CN110196010A - Material height measuring device and method - Google Patents
Material height measuring device and method Download PDFInfo
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- CN110196010A CN110196010A CN201910401962.0A CN201910401962A CN110196010A CN 110196010 A CN110196010 A CN 110196010A CN 201910401962 A CN201910401962 A CN 201910401962A CN 110196010 A CN110196010 A CN 110196010A
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- 239000000463 material Substances 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title abstract description 16
- 238000005070 sampling Methods 0.000 claims abstract description 14
- 238000000691 measurement method Methods 0.000 claims description 10
- 239000003086 colorant Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012067 mathematical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
- G01B5/06—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness for measuring thickness
- G01B5/061—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness for measuring thickness height gauges
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention provides a material height measuring device and a material height measuring method, wherein the measuring device is used for measuring the stacking height of materials in a bin, and comprises the following components: the scale is arranged on the ground of the bin, and the scales are arranged on the surfaces of two opposite wall bodies in the bin; the image acquisition devices are respectively arranged on the two opposite wall surfaces of the bin, and the shooting range of each image acquisition device can cover all scales and numerical value information of the scale on the ground of the bin when no materials are stacked in the bin and all scales and numerical value information of the scale on the wall surface below the image acquisition device opposite to the image acquisition device; the image acquisition device is used for shooting and sampling the interior of the bin in which the materials are stacked and sending sampling image information to the image processing device. The device and the method can measure the height of the material in the bin in real time, and improve the efficiency of material transportation management.
Description
Technical field
The present invention relates to fields of measurement, measure more particularly to a kind of height of materials measuring device and a kind of height of materials
Method.
Background technique
In process of production, the height of material heap is in a kind of dynamic change state.Under normal circumstances, these height of materials
Measurement and its dynamic management need to be by manually measuring and estimate, efficiency is lower, also to stop feeding at regular intervals
The transport of machine influences the continuity of production.Therefore, the automatic management of Yao Shixian material field, it is necessary first to realize material field
Digitizing technique, and the key point of material field digitizing technique be how to realize material stack height measure automatically and dynamic
Observation.Therefore, the automatic detection of material stack height is to cannot be neglected important link, and realize whole production chain automation control
The key technology of system.
Summary of the invention
The purpose of embodiment of the present invention is to realize measuring and dynamically observing automatically for material stack height, in time and accurately
Obtain the height of material.
To achieve the goals above, in first aspect present invention, a kind of height of materials measuring device, the measurement dress are provided
It sets and includes:
The scale on warehouse ground is set, and the scale of the indoor two opposite surface of wall in the storehouse is set；
It is separately positioned on the image collecting device of described two opposite surface of wall of the warehouse, wherein each image
The coverage of acquisition device can cover all quarters of the scale on the warehouse ground when the warehouse does not stack material
All scales and the numerical value letter of the scale of surface of wall below degree and numerical information, and image collecting device corresponding thereto
Breath；Described image acquisition device is used to carry out shooting sampling to being stacked with inside the warehouse of material, and sampled picture information is sent out
It send to image processing apparatus；
Described image processing unit is remotely connect with described image acquisition device, for the sampled picture information into
Row image procossing identifies the warehouse ground after being blocked by material and the part scale label and numerical information of surface of wall, and root
The stacking height of the material is calculated according to the scale label and numerical information that identify.
Optionally, described image acquisition device is CCD camera, and described image processing unit is industrial computer.
Optionally, the warehouse ground is horizontal plane.
Optionally, the surface of wall is the plane or curved surface perpendicular to the warehouse ground.
Optionally, the scale that the warehouse ground is arranged in is horizontal ruler, and the scale that the surface of wall is arranged in is
Vertical scale.
Further, the scale and numerical value of the surface of the scale and the scale distinguish mark in different colors.
Further, the scale surface is coated with luminescent material, and the light emission luminance and color of the luminescent material
Change with the variation of environment light source.
Further, described image acquisition device is two, and two described image acquisition devices are mutually relative to the storehouse
The center point symmetry of room floor.
