CN109948189A - A kind of excavator bucket material volume and weight measuring system - Google Patents
A kind of excavator bucket material volume and weight measuring system Download PDFInfo
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- CN109948189A CN109948189A CN201910123799.6A CN201910123799A CN109948189A CN 109948189 A CN109948189 A CN 109948189A CN 201910123799 A CN201910123799 A CN 201910123799A CN 109948189 A CN109948189 A CN 109948189A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The present invention relates to a kind of excavator bucket material volume and weight measuring systems, belong to Hydraulic Excavator Bucket weighing technology field, comprising: laser radar, computing device, pretreatment unit, manipulation display device.The present invention realizes the dynamic volume of material and weight measurement in scraper bowl using a laser radar apparatus during excavator operation；Effective three-dimensional modeling can be carried out to empty scraper bowl, point cloud registering fusion is carried out to the scraper bowl equipped with material during digging operation later, it solves point cloud data acquisition and is blocked etc. by object to lead to the incomplete limitation of point cloud acquisition, high measurement accuracy has been mentioned, the complexity of measuring device is reduced.
Description
Technical field
The present invention relates to a kind of scraper bowl volume of material and weight measuring system based on laser point cloud, belong to hydraulic crawler excavator
Scraper bowl weighing technology field.
Background technique
The application field of excavator is very extensive, it is able to cooperate different devices and carries out different work.In surface mining
In engineering, excavator can be removed the surface of mineral, complete the excavation and handling of mineral.Especially cooperate in excavator and blocks
When vehicle loads, if can know that the weight for excavating material, so that it may prevent cooperation from loading truck overloading or the underload of transport, complete
It is accurate to load.These data can also carry out construction data record, be statisticallyd analyze according to construction data, reasonable allocation schedule
Excavator improves production efficiency.
Patent CN106460372A, for the method and system for being actually responsible for weight for excavating equipment of digging up mine, based on being swept
The excavation surface retouched determines excavation surface shape, identifies from excavating equipment and excavates path, based on excavating surface and excavate path
Carry out the actual volume for calculating and excavating, according to density factor calculated weight.The shortcomings that patent CN106460372A: swashed using multiple
Optical radar scans the excavation surface around excavating equipment, each in the multiple images scanned is clicked through row set, is determined
Surface shape is excavated, the material in path is excavated and is blocked by ancillary equipment is excavated, the equipment record such as encoder need to be used to excavate
Path, need to reject the point excavated in path, and calculation processing is complicated.
Patent CN103900669B, by installing pressure sensor additional in swing arm, bucket arm cylinder, on swing arm, dipper, scraper bowl
It installs obliquity sensor and gyroscope additional, the dynamic weighing of scraper bowl material is realized according to kane dynamic equation.Patent
The shortcomings that CN103900669B: the sensor of the patent has been used obliquity sensor, gyroscope, pressure sensor and data and has been acquired
Module is connected, and system is complex, and the bad accurate measurement of scraper bowl center of gravity in kinetic model, the weight of material precision of calculating
Can have an impact.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of excavator bucket material volume and weight measuring systems, make
With a laser radar scraper bowl containing material is scanned during excavator operation, realizes and have the characteristics that
The measurement of scraper bowl weight of material: (1) excavator operation during can be completed weight measurement；(2) can have to empty scraper bowl
The three-dimensional point cloud of effect models, and carries out point Yun Ronghe to the scraper bowl equipped with material in operation process later, solves point cloud data and adopts
Collection is blocked etc. by object leads to the incomplete limitation of point cloud acquisition；(3) complexity for reducing Weight-measuring device, improves and surveys
Accuracy of measurement.
