CN110595356A - Method for measuring solid volume in artificial storage environment - Google Patents
Method for measuring solid volume in artificial storage environment Download PDFInfo
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- CN110595356A CN110595356A CN201910852112.2A CN201910852112A CN110595356A CN 110595356 A CN110595356 A CN 110595356A CN 201910852112 A CN201910852112 A CN 201910852112A CN 110595356 A CN110595356 A CN 110595356A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The method for measuring the solid volume in the artificial storage environment comprises the following steps: step S1: acquiring an integral three-dimensional point cloud model of a storage space; step S2: acquiring an integral solid matter three-dimensional point cloud model; step S3: and calculating the volume of the solid matter according to the three-dimensional point cloud model of the storage space and the three-dimensional point cloud model of the solid matter. The invention can measure the volume of solid in the artificial storage environment, and the volume of the solid on each model can be obtained by adopting an integral summation mode for each block of the solid, so that the volume of the solid with the surface presenting an irregular curved surface shape can be measured, and the measuring method is accurate and reliable.
Description
Technical Field
The invention relates to a solid volume measuring method, in particular to a method for measuring the solid volume in an artificial storage environment.
Background
In industrial production application, the stored solid volume is sometimes required to be measured, and most of the existing solid volume measuring methods are volume measurement on some solids with regular shapes on the surface and are not suitable for volume measurement on solids with irregular curved surface shapes.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the above drawbacks of the background art, and to provide a method for measuring the volume of a solid substance in an artificial storage environment, which can measure the volume of a solid substance with an irregular curved surface shape on the surface, and is accurate and reliable.
The technical scheme adopted for solving the technical problem is that the method for measuring the solid volume in the artificial storage environment comprises the following steps:
step S1: acquiring an integral three-dimensional point cloud model of a storage space;
step S2: acquiring an integral solid matter three-dimensional point cloud model;
step S3: and calculating the volume of the solid matter according to the three-dimensional point cloud model of the storage space and the three-dimensional point cloud model of the solid matter.
Further, in step S1, the step of obtaining the entire three-dimensional point cloud model of the storage space includes the steps of:
step S1-1: respectively acquiring depth information of storage spaces in respective visual field ranges by using a first depth sensor and a second depth sensor;
step S1-2: mapping depth information of a storage space acquired by a first depth sensor to a storage space point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the storage space acquired by the second depth sensor to a storage space point cloud data set based on a second depth sensor coordinate system;
step S1-3: and fusing a storage space point cloud data set based on the first depth sensor coordinate system and a storage space point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral storage space three-dimensional point cloud model.
Further, in the step S2, the obtaining of the entire solid matter three-dimensional point cloud model includes the following steps:
step S2-1: respectively acquiring the depth information of solid matters in the storage space in the respective visual field ranges by utilizing a first depth sensor and a second depth sensor;
step S2-1: mapping the depth information of the solid matter acquired by the first depth sensor to a solid matter point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the solid matter acquired by the second depth sensor to a solid matter point cloud data set based on a second depth sensor coordinate system;
step S2-3: and fusing the solid matter point cloud data set based on the first depth sensor coordinate system and the solid matter point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral solid matter three-dimensional point cloud model.