In second aspect of the present invention, a kind of height of materials measurement method is also provided, for measuring the stacking of material in warehouse
Highly, the indoor two opposite surface of wall in the warehouse ground and storehouse of the warehouse are provided with scale, the measurement method packet
Include following steps:
Image collecting device is respectively set in described two opposite surface of wall of the warehouse, wherein each image is adopted
The coverage of acquisition means can cover all scales of the scale on the warehouse ground when the warehouse does not stack material
And all scales and the numerical value letter of the scale of the surface of wall below numerical information, and image collecting device corresponding thereto
Breath；
Shooting sampling is carried out to being stacked with inside the warehouse of material using described image acquisition device, and sampled picture is believed
Breath is sent to the image processing apparatus remotely connecting with described image acquisition device；
Image procossing is carried out to the sampled picture information using described image processing unit, after identification is blocked by material
The part scale label and numerical information on warehouse ground and surface of wall, and according to the scale label and numerical information meter identified
Calculate the stacking height of the material.
Above-mentioned technical proposal of the present invention carries out real-time sampling to height of materials by image collecting device, and passes through industry meter
Calculation machine analyzes the image after sampling, by height of materials information digitalization, realizes real-time sampling, the prison of material stack height
Control.
Advantages of the present invention and technical effect are as follows:
1. comparing other material stack height detection techniques, hardware cost of the present invention is low；
2. this patent uses machine vision processing technique, warehouse internal standard ruler numerical imaging is identified, after identification
Scale numerical value participates in logic control, compares single-point range measurement, and detection efficiency is high, measurement is more accurate.
The other feature and advantage of embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to embodiment of the present invention, and constitute part of specification, with
Following specific embodiment is used to explain the present invention embodiment together, but does not constitute the limit to embodiment of the present invention
System.In the accompanying drawings:
Fig. 1 is a kind of installation instrumentation plan of height of materials measuring device of the present invention；
Fig. 2 is a kind of step flow chart of height of materials measurement method of the present invention；
Fig. 3 is the instrumentation plan in a kind of height of materials measurement method of the present invention when height of materials is higher；
Fig. 4 is the instrumentation plan in a kind of height of materials measurement method of the present invention when height of materials is lower.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In embodiments of the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom "
Usually for direction shown in the drawings either for it is vertical, vertically or on gravity direction for each component it is mutual
Positional relationship describes word.
Fig. 1 is a kind of scheme of installation of height of materials measuring device of the present invention.As shown in Figure 1, being set at the top of warehouse
It is equipped with material delivery platform, material is devoted in warehouse by the material delivery platform.Height of materials provided by the invention is surveyed
Measuring device includes: the scale that warehouse ground is arranged in, and the mark of the indoor two opposite surface of wall in the storehouse is arranged in
Ruler；It is separately positioned on the image collecting device of described two opposite surface of wall of the warehouse；And image processing apparatus.
Specifically, the scale that warehouse ground is set, and the scale of two opposite surface of wall is set
To the inner length and height dimension for facilitating image collecting device to get information about warehouse, while playing the role of mark and reminding.
It is separately positioned on the image collecting device of described two opposite surface of wall of the warehouse, wherein each image
The coverage of acquisition device can cover all quarters of the scale on the warehouse ground when the warehouse does not stack material
All scales and the numerical value letter of the scale of surface of wall below degree and numerical information, and image collecting device corresponding thereto
Breath；The coverage of image collecting device can be understood as the identification range similar to human eye, necessary in the identification range
All scales and numerical information of scale comprising the ground and the surface of wall, otherwise when measuring height of materials, meeting
The case where appearance lacks data and can not calculate final material height.
Described image acquisition device is used to carry out shooting sampling to being stacked with inside the warehouse of material, and sampled picture is believed
Breath is sent to image processing apparatus；The sampling contains material, scale label and scale numerical information.
Described image processing unit is remotely connect with described image acquisition device, for the sampled picture information into
Row image procossing identifies the warehouse ground after being blocked by material and the part scale label and numerical information of surface of wall, and root
The stacking height of the material is calculated according to the scale label and numerical information that identify.
According to a kind of embodiment, described image acquisition device is CCD camera, and described image processing unit is industry meter
Calculation machine.The pixel of the CCD camera is sufficiently high, (such as: 10,000,000 pixels) picture of sampling is clearly differentiated
Scale and numerical information on the scale.The industrial computer is mainly used for receiving the picture of CCD camera sampling, and carries out
Image recognition, and calculate height of materials.