In order to achieve the above-mentioned object of the invention, the invention adopts the following technical scheme: a kind of excavator bucket material volume with
Weight measuring system characterized by comprising
Laser radar for carrying out three-dimensional point cloud dynamic scan to the scraper bowl equipped with material, and will be scanned containing ground
Face, swing arm, dipper, scraper bowl, material information initial three-dimensional point cloud data computing device is sent to by communication link；
Computing device, for by communication link receive the empty scraper bowl three dimensional point cloud that handles of pretreatment unit and
Empty scraper bowl volume；The initial three-dimensional point cloud containing the scraper bowl equipped with material that laser radar scanning obtains is received by communication link
Data；Handled by series of algorithms: denoising, cluster, segmentation, the fusion of ICP iteration obtain the point cloud for containing only the scraper bowl of material
Data；It calculates the scraper bowl volume containing material and calculates the volume of material in conjunction with empty scraper bowl volume, calculated according to the density of material
The weight of material；
Pretreatment unit is handled for the three-dimensional CAD structural model to empty scraper bowl, generates empty scraper bowl three-dimensional point cloud number
According to, and the volume of sky scraper bowl is calculated, the empty scraper bowl three dimensional point cloud of generation and the empty scraper bowl volume calculated are passed through
Communication link is sent to computing device；
Display device is manipulated, for setting the density of different material, and acquires, show the result of computing device calculating to behaviour
Author.
The course of work of the pretreatment unit are as follows:
(1) CAD model of empty scraper bowl is imported into Meshlab software, generates empty shovel using the algorithm that Meshlab software provides
The three dimensional point cloud of bucket；
(2) point is converged using triangulation methodology resolve into triangle sets at geometric figure network.Using point-by-point
Insertion establishes topological structure in the triangulation network, is inserted into new point constantly to form new triangle and update different triangles
Neighbouring relations, empty scraper bowl is divided into multiple tetrahedrons.Then, empty scraper bowl volume is carried out according to tetrahedron to calculate；
(3) result that pretreatment obtains is issued into computing device by communication link.
The laser radar is when designing installation site, in conjunction with the specific structure size and laser radar parameter of excavator,
At the top of laser radar installation excavator cab, so that the vertical scanning overwrite job radius section of laser radar.
Effective scanning range is determined according to the parameter of excavator operation radius and laser radar；When excavator swing arm inclination angle
AS2 is in A1 degree between A2 degree, and the angle A S3 between dipper and swing arm is in A3 degree between A4 degree, and scraper bowl angle is in A5 to A6
Between degree, the above angular range is the range of effective acquisition point cloud data.
It in computing device, is handled by series of algorithms: removal outlier, super body cluster, the segmentation of CPC constraint plane, ICP
Iteration, fusion matching, obtain the point cloud data for containing only the scraper bowl of material；The scraper bowl body for having material is calculated using Triangulation Method
Product, subtracts each other with empty scraper bowl volume, obtains the volume of material, and the weight of material is calculated according to the density of material.
The inner surface of scraper bowl and the boundary of payload are determined using empty scraper bowl point cloud data；By the scraper bowl point containing material
Cloud data are matched with the empty scraper bowl point cloud data that pretreatment obtains, and are estimated using ICP iteration closest approach algorithm relative to known
The posture of the point cloud containing material scraper bowl of empty scraper bowl point cloud data, the minimum value of objective function is sought by iteration, by matrix
Matched two points that transformation obtains pose converge conjunction；Two points, which converge, refers to the scraper bowl point cloud data containing material and pre- place
Manage obtained empty scraper bowl point data.
Being calculated using Triangulation Method has the scraper bowl volume of material specifically: to the scraper bowl for having material carry out triangulation at
Tetrahedron calculates the scraper bowl volume for having material.
Process using laser scanner acquisition data is dynamically, not need for scraper bowl to be fixed on specific position.
Specifically, the workflow of the excavator bucket material volume and weight measuring system are as follows:
(1) the scraper bowl CAD model of excavator is imported into meshlab software, generates the three-dimensional point cloud model of empty scraper bowl；
(2) volume of sky scraper bowl is obtained using triangulation methodology；
(3) scraper bowl equipped with material is scanned in effective range by the laser radar installed, is obtained containing ground
Face, swing arm, dipper, scraper bowl, material original point cloud data；
(4) the point cloud obtained to step (3) scanning is filtered, and removes outlier；
(5) using super body cluster and constraint plane divide method from containing ground, swing arm, dipper, scraper bowl point cloud (i.e.
The point cloud that step (4) obtains) in the part point cloud segmentation containing scraper bowl is come out；Obtain the scraper bowl point cloud that material is housed；
(6) the scraper bowl posture relative to empty scraper bowl point cloud model is assessed using ICP algorithm, to empty scraper bowl point cloud and object is housed
The scraper bowl point cloud of material carries out matching fusion；
(7) volume of the fused scraper bowl entirety equipped with material is calculated using triangulation methodology；
(8) volume of material is calculated；
(9) weight of material is calculated.