Further, in the step S3, calculating the volume of the solid matter according to the storage space three-dimensional point cloud model and the solid matter three-dimensional point cloud model includes the following steps:
step S3-1: equally dividing the xoy plane into N small blocks with the same area size on the xoy plane of the three-dimensional point cloud model of the storage space, respectively calculating the volume of each small block, and obtaining the volume of each small block under the three-dimensional point cloud model of the storage spaceWherein m represents the mth block, n represents the number of point cloud data in the block, and xi yiziPoint coordinates in the storage space three-dimensional point cloud model blocks are obtained;
step S3-2: equally dividing the xoy plane into the same area on the xoy plane of the solid matter three-dimensional point cloud model, respectively calculating the volume of the solid matter in each small block, and obtaining the volume of each small block of the solid matter three-dimensional point cloud modelWherein m represents the mth block, n represents the number of point cloud data in the block, and xi yi ziPoint coordinates in the blocks of the solid matter three-dimensional point cloud model are obtained;
step S3-3: calculating the volume of the current block solid matter and each small block of the three-dimensional point cloud model of the storage spaceV0mEach small block volume of solid matter three-dimensional point cloud modelVmThe difference value is the volume of the current blocked solid matter;
step S3-4: summing the volumes of all the blocked solid matters to obtain the whole solid matter volume
Compared with the prior art, the invention has the following advantages:
the invention can measure the volume of solid in the artificial storage environment, such as the volume of garbage in a garbage centralized processing box, the volume of goods in a container and the volume of warehouse goods, and can calculate the volume of the solid on each model by adopting an integral summation mode for each block of the solid, thereby measuring the volume of the solid with the surface presenting an irregular curved surface shape, and the measuring method is accurate and reliable.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Referring to fig. 1, the present embodiment is for measuring the volume of solid matter in a storage space, and includes the steps of:
step S1: acquiring an integral three-dimensional point cloud model of a storage space;
step S2: acquiring an integral solid matter three-dimensional point cloud model;
step S3: and calculating the volume of the solid matter according to the three-dimensional point cloud model of the storage space and the three-dimensional point cloud model of the solid matter.
In step S1, the step of obtaining the entire three-dimensional point cloud model of the storage space includes the steps of:
step S1-1: respectively acquiring depth information of storage spaces in respective visual field ranges by using a first depth sensor and a second depth sensor;
step S1-2: mapping depth information of a storage space acquired by a first depth sensor to a storage space point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the storage space acquired by the second depth sensor to a storage space point cloud data set based on a second depth sensor coordinate system;
step S1-3: and fusing a storage space point cloud data set based on the first depth sensor coordinate system and a storage space point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral storage space three-dimensional point cloud model.
In step S2, the step of obtaining the integral solid substance three-dimensional point cloud model includes the following steps:
step S2-1: respectively acquiring the depth information of solid matters in the storage space in the respective visual field ranges by utilizing a first depth sensor and a second depth sensor;
step S2-1: mapping the depth information of the solid matter acquired by the first depth sensor to a solid matter point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the solid matter acquired by the second depth sensor to a solid matter point cloud data set based on a second depth sensor coordinate system;
step S2-3: and fusing the solid matter point cloud data set based on the first depth sensor coordinate system and the solid matter point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral solid matter three-dimensional point cloud model.
In the step S3, calculating the solid matter volume by a method of calculating the solid matter volume in blocks, and calculating the solid matter volume according to the storage space three-dimensional point cloud model and the solid matter three-dimensional point cloud model includes the following steps:
step S3-1: in order to obtain the volume of the solid matter, the three-dimensional point cloud model of the storage space is taken as a basis, the xoy plane of the three-dimensional point cloud model of the storage space is divided into N small blocks with the same area size, the volume of each small block is obtained respectively, and the volume of each small block under the three-dimensional point cloud model of the storage space is obtainedWherein m represents the mth block, and n represents the number of point cloud data in the block，xi yiziPoint coordinates in the storage space three-dimensional point cloud model blocks are obtained;
step S3-2: equally dividing the xoy plane into the same area on the xoy plane of the solid matter three-dimensional point cloud model, respectively calculating the volume of the solid matter in each small block, and obtaining the volume of each small block of the solid matter three-dimensional point cloud modelWherein m represents the mth block, n represents the number of point cloud data in the block, and xi yi ziPoint coordinates in the blocks of the solid matter three-dimensional point cloud model are obtained;
step S3-3: calculating the volume of the current block solid matter and each small block of the three-dimensional point cloud model of the storage spaceV0mEach small block volume of solid matter three-dimensional point cloud modelVmThe difference value is the volume of the current blocked solid matter;
step S3-4: summing the volumes of all the blocked solid matters to obtain the whole solid matter volume
In this embodiment, first depth sensor, second depth sensor select for use structured light binocular camera, and in concrete application, first depth sensor, second depth sensor still can adopt TOF depth detection sensor or lidar.