Preferably, the warehouse ground is horizontal plane.The warehouse ground is the setting that horizontal plane is for the ease of scale,
And the image recognition and calculating height of materials in later period.In certain materials storage warehouse, if warehouse ground is not horizontal
Face can also calculate height of materials, for example, warehouse ground is taper, the cone top part of taper warehouse is downward.
Preferably, the surface of wall is the plane or curved surface perpendicular to the warehouse ground.When the surface of wall is
When plane, i.e., the described warehouse is hexahedron.When the surface of wall is curved surface, the warehouse can be cylindrical body.Warehouse wall
Body surface face will be relative to the center point symmetry on warehouse ground, to facilitate image collecting device to be arranged, and samples.
The scale that the warehouse ground is arranged in is horizontal ruler, and the scale that the surface of wall is arranged in is vertical mark
Ruler.Because the purpose of the invention is to measure the height of material, the scale must be above-mentioned two situations, even if
Warehouse is non-cylindrical body or hexahedron described above, and still needing the scale is horizontal ruler and surface of wall
Scale is vertical scale.
Preferably, the scale and numerical value of the surface of the scale and the scale distinguish mark in different colors.Even if institute
It is very high for stating warehouse brightness not, it is also possible that the scale and numerical value of scale and the object of ambient enviroment are significantly different.The setting
Primarily to the scale of scale and numerical value is enabled to be easy clearly to be identified by CCD camera.
Preferably, the scale surface is coated with luminescent material, and the light emission luminance of the luminescent material and color with
The variation of environment light source and change.Coat luminescent material purpose also for enable scale scale and numerical value be easier
It is clearly identified by CCD camera.
According to a kind of embodiment, described image acquisition device is two, and two described image acquisition devices are mutually opposite
Center point symmetry in the warehouse ground.It is for subsequent industry meter that image collecting device, which is arranged to mutually opposite purpose,
Convenience of the calculation machine to the calculating of the height of materials.If image collector is set to two or more, the material can also be calculated
Height, especially warehouse top be non-cylinder and it is non-hexahedral when, it is possible to need more than two images
Acquisition device, also, the setting position of the image collecting device is without respect to the center point symmetry on the warehouse ground.
The present apparatus is made of equipment such as CCD camera, scale, industrial computers.The material that material production line has produced is logical
It crosses belt feeder and is transported to the stacking of backstage warehouse.In each warehouse, wall and ground are mounted with scale respectively, and scale is by scale label
And numerical value composition.According to a kind of embodiment, in the case of general ordinary light source, scale surface background color is set as white, numerical value
It portrays to form for obvious yellow with scale and (is also chosen as the mark that can be shone and color changes according to the variation of environment light source
Ruler, so as to clearer display scale and corresponding dimensional values).CCD camera is mounted on above vertical scale.
In second aspect of the present invention, a kind of height of materials measurement method is also provided, for measuring the stacking of material in warehouse
Highly, the indoor two opposite surface of wall in the warehouse ground and storehouse of the warehouse are provided with scale, and Fig. 2 mentions for the present invention
The step flow chart of the height of materials measurement method of confession, the measurement method include the following steps:
Image collecting device is respectively set in described two opposite surface of wall of the warehouse, wherein each image is adopted
The coverage of acquisition means can cover all scales of the scale on the warehouse ground when the warehouse does not stack material
And all scales and the numerical value letter of the scale of the surface of wall below numerical information, and image collecting device corresponding thereto
Breath；
Shooting sampling is carried out to being stacked with inside the warehouse of material using described image acquisition device, and sampled picture is believed
Breath is sent to the image processing apparatus remotely connecting with described image acquisition device；
Image procossing is carried out to the sampled picture information using described image processing unit, after identification is blocked by material
The part scale label and numerical information on warehouse ground and surface of wall, and according to the scale label and numerical information meter identified
Calculate the stacking height of the material.
According to the solution of the present invention, in the material stacking process in warehouse, image collecting device can be shot in real time
To the variation of height of materials.The picture being sampled to is sent to industrial computer processing by image collecting device, and calculates object in real time
The height of material.