More specifically, the workflow of the excavator bucket material volume and weight measuring system are as follows:
A. the CAD model of empty scraper bowl is imported into Meshlab software, the three-dimensional of empty scraper bowl is generated using the algorithm that software provides
Point；
B. the three dimensional point cloud model of empty scraper bowl is established；
C. using Triangulation Method empty scraper bowl point cloud data resolve into triangle sets at geometric figure network, make
Topological structure is established in the triangulation network with incremental algorithm, is inserted into new point constantly to form new triangle and update difference
Scraper bowl is finally divided into multiple tetrahedrons by the neighbouring relations of triangle, calculates tetrahedral volume, obtains the body of empty scraper bowl
Product calculates empty scraper bowl volume V according to tetrahedron volumeIt is empty；
D. during excavator dynamic job, by the laser radar of installation to the shovel that material is housed in effective range
Bucket is scanned, and obtains the original point cloud data containing ground, swing arm, dipper, scraper bowl, material；
E. the point cloud that laser radar scanning obtains is filtered, uses the distance for arriving point of proximity to point based on input data
As criterion, if the point to point of proximity average distance except the range of global average distance A7, be considered as outlier, and
It is removed from data set, the point cloud data after generating removal outlier；
F. the point cloud data after removing outlier ground, swing arm, dipper, scraper bowl have been clustered into using super body clustering algorithm
The fritter of essential characteristic meaning aggregation；The segmentation for having characteristic meaning is carried out to fritter using CPC constraint plane split plot design, using not
Cut-point is determined with the concavo-convex relationship between fritter, and the plane of segmentation is then determined according to different cut-points；
G. it is come out by the part point cloud segmentation that the bundle of planes divided contains scraper bowl, obtains the scraper bowl point cloud that material is housed
Data；
H. the inner surface of scraper bowl and the boundary of payload are determined using empty scraper bowl point cloud data, by the scraper bowl containing material
The empty scraper bowl point cloud matching that point cloud data and pretreatment obtain, due to the bucket motions in mining process, what is newly obtained contains object
The scraper bowl point cloud data of material is in different coordinate systems from empty scraper bowl point cloud model, has the variation of direction and position, uses base
Estimate to contain object relative to known empty scraper bowl point cloud data in the Optimum Matching ICP iteration closest approach algorithm of least square method
The posture of the point cloud of shovel bucket.The translation parameters and rotation parameter that meet objective function requirement are obtained by ICP iterative algorithm.?
During matched, guarantee that the point at control point merges successfully registration.Its point cloud for passing through spin matrix R and translation matrix t
The formula for matching objective function is as follows:
Wherein, two points converge, and need matched point set X={ x in respectively empty scraper bowl model point cloud1, x2..., xn}、
Real-time detection to the point cloud equipped with material in need matched point set Y={ y1, y2..., yn, it is found out by singular value transformation
Spin matrix R and translation matrix t；By transformation, two points converge to obtain the matching of pose, obtain fused cloud.
I. the point after fusion containing material scraper bowl is converged using triangulation methodology resolve into triangle sets at geometry
The network of figure establishes topological structure using incremental algorithm in the triangulation network, is inserted into new point constantly to form new three
Neighbouring relations that are angular and updating different triangles, are divided into multiple tetrahedrons for the scraper bowl containing material, then, according to four sides
Body volume calculates the scraper bowl volume V containing materialMaterial；
What the volume of empty scraper bowl obtained before j. being subtracted with the scraper bowl volume containing material that step i is calculated is material
Volume；
VTarget volume=VMaterial-VIt is empty
K. volume of material is multiplied with the density of material, obtains the weight of material；
MMaterial=ρ * VTarget volume
Dynamic volume and the weight measurement of excavator operation process can be realized in circulation step d-k.
Compared with the existing technology, the invention has the benefit that the present invention uses a laser radar apparatus in excavator
The dynamic volume of material and weight measurement in scraper bowl are realized in operation process；Effective three-dimensional modeling can be carried out to empty scraper bowl,
Point cloud registering fusion is carried out to the scraper bowl equipped with material during digging operation later, solves point cloud data acquisition by object
Body, which blocks etc., leads to the incomplete limitation of point cloud acquisition, has mentioned high measurement accuracy, has reduced the complexity of measuring device.
