 9, and the axis of two ccd video cameras 1 is located at conveying
On the longitudinal axis of band 9, and weighing area will be completely covered in the imaging viewing field of each ccd video camera 1.
3) regulation laser bar strip array 3 so that laser bar strip array 3 produces downwards equally distributed collimated light beam and beaten
Hot spot is formed on to conveyer belt 9.
4) speed probe 8 (model selects hall device SS413A) for surveying rotating speed is installed to the original position of conveyer belt 9
In the rotating shaft of place disk roller 7.
5) pre-installed software controls two collection images of ccd video camera 1 in computer 5, every time Δ t collections once, obtains
The light spot image of weighing area is obtained, then computer 5 utilizes software to carry out image procossing.
Conveyer belt weight of material measuring method of the invention based on binocular vision, implements according to following steps：
Step 1, above-mentioned weight measuring system is installed in conveyer belt 9
When two ccd video cameras 1 are installed, the distance i.e. baseline of binocular vision between two optical axises need to be considered.Because CCD takes the photograph
Each pixel of camera 1 has certain area, and an ideal point (no size) is accurate in the pixel of ccd video camera 1
Position can not be reflected on image, fundamentally cause picpointed coordinate error, i.e. image recognition error.When object distance is got over
Greatly, i.e., when scene point is more remote from ccd video camera 1, error is bigger；When the Pixel Dimensions of ccd video camera 1 are bigger, error is bigger,
When parallax is bigger, error is smaller.Therefore, two ccd video cameras 1 are made as far as possible close to material, it also requires keeping two CCD to take the photograph
The visual field of camera 1 can cover weighing area simultaneously.
Baseline length is the important parameter of mutual alignment relation between two ccd video cameras 1 in characterization of visual system, it
Change can not only cause the change of system architecture, and can directly affect measurement accuracy, for a close-up and spatial point,
With baseline length T increase, measurement error reduces, and focal length is bigger, and measurement error is smaller.
Step 2, two ccd video cameras 1 are demarcated
Install needs to demarcate it after ccd video camera 1, and conveyer belt 9 is Light Condition during demarcation.
The emphasis of the inventive method is segmentation material width, and the height of materials for splitting block is measured using binocular range measurement principle,
Due to the foozle of the camera lens of ccd video camera 1, there is certain radial distortion in camera lens.The alignment error of camera lens will be brought tangentially
Distortion, the purpose that ccd video camera 1 is demarcated is exactly that the inner parameter for asking for ccd video camera 1 carries out distortion correction.Single CCD shootings
There is substantial connection in the calibration result of machine 1 and the uncalibrated image number of collection, it is however generally that, the picture number of collection is more, demarcation essence
Degree is higher, and collection picture number is at least more than 12 width.
Reference picture 2, the principle of IMAQ is, because the system in reality is not preferable pinhole imaging system, so needing
Use optimization to carry out nonlinear calibration to ccd video camera 1, then captured picture is entered according to parameter obtained by calibrating
Row correction.
Calibration process is：It is assumed that stencil plane is in world coordinate system Z=0 plane,
Wherein, s is scale factor, and it is intended merely to facilitate computing, and coordinate will not be changed for homogeneous coordinates scale factor
Value, A is the Intrinsic Matrix of ccd video camera 1, [X Y 1]TFor the homogeneous coordinates put on stencil plane, [u v 1]TFor template
Plane-point projects to the homogeneous coordinates of corresponding points on image plane, [r1 r2 r3] and t be the coordinate system phase of ccd video camera 1 respectively
For the spin matrix and translation vector of world coordinate system, wherein m homogeneous coordinates represent pixel coordinate [the u v of the plane of delineation
1]T, M homogeneous coordinates represent the coordinate points of world coordinate system [X Y 1]T, make H=A [r1 r2t]：
λ is invariant, H calculating be real image coordinate by making extraction and the image coordinate that calculates it
Between the minimum process of algebraic distance, according to the property of spin matrix, i.e. r1 Tr2=0 He | | r1| |=| | r2| |=1, every width figure
As obtaining following two basic constraints to Intrinsic Matrix：
Because ccd video camera 1 has five unknown intrinsic parameters, so when acquired image number is more than or equal to 3, with regard to energy
It is enough linearly uniquely to solve Intrinsic Matrix A, corresponding outer parameter is obtained immediately, completes the demarcation to ccd video camera 1.
Step 3, the image for gathering and handling material on conveyer belt 9
Demarcate after camera and started to gather image, sampling interval duration is Δ t, and the image collected is located in real time
Reason, the difference that the lateral coordinates being imaged first with binocular ranging geometrical principle using target point on the width view of left and right two are present
(i.e. parallax), to the relation that there is inverse proportion apart from Z of imaging plane, tries to achieve hot spot point to binocular imaging mechanism with target point
Apart from d.