The invention can measure the volume of solid in the environment of artificial storage, such as the volume of garbage in a garbage centralized processing box, the volume of goods in a container and the volume of goods in a warehouse, and can calculate the volume of the solid on each model by adopting an integral summation mode for each block of the solid, thereby measuring the volume of the solid with the surface presenting an irregular curved surface shape, and the measuring method is accurate and reliable.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (4)
1. A method for measuring the solid volume in an artificial storage environment is characterized by comprising the following steps: the method comprises the following steps:
step S1: acquiring an integral three-dimensional point cloud model of a storage space;
step S2: acquiring an integral solid matter three-dimensional point cloud model;
step S3: and calculating the volume of the solid matter according to the three-dimensional point cloud model of the storage space and the three-dimensional point cloud model of the solid matter.
2. The method for measuring the solid volume in the artificial storage environment according to claim 1, characterized in that: in the step S1, obtaining the entire three-dimensional point cloud model of the storage space includes the following steps:
step S1-1: respectively acquiring depth information of storage spaces in respective visual field ranges by using a first depth sensor and a second depth sensor;
step S1-2: mapping depth information of a storage space acquired by a first depth sensor to a storage space point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the storage space acquired by the second depth sensor to a storage space point cloud data set based on a second depth sensor coordinate system;
step S1-3: and fusing a storage space point cloud data set based on the first depth sensor coordinate system and a storage space point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral storage space three-dimensional point cloud model.
3. The method for measuring the solid volume in the environment of artificial storage according to claim 1 or 2, characterized in that: in step S2, the step of obtaining the entire solid matter three-dimensional point cloud model includes the following steps:
step S2-1: respectively acquiring the depth information of solid matters in the storage space in the respective visual field ranges by utilizing a first depth sensor and a second depth sensor;
step S2-1: mapping the depth information of the solid matter acquired by the first depth sensor to a solid matter point cloud data set based on a first depth sensor coordinate system; mapping the depth information of the solid matter acquired by the second depth sensor to a solid matter point cloud data set based on a second depth sensor coordinate system;
step S2-3: and fusing the solid matter point cloud data set based on the first depth sensor coordinate system and the solid matter point cloud data set based on the second depth sensor coordinate system into a unified three-dimensional coordinate system to generate an integral solid matter three-dimensional point cloud model.
4. The method for measuring the solid volume in the environment of artificial storage according to claim 1 or 2, characterized in that: in the step S3, calculating the volume of the solid substance according to the storage space three-dimensional point cloud model and the solid substance three-dimensional point cloud model includes the following steps:
step S3-1: equally dividing the xoy plane into N small blocks with the same area size on the xoy plane of the three-dimensional point cloud model of the storage space, respectively calculating the volume of each small block, and obtaining the volume of each small block under the three-dimensional point cloud model of the storage spaceWherein m represents the mth block, n represents the number of point cloud data in the block, and xi yi ziPoint coordinates in the storage space three-dimensional point cloud model blocks are obtained;
step S3-2: equally dividing the xoy plane into the same area on the xoy plane of the solid matter three-dimensional point cloud model, respectively calculating the volume of the solid matter in each small block, and obtaining the volume of each small block of the solid matter three-dimensional point cloud modelWherein m represents the m-th fractionBlock, n denotes the number of point cloud data in the block, xi yi ziPoint coordinates in the blocks of the solid matter three-dimensional point cloud model are obtained;
step S3-3: calculating the volume of the current blocked solid matter and the volume V0 of each small block of the three-dimensional point cloud model of the storage spacemEach small block volume V of solid matter three-dimensional point cloud modelmThe difference value is the volume of the current blocked solid matter;
step S3-4: summing the volumes of all the blocked solid matters to obtain the whole solid matter volume
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