It is horizontal plane for warehouse ground, and warehouse wall is the plane or curved surface perpendicular to the horizontal plane, implies that this
When warehouse is cylindrical body or hexahedron, when the variation from low to high of height of materials, industrial computer calculates the algorithm of height of materials
Have difference.The different essential reason of the algorithm be as volume of material relative to the of different sizes of warehouse volume and caused by.
As shown in figure 3, the volume when material is larger relative to warehouse volume, the height of the material is higher, so that image
Acquisition device has recognized the vertical scale of the surface of wall by the highest point of material, but image collecting device passes through material
Highest point when can not collect the scale and numerical value of horizontal ruler, the method that industrial computer calculates is as follows:
Since the width of the installation site of two image collecting devices, warehouse is determining, it is assumed that fixed amount a0c0=LR,
d0f0=LL, c0f0=dB；Wherein, c0f0For the length of warehouse horizontal ruler, a0c0For wall vertical scale length on the left of warehouse,
d0f0For wall vertical scale length on the right side of warehouse.
The numerical imaging of scale, measured value: e can be identified by two image collecting devices0f0=Lh_m_L, b0c0=
Lh_m_R；Wherein, e0f0Pass through the vertical scale that material highest point can take for the CCD camera on wall on the left of warehouse
Length of the scale label of minimum point to horizontal plane, b0c0Pass through material highest point energy for the CCD camera on wall on the right side of warehouse
Length of the scale label of the minimum point of the vertical scale enough taken to horizontal plane.
By above-mentioned fixed value, measured value, in conjunction with mathematical method, industrial computer acquires g0h0, i.e. the height of material, step
It is rapid as follows:
1、Δa0b0g0~Δ d0e0g0,
2、Δm0b0c0~Δ m0d0f0,
3、Δm0h0g0~Δ m0f0d0,
As shown in figure 4, the height of the material is lower, so that image when the volume of material is relative to warehouse small volume
Acquisition device has recognized the vertical scale of the surface of wall by the highest point of material, and can also recognize the warehouse
When the horizontal ruler of horizontal plane, the method that industrial computer calculates is as follows:
Since the width of the installation site of two image collecting devices, warehouse is determining, it is assumed that fixed amount a1b1=LR,
d1e1=LL, b1e1=c1f1=dB；Wherein, a1b1For wall vertical scale length on the left of warehouse, d1e1It is vertical for wall on the right side of warehouse
Length of the scale, b1e1And c1f1For the length of warehouse horizontal ruler.
The numerical imaging of scale, measured value: b can be identified by two image collecting devices1k1=dl_m_L1, b1n1=
dl_m_L2, b1m1=dl_m_R1, b1l1=dl_m_R2；Wherein, b1k1Length for material heap bottom leftmost side point apart from wall on the left of warehouse
Degree, b1n1Length of the scale of the horizontal ruler taken for left side CCD camera by material highest point to warehouse leftmost side wall
Degree, b1m1Length of the scale of the horizontal ruler taken for right side CCD camera by material highest point to warehouse leftmost side wall
Degree, b1l1For the length of material bottom rightmost side point to warehouse leftmost side wall.
By above-mentioned fixed value, measured value, in conjunction with mathematical method, industrial computer acquires g1h1, i.e. the number of height of materials
Value, steps are as follows:
1、Δc1b1m1~Δ d1e1m1,
Δe1n1f1~Δ b1n1a1,
2、Δa1c1g1~Δ d1f1g1,
3、Δb1c1m1~Δ h1g1m1,
It makes an uproar due to will receive various interference inside and outside system in the imaging of scale numerical imaging, transmission, conversion or storing process
The influence of sound and bad condition, so that acquired image be made the defects of feature is flooded, picture is coarse, character inclination occur.For
Reduction image noise, restores true picture, and prominent character zone needs to pre-process the figure of acquisition.After pretreatment
Interested character zone is extracted, character zone is split later, after the optimization of Feature Selection, morphology, is completed
Feature extraction carries out Classification and Identification.Figure preprocess method is known to those skilled in the art, and details are not described herein.