Reference picture 3, binocular ranging geometrical principle is, after two ccd video cameras 1 are demarcated and calibrated, two ccd video cameras 1
Primary optical axis reach parallel, T is the distance between two camera photocentres, i.e. baseline length；OlIt is the photocentre of left and right camera, light with Or
The heart to image planes X beeline are exactly focal length f, and P is the hot spot that laser is produced on material, target as to be measured
Point, its imaging point in the image planes of left and right is pl and pr, and the distance of the left hand edge of pl and pr away from respective image planes is xl and xr respectively；
Difference (the i.e. parallax l=that the lateral coordinates that binocular ranging has mainly used target point to be imaged on the width view of left and right two are present
Pl-pr) with the relation that inverse proportion is there is apart from Z of target point to imaging plane：Ask
Hot spot point is obtained to binocular imaging mechanism apart from d.
Hot spot point is tried to achieve to binocular imaging mechanism after d using binocular range measurement principle, utilizes the mathematics geometry of system
Relation, further asks for the height of materials h of divided different frittersi。
Reference picture 4, is the hot spot schematic diagram of conveyer belt weight of material measuring system, in two ccd video cameras 1, and k is single
Individual lasing light emitter, when conveyer belt 9 is unloaded, the hot spot that k projects to the surface of conveyer belt 9 is k1, and k to k1 distance is fixed value c, when
When having material on conveyer belt 9, the position of hot spot is k2, and hot spot k2 to ccd video camera 1 distance is d, two institutes of ccd video camera 1
After-poppet 10 and laser bar strip array 3 where fore-stock 6 be arranged parallel and apart from for fixed value q；Lasing light emitter is
Perpendicular to conveyer belt 9, then lasing light emitter is from being fixed value c with a distance from the surface of conveyer belt 9；It can be seen from triangle Pythagorean theorem, k
The distance between with k2When then having material hot spot to the plane of conveyer belt 9 distance be h=c-p.
Step 4, the weight data for calculating material
Because the surface of material of weighing area is to rise and fall, i.e., surface of material is change from the height on the surface of conveyer belt 9,
Therefore step-and-shoot is carried out using laser bar strip array 3, weighing area is separated into N number of fritter to calculate by the light beam of generation,
hiFor corresponding height at i-th of hot spot, (i=1 ... N), the width of conveyer belt 9 is u, and the transporting velocity of conveyer belt 9 is v, Δ t
Material floor space size is S=u × v × Δ t on correspondence conveyer belt 9 in time, material on correspondence conveyer belt 9 in the Δ t times
Volume is V=S × h, and h is the height of materials in the Δ t times；uiFor the spacing between adjacent two-laser, then every piece of area is ui
×v×Δt；
The weight of material is measured by formula m=ρ × V, m therein is the weight of material, ρ is the density of material, material
Volume V=S × h；
When poidometer, the continuous acquisition weight of material in each sampling interval duration Δ t that adds up is Δ m,Expect the material to current time (i.e. to w-th of sampling time interval) since timing
Weight mAlways, thenmjFor the weight of material in j-th of sampling time.
Because weighing area surface of material is to rise and fall, it is meant that material surface level is change, therefore uses directional light
Weighing area is separated into multiple fritters to calculate by beam, continuous sampling and add up each sampling interval duration Δ t in material weight
Amount, you can obtain since timing to the material gross weight on current time conveyer belt 9.By the visual field for adjusting ccd video camera 1
It is flexible to change weighing area.From that time for starting to weigh, every the time, Δ t weight of material is preserved, each time
Weight of material can check at any time, or produce weight of material form.
The present invention passes through experimental verification, weighs and works well, and has obtained " Shaanxi Province's Technology for Modern Equipment green manufacturing collaborative innovation
The support of center (numbering 304-210891702) " project.
Claims (5)
1. a kind of conveyer belt weight of material measuring system based on binocular vision, it is characterised in that：Weighing Area in conveyer belt (9)
Domain original position sets a fore-stock (6), and an after-poppet (10) is set in ultimate position, and the original position is arranged on conveying
Directly over one disk roller (7) of band (9), velocity sensor (8) is installed in disk roller (7) shaft end；In the preceding branch of original position
Laser bar strip array (3) is installed on frame (6), two ccd video cameras are installed on the after-poppet (10) of ultimate position
(1) light source (4), is provided between fore-stock (6) and after-poppet (10)；Two above-mentioned ccd video cameras (1), velocity pick-ups
Device (8) is connected by respective cable (2) with computer (5) signal.
2. the conveyer belt weight of material measuring system according to claim 1 based on binocular vision, it is characterised in that：It is described
The visual fields of two ccd video cameras (1) be completely covered weighing area, and two ccd video camera (1) optical axis is parallel and center line is located at
On the longitudinal centre line of conveyer belt (9).
3. a kind of conveyer belt weight of material measuring method based on binocular vision, it is characterised in that utilize the institute of claim 1 or 2
The conveyer belt weight of material measuring system based on binocular vision stated, implements according to following steps：
Step 1, erection weight measuring system
Make two ccd video cameras (1) close to material as far as possible, Weighing Area can be covered simultaneously by keeping the visual field of two ccd video cameras (1)
Domain；
Step 2, two ccd video cameras (1) are demarcated, conveyer belt (9) is Light Condition during demarcation；
Step 3, the image for gathering and handling material on conveyer belt (9)
Hot spot point is tried to achieve to binocular imaging mechanism apart from d using binocular range measurement principle, further asks for divided difference small
The height of materials h of blocki；
Step 4, the weight data for calculating material.