Detailed description of the invention
Fig. 1 is present system control block diagram；
Fig. 2 is laser radar scheme of installation of the present invention；
Fig. 3 is the schematic diagram that laser radar scanning acquires point cloud data in effective range of the present invention；
Fig. 4 is volume of the present invention and weight calculation flow chart.
Specific embodiment
In conjunction with Fig. 1, to achieve the above object, a kind of excavator bucket material volume and weight measuring system are included at least
One multi-line laser radar, computing device, manipulation display device and pretreatment unit.
The multi-line laser radar is used to carry out three-dimensional point cloud scanning to the scraper bowl equipped with material, and contains what is scanned
The initial three-dimensional point cloud data of the information such as ground, swing arm, dipper, scraper bowl is sent to calculating by communication link (such as Ethernet)
Device.
The computing device is used to handle by communication link (such as USB or Ethernet) reception pretreatment unit
Empty scraper bowl three dimensional point cloud and empty scraper bowl volume；Multi-line laser radar scanning is received by communication link (such as Ethernet) to obtain
The initial three-dimensional point cloud data containing the scraper bowl equipped with material taken；It is handled by series of algorithms: denoise, cluster, divide,
The fusion of ICP iteration obtains the point cloud data for containing only the scraper bowl of material；The scraper bowl volume containing material is calculated, in conjunction with empty scraper bowl body
Product, calculates the volume of material, and the weight of material is calculated according to the density of material.
The pretreatment unit generates empty scraper bowl three-dimensional point for handling the three-dimensional CAD structural model of empty scraper bowl
Cloud data, and calculate the volume of sky scraper bowl, just and the empty scraper bowl volume calculated by the empty scraper bowl three-dimensional point cloud number of generation
Computing device is sent to by communication link.The communication link can be the one or more of usb can cable, but be not limited to
This, adapts to the communication link of vehicle environment.
The manipulation display device is used to set the density of different material, and acquires, shows the result that computing device calculates
To operator.
In order to obtain the point cloud for the scraper bowl that material is housed, need for laser radar to be mounted on an advantageous scan position.
Laser radar is mounted on excavator driving ceiling front by the structure size and laser radar parameter of present invention combination excavator,
Enable the vertical scanning range of laser radar to cover effective digging operation section, while making laser radar same with scraper bowl
On revolving platform, reduce because car body turns round the influence to scanning element cloud.
In order to obtain the effective scanning data of the scraper bowl containing material, the present invention is according to excavator operation radius and laser thunder
The parameter reached determines effective scanning range by testing；When excavator swing arm inclination angle AS2 in A1 degree between A2 degree, dipper with
Angle A S3 between swing arm is in A3 degree to can obtain effective scraper bowl point between A4 degree, when scraper bowl angle is between A5 to A6 degree
Cloud data (A1 ... A6 is determined according to specific swing arm, dipper, scraper bowl size by experiment).
In order to calculate volume of material and weight in power shovel, calculating process of the invention is as follows:
Firstly, the scraper bowl CAD model of excavator is imported meshlab software, the three-dimensional point cloud model of empty scraper bowl is generated；Benefit
Subdivision is carried out to empty scraper bowl three-dimensional point cloud model with triangulation methodology, generates tetrahedron；Tetrahedral volume is calculated, and then is obtained
To the volume of empty scraper bowl.
Secondly, during excavator digging operation, using laser radar to the shovel that material is housed in effective range
Bucket is scanned；The point cloud obtained to scanning is filtered, and removes outlier；Point cloud data after filtering processing not only includes shovel
Bucket, also comprising information such as swing arm, dipper, ground.As a result, to obtain the only point cloud containing scraper bowl, need to make the point cloud of scraper bowl with
The point cloud of other digging arms, background etc. separates, and the present invention uses super body clustering algorithm to containing information such as ground, scraper bowl, swing arms
Point cloud carry out over-segmentation, by point cloud segmentation at numerous fritters with neighbouring relations；After being clustered using CPC algorithm to super body
Whether point cloud fritter carries out semantic segmentation, connected by the line of centres vector between adjacent isles with normal line vector and adjacent isles
Lead to judge the concavo-convex relationship between each fritter, determines the plane of segmentation, by the concave-convex information of cloud only to be contained
The scraper bowl point cloud data of material.