The present invention reads the quarter on scale by the way that scale is arranged in the warehouse for stacking material, and by image collecting device
Degree and numerical value, finally give industrial computer and calculate height of materials.Device requires simple, it may be convenient to be arranged, so that object
The height of material can be captured by the device in real time, and the device can be integrated into material conveyor, and material is worked as in realization
When height is more than desired value, stop the effect that material is transported to warehouse again.The device make material transportation digitlization, efficiently
Rate operation is achieved.The measurement and its dynamic management of the height of material are not required to not influence by manually measuring and estimating
The continuity of production.
Optional embodiment of the invention, still, embodiment of the present invention and unlimited is described in detail in conjunction with attached drawing above
Detail in above embodiment can be implemented the present invention in the range of the technology design of embodiment of the present invention
The technical solution of mode carries out a variety of simple variants, these simple variants belong to the protection scope of embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, embodiment of the present invention
To various combinations of possible ways, no further explanation will be given.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention embodiment equally should be considered as embodiment of the present invention disclosure of that.
Claims (9)
1. a kind of height of materials measuring device, the measuring device is used to measure the stacking height of material in warehouse, and feature exists
In the measuring device includes:
The scale on warehouse ground is set, and the scale of the indoor two opposite surface of wall in the storehouse is set；
It is separately positioned on the image collecting device of described two opposite surface of wall of the warehouse, wherein each Image Acquisition
The coverage of device can cover when the warehouse does not stack material all scales of the scale on the warehouse ground and
All scales and numerical information of the scale of surface of wall below numerical information, and image collecting device corresponding thereto；
Described image acquisition device is used to carry out shooting sampling to being stacked with inside the warehouse of material, and sampled picture information is sent to
Image processing apparatus；
Described image processing unit is remotely connect with described image acquisition device, for carrying out figure to the sampled picture information
As processing, the warehouse ground after being blocked by material and the part scale label and numerical information of surface of wall are identified, and according to knowledge
Not Chu scale label and numerical information calculate the stacking height of the material.
2. height measuring device according to claim 1, which is characterized in that described image acquisition device is CCD camera,
Described image processing unit is industrial computer.
3. height measuring device according to claim 1, which is characterized in that the warehouse ground is horizontal plane.
4. height measuring device according to claim 3, which is characterized in that the surface of wall is perpendicular to the warehouse
The plane or curved surface on ground.
5. height measuring device according to claim 1, which is characterized in that the scale that the warehouse ground is arranged in is water
Flat scale, the scale that the surface of wall is arranged in is vertical scale.
6. height measuring device according to claim 1, which is characterized in that the quarter on the surface of the scale and the scale
Degree and numerical value distinguish mark in different colors.
7. height measuring device according to claim 1, which is characterized in that the scale surface is coated with luminescent material,
And the light emission luminance and color of the luminescent material change with the variation of environment light source.
8. height measuring device according to claim 1, which is characterized in that described image acquisition device is two, two
Center point symmetry of the described image acquisition device mutually relative to the warehouse ground.
9. a kind of height of materials measurement method, for measuring the stacking height of material in warehouse, the warehouse ground of the warehouse with
And the indoor two opposite surface of wall in storehouse are provided with scale, which is characterized in that the measurement method includes the following steps:
S1 image collecting device) is respectively set in described two opposite surface of wall of the warehouse, wherein each image is adopted
The coverage of acquisition means can cover all scales of the scale on the warehouse ground when the warehouse does not stack material
And all scales and the numerical value letter of the scale of the surface of wall below numerical information, and image collecting device corresponding thereto
Breath；
S2 shooting sampling) is carried out to being stacked with inside the warehouse of material using described image acquisition device, and sampled picture is believed
Breath is sent to the image processing apparatus remotely connecting with described image acquisition device；
S3 image procossing) is carried out to the sampled picture information using described image processing unit, after identification is blocked by material
The part scale label and numerical information on warehouse ground and surface of wall, and according to the scale label and numerical information meter identified
Calculate the stacking height of the material.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114136232A (en) * | 2021-11-19 | 2022-03-04 | 中国神华能源股份有限公司哈尔乌素露天煤矿 | Material accumulation form measuring method and system |
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| CN110196010B (en) | 2021-03-16 |
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