4. the conveyer belt weight of material measuring method according to claim 3 based on binocular vision, it is characterised in that：
In described step 2, demarcation detailed process is：
It is assumed that stencil plane is in world coordinate system Z=0 plane,
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Wherein, s is scale factor, and coordinate value will not be changed for homogeneous coordinates scale factor, and A is interior for ccd video camera (1)
Parameter matrix, [X Y 1]TFor the homogeneous coordinates put on stencil plane, [u v 1]TFor spot projection on stencil plane to image plane
The homogeneous coordinates of upper corresponding points, [r1 r2 r3] and t be rotation of ccd video camera (1) coordinate system relative to world coordinate system respectively
The homogeneous coordinates of matrix and translation vector, wherein m represent the pixel coordinate [u v 1] of the plane of delineationT, M homogeneous coordinates represent
The coordinate points [X Y 1] of world coordinate systemT, make H=A [r1 r2t]：
H=[h1 h2 h3]=λ A [r1 r2 t]
λ is invariant, and H calculating is by between the image coordinate that makes the real image coordinate of extraction and calculate
The minimum process of algebraic distance, according to the property of spin matrix, i.e. r1 Tr2=0 He | | r1| |=| | r2| |=1, each image is obtained
Obtain following two basic constraints to Intrinsic Matrix：
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1
Because ccd video camera (1) has five unknown intrinsic parameters, when acquired image number is more than or equal to 3, it becomes possible to linear
Intrinsic Matrix A uniquely is solved, corresponding outer parameter is obtained immediately, the demarcation to ccd video camera (1) is completed.
5. the conveyer belt weight of material measuring method according to claim 3 based on binocular vision, it is characterised in that：
In described step 4, calculating the weight data detailed process of material is：
Step-and-shoot is carried out using laser bar strip array (3), weighing area is separated into N number of fritter to count by the light beam of generation
Calculate, hiFor corresponding height at i-th of hot spot, i=1,2 ..., N, the width of conveyer belt (9) is u, the conveying speed of conveyer belt (9)
Spend for v, material floor space size is S=u × v × Δ t on correspondence conveyer belt (9) in the Δ t times, correspondence conveying in the Δ t times
The volume of material is V=S × h on band (9), and h is the height of materials in the Δ t times；uiFor the spacing between adjacent two-laser, then
Every piece of area is ui×v×Δt；
The weight of material is measured by formula m=ρ × V, m therein is the weight of material, ρ is the density of material, the body of material
Product V=S × h；
When poidometer, the continuous acquisition weight of material in each sampling interval duration Δ t that adds up is Δ m,Expect the weight of material m to current time since timingAlways, then
mjFor the weight of material in j-th of sampling time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408959.2A CN107255498B (en) | 2017-06-02 | 2017-06-02 | Conveying belt material weight measuring system and method based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408959.2A CN107255498B (en) | 2017-06-02 | 2017-06-02 | Conveying belt material weight measuring system and method based on binocular vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107255498A true CN107255498A (en) | 2017-10-17 |
| CN107255498B CN107255498B (en) | 2020-06-26 |
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| CN107816943A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | A kind of box for material circulation volume weight measuring system and its implementation |
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| CN108414064A (en) * | 2018-06-01 | 2018-08-17 | 成都睿畜电子科技有限公司 | Remote sensing type material tower weighing-appliance and weighing method |
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| CN109341823A (en) * | 2018-11-15 | 2019-02-15 | 力博重工科技股份有限公司 | Stream real-time detection apparatus based on video image |
| CN112614176A (en) * | 2020-11-27 | 2021-04-06 | 大连海事大学 | Belt conveyor material volume measuring method and device and storage medium |
| CN113155198A (en) * | 2021-05-08 | 2021-07-23 | 上海海洋大学 | Automatic measuring equipment and method for weight and overall dimension of fish body |
| CN113739765A (en) * | 2021-08-23 | 2021-12-03 | 中国人民解放军63660部队 | Binocular collaborative drop point measurement method without additional control point |
| CN113739765B (en) * | 2021-08-23 | 2024-03-26 | 中国人民解放军63660部队 | Binocular cooperative falling point measuring method without additional control points |
| CN113901600A (en) * | 2021-09-13 | 2022-01-07 | 杭州大杰智能传动科技有限公司 | Automatic monitoring control method and system for lifting load balance of intelligent tower crane |
| CN113901600B (en) * | 2021-09-13 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Automatic monitoring and controlling method and system for lifting load balance of intelligent tower crane |
| CN113984156A (en) * | 2021-09-22 | 2022-01-28 | 北京伟景智能科技有限公司 | Belt weighing method and device based on optical measurement and storage medium |
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