Finally, the data such as scraper bowl inner surface can not scan when material being housed because of scraper bowl, to determine scraper bowl efficiency frontier
With the complete three dimensional point cloud of the scraper bowl containing material, three dimensional point cloud matching is carried out using iteration closest approach ICP algorithm,
The point cloud data of scraper bowl point cloud containing material and empty scraper bowl is merged.Fused cloud is exactly completely to have material
The point cloud of scraper bowl information；Equally fused cloud is split, is calculated using triangulation methodology, to acquire containing object
The scraper bowl volume (volume including scraper bowl volume and material) of material.With there is the scraper bowl volume of material to subtract the volume of sky scraper bowl i.e.
Obtain the volume of material；Then weight of material is further found out by the density of different material.
In conjunction with Fig. 2, laser radar is mounted on excavation by the structure size and laser radar parameter of present invention combination excavator
Machine cab roof front enables the vertical scanning range of laser radar to make while covering effective digging operation section
Laser radar and scraper bowl are in together on revolving platform, are reduced because car body turns round the influence to scanning element cloud.
In conjunction with Fig. 3, effective scanning range is determined according to the parameter of excavator operation radius and laser radar；Work as excavator
Boom angle AS2 in A1 degree between A2 degree, angle A S3 between dipper and swing arm in A3 degree between A4 degree, scraper bowl angle
Between A5 to A6 degree, (A1 ... A6 is determined according to specific swing arm, dipper, scraper bowl size by experiment) this range is effectively to adopt
Collect the range of point cloud data.In one embodiment, using material in laser radar scanning to bucket as effective range, boom angle
AS2 is at 30 °~60 °, and the angle A S3 between dipper and swing arm is at 45 °~90 °, when scraper bowl angle A S4 is between 90 °~180 °,
It is effective point cloud data scanning range.
Simultaneously from Fig. 3 it can also be seen that even if in effective scanning range, point cloud data that laser radar scanning arrives
Point cloud information of the information complexity containing ground, swing arm, dipper, scraper bowl.
In conjunction with Fig. 4, volume of the present invention and poidometer point counting are two large divisions, wherein the 1 to 3rd step is preprocessing part, needle
Different scraper bowls is only needed to handle once；4 to 10th step is to calculate volume of material and wt part, can be in digging operation process
Middle circulation dynamic measures；Details are as follows for whole flow process:
(1) specified excavator sky scraper bowl CAD model is imported into Meshlab software first, the algorithm provided using software
CAD model is generated to the three dimensional point cloud of empty scraper bowl；
(2) using Triangulation Method empty scraper bowl point cloud resolve into triangle sets at geometric figure network, using by
Point insertion algorithm establishes topological structure in the triangulation network, and scraper bowl is finally divided into multiple tetrahedrons.We are in every four dots
At tetrahedron on seek volume to obtain the volume of entire scraper bowl, may have shared point and shared between different tetrahedrons
Face, but unfolded region (referring to the region that can be used to calculate volume), so that the stereometer of entire scraper bowl is calculated accurately really.
Empty scraper bowl volume V is calculated according to tetrahedron cubature formulaIt is empty；
(3) during excavator dynamic job, by the laser radar of installation to equipped with material in effective range
Scraper bowl is scanned, and obtains the original point cloud data containing multiple targets such as ground, swing arm, dipper, scraper bowl, material.
(4) original point cloud data obtained to scanning is filtered, and the point cloud obtained to scanning is filtered, every
The average distance with the point is sought in one neighborhood of a point, the average distance of each in neighborhood constitutes a sample, according to sample
This data can be in the hope of mean value and variance.Wherein if some point average distance except mean value, then it is assumed that be from
Group puts and removes from data set, the point cloud data after ultimately generating removal outlier.
(5) point cloud data after removing outlier is clustered into multiple fritters using super body clustering algorithm, to point cloud data
After carrying out super body segmentation, closed using the bumps that criterion algorithm was surveyed and improved to convex standard to calculate between different fritters are expanded
System.After obtaining concavo-convex relationship, CPC constraint plane split plot design assigns weight to each point cloud, and concave block is assigned a value of 1, other are
0.There is higher weight perpendicular to the point of concave edge surface, carry out plane finally by random sample consensus algorithm (RanSaC)
Cutting.
(6) the part point cloud of scraper bowl can be split from entire point cloud data, is filled by segmentation plane
There is the scraper bowl point cloud data of material.
(7) inner surface of scraper bowl and the boundary of payload are determined using empty scraper bowl point cloud data, by the shovel containing material
The empty scraper bowl point cloud matching that bucket point cloud data and pretreatment obtain, due to the bucket motions in mining process, what is newly obtained contains
The scraper bowl point cloud data of material is in different coordinate systems from empty scraper bowl point cloud model, has the variation of direction and position, uses
Containing relative to known empty scraper bowl point cloud data is estimated based on the Optimum Matching ICP iteration closest approach algorithm of least square method
The posture of the point cloud of material scraper bowl.The translation parameters and rotation parameter that meet objective function requirement are obtained by ICP iterative algorithm.
During matched, guarantee that the point at control point merges successfully registration.Its point for passing through spin matrix R and translation matrix t
The formula that cloud matches objective function is as follows:
Wherein, two points converge, and need matched point set X={ x in respectively empty scraper bowl model point cloud1, x2..., xn}、
Real-time detection to the point cloud equipped with material in need matched point set Y={ y1, y2..., yn, it is found out by singular value transformation
Spin matrix R and translation matrix t；By transformation, two points converge to obtain the matching of pose, obtain fused cloud.
(8) fused scraper bowl point Yun Qiuqi volume, the same step of method for solving (2), according to tetrahedron volume are obtained to (7)
Calculate the scraper bowl volume V containing materialMaterial；
(9) what the scraper bowl volume containing material being calculated and the volume of empty scraper bowl before were subtracted each other is the body of material
Product；
VTarget volume=VMaterial-VIt is empty
(10) volume of material is multiplied with the density of material, obtains the weight of material；
MMaterial=ρ * VTarget volume
Dynamic volume and the weight measurement of excavator operation process can be realized in circulation step 3-10.
The present invention realizes dynamic weight of material meter using the device of a laser radar during excavator operation
It calculates；Effective three-dimensional modeling can be carried out to empty scraper bowl, point cloud registering is carried out to the scraper bowl equipped with material in operation later and is melted
It closes, solves point cloud data acquisition by object and the incomplete limitation such as block；The device complexity that weight calculates is reduced, is improved
Measurement accuracy.
Abbreviation and Key Term definition
After scraper bowl material --- excavator excavates material to be excavated using its scraper bowl, the material that is loaded in scraper bowl.
Point cloud --- the data acquisition system of the point on the product appearance surface obtained in reverse-engineering by measuring instrument.
Triangulation Method --- curved surface is splitted into curved line trangle, and curved line trangle as any two or not
Intersect or intersect at just a common edge.
Outlier --- it is a data object, it is markedly different from other data objects, in feature space, outlier
Propinquity between object and its arest neighbors deviates significantly between other objects and the arest neighbors of themselves in data set
Propinquity.
Super body cluster --- over-segmentation is applied to mysorethorn, scene point cloud is melted into many fritters, and study between each fritter
Relationship.Substantially this method is to a kind of summary of part, and texture, material, the part being similar in color can automatically be divided
It is cut into one piece, super body cluster is conducive to subsequent identification work.
The segmentation of CPC constraint plane --- it is to determine cut-point using the concavo-convex relationship between different fritters, then according to difference
Cut-point determines that object can be divided into significant block by the plane of segmentation, the method.
ICP algorithm --- the optimal registration fusion method based on least square method, the algorithm repeat to select corresponding relationship
Point pair, calculates optimal rigid body translation, the convergence precision requirement until meeting correct registration fusion.
Registration fusion --- the point cloud data measured in different coordinate systems is carried out the transformation of coordinate system, it is whole to obtain
The data model of body.
It should be noted that the above description is only an embodiment of the present invention, it is not intended to limit the scope of the invention,
All equivalent structure or equivalent flow shifts done using present specification, are applied directly or indirectly in other phases
Technical field is closed, is included within the scope of the present invention.
Claims (10)
1. a kind of excavator bucket material volume and weight measuring system characterized by comprising
Laser radar for carrying out three-dimensional point cloud dynamic scan to the scraper bowl equipped with material, and will be scanned containing ground, be moved
Arm, dipper, scraper bowl, material information initial three-dimensional point cloud data computing device is sent to by communication link；
Computing device, for receiving the empty scraper bowl three dimensional point cloud and empty shovel that pretreatment unit is handled by communication link
Bucket body product；The initial three-dimensional point cloud number containing the scraper bowl equipped with material that laser radar scanning obtains is received by communication link
According to；Handled by series of algorithms: denoising, cluster, segmentation, the fusion of ICP iteration obtain the point cloud number for containing only the scraper bowl of material
According to；It calculates the scraper bowl volume containing material and calculates the volume of material in conjunction with empty scraper bowl volume, object is calculated according to the density of material
The weight of material；
Pretreatment unit is handled for the three-dimensional CAD structural model to empty scraper bowl, generates empty scraper bowl three dimensional point cloud,
And the volume of sky scraper bowl is calculated, the empty scraper bowl three dimensional point cloud of generation and the empty scraper bowl volume calculated are passed through into communication
Link is sent to computing device；
Display device is manipulated, for setting the density of different material, and acquires, show the result of computing device calculating to operation
Person.
2. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that described
Pretreatment unit the course of work are as follows:
(1) CAD model of empty scraper bowl is imported into Meshlab software, generates empty scraper bowl using the algorithm that Meshlab software provides
Three dimensional point cloud；
(2) point is converged using triangulation methodology resolve into triangle sets at geometric figure network.Use Incremental insertion
Method establishes topological structure in the triangulation network, is inserted into new point constantly to form new triangle and update the phase of different triangles
Empty scraper bowl is divided into multiple tetrahedrons by adjacent relationship.Then, empty scraper bowl volume is carried out according to tetrahedron to calculate；
(3) result that pretreatment obtains is issued into computing device by communication link.
3. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that in conjunction with
The specific structure size and laser radar parameter of excavator, at the top of laser radar installation excavator cab, so that laser thunder
The vertical scanning overwrite job radius section reached.
4. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that according to
The parameter of excavator operation radius and laser radar determines effective scanning range；When excavator swing arm inclination angle AS2 is arrived in A1 degree
Between A2 degree, for the angle A S3 between dipper and swing arm in A3 degree between A4 degree, scraper bowl angle is above between A5 to A6 degree
Angular range is the range of effective acquisition point cloud data.
5. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that calculate
It in device, is handled by series of algorithms: removal outlier, super body cluster, the segmentation of CPC constraint plane, ICP iteration, fusion
Match, obtains the point cloud data of the scraper bowl containing material；The scraper bowl volume for having material is calculated using Triangulation Method, with empty scraper bowl body
Product subtracts each other to obtain the volume of material, and the weight of material is calculated according to the density of material.
6. a kind of excavator bucket material volume according to claim 5 and weight measuring system, which is characterized in that calculate
In device, the inner surface of scraper bowl and the boundary of payload are determined using empty scraper bowl point cloud data；By the scraper bowl point containing material
Cloud data are matched with the empty scraper bowl point cloud data that pretreatment obtains, and are estimated using ICP iteration closest approach algorithm relative to known
The posture of the point cloud containing material scraper bowl of empty scraper bowl point cloud data, the minimum value of objective function is sought by iteration, by matrix
Transformation, matched two points for obtaining pose converge alignment；Two points converge refer to the scraper bowl point cloud data containing material with
Pre-process obtained empty scraper bowl point data.
7. a kind of excavator bucket material volume according to claim 5 and weight measuring system, which is characterized in that utilize
Triangulation Method calculates the scraper bowl volume for having material specifically: carries out triangulation into tetrahedron to the scraper bowl for having material, calculates
There is the scraper bowl volume of material.
8. a kind of excavator bucket material volume according to claim 5 and weight measuring system, which is characterized in that use
The process of laser scanner acquisition data is dynamically, it is not necessary that scraper bowl is fixed on specific position.
9. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that described
The workflow of excavator bucket material volume and weight measuring system are as follows:
(1) the scraper bowl CAD model of excavator is imported into meshlab software, generates the three-dimensional point cloud model of empty scraper bowl；
(2) volume of sky scraper bowl is obtained using triangulation methodology；
(3) scraper bowl equipped with material is scanned in effective range by the laser radar installed, obtains containing ground, moves
The original point cloud data of arm, dipper, scraper bowl, material；
(4) the point cloud obtained to step (3) scanning is filtered, and removes outlier；
(5) using super body cluster and the method for constraint plane segmentation from containing ground, swing arm, dipper, scraper bowl point cloud in contain
There is the part point cloud segmentation of scraper bowl to come out；Obtain the scraper bowl point cloud that material is housed；
(6) the scraper bowl posture relative to empty scraper bowl point cloud model is assessed using ICP algorithm, to empty scraper bowl point cloud and equipped with material
Scraper bowl point cloud carries out matching fusion；
(7) volume of the fused scraper bowl entirety equipped with material is calculated using triangulation methodology；
(8) volume of material is calculated；
(9) weight of material is calculated.
10. a kind of excavator bucket material volume according to claim 1 and weight measuring system, which is characterized in that institute
State the workflow of excavator bucket material volume and weight measuring system are as follows:
A. the CAD model of empty scraper bowl is imported into Meshlab software, the three-dimensional point cloud of empty scraper bowl is generated using the algorithm that software provides
Data；
B. using Triangulation Method empty scraper bowl point cloud data resolve into triangle sets at geometric figure network, using by
Point insertion establishes topological structure in the triangulation network, is inserted into new point constantly to form new triangle and update different triangles
Scraper bowl is finally divided into multiple tetrahedrons by the neighbouring relations of shape, calculates tetrahedral volume, obtains the volume of empty scraper bowl, root
Empty scraper bowl volume V is calculated according to tetrahedron volumeIt is empty；
C. during excavator dynamic job, by the laser radar of installation in effective range to equipped with material scraper bowl into
Row scanning, obtains the original point cloud data containing ground, swing arm, dipper, scraper bowl, material；
D. the point cloud that laser radar scanning obtains is filtered, use based on input data to point to point of proximity distance as
Criterion, if the point to point of proximity average distance except global average distance range, be considered as outlier and from data set
Middle removal, the point cloud data after generating removal outlier；
E. it is basic the point cloud data after removing outlier ground, swing arm, dipper, scraper bowl have been clustered into using super body clustering algorithm
The fritter of characteristic meaning aggregation；Cut-point is determined using the concavo-convex relationship between different fritters using CPC constraint plane split plot design,
Then the plane of segmentation is determined according to different cut-points；
F. it is come out by the part point cloud segmentation that the bundle of planes divided contains scraper bowl, obtains the scraper bowl point cloud number that material is housed
According to；
G. the inner surface of scraper bowl and the boundary of payload are determined using empty scraper bowl point cloud data, by the scraper bowl point cloud containing material
Data and the obtained empty scraper bowl point cloud matching of pretreatment, due to the bucket motions in mining process, newly obtain containing material
Scraper bowl point cloud data is in different coordinate systems from empty scraper bowl point cloud model, has the variation of direction and position, using based on most
The Optimum Matching ICP iteration closest approach algorithm of small square law is estimated to contain material scraper relative to known empty scraper bowl point cloud data
The posture of the point cloud of bucket；The translation parameters and rotation parameter that meet objective function requirement are obtained by ICP iterative algorithm；It is matching
During, guarantee that the point at control point merges successfully registration；Its point cloud matching for passing through spin matrix R and translation matrix t
The formula of objective function is as follows:
Wherein, two points converge, and need matched point set X={ x in respectively empty scraper bowl model point cloud1, x2..., xn, in real time
Matched point set Y={ y is needed in the point cloud equipped with material detected1, y2..., yn, rotation is found out by singular value transformation
Matrix R and translation matrix t；By transformation, two points converge to obtain the matching of pose, obtain fused cloud；
I. the point after fusion containing material scraper bowl is converged using triangulation methodology resolve into triangle sets at geometric figure
Network, establish topological structure in the triangulation network using incremental algorithm, be inserted into new point constantly to form new triangle
And the neighbouring relations of different triangles are updated, the scraper bowl containing material is divided into multiple tetrahedrons, then, according to tetrahedron body
Product calculates the scraper bowl volume V containing materialMaterial；
J. what the volume of empty scraper bowl obtained is the body of material before being subtracted with the scraper bowl volume containing material that step i is calculated
Product；
VTarget volume=VMaterial-VIt is empty
K. volume of material is multiplied with the density of material, obtains the weight of material；
MMaterial=ρ * VTarget volume
Dynamic volume and the weight measurement of excavator operation process can be realized in circulation step d-k.
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