CN111238369B - Method, system and equipment for measuring volume of double rectangular objects - Google Patents
Method, system and equipment for measuring volume of double rectangular objects Download PDFInfo
- Publication number
- CN111238369B CN111238369B CN202010059972.3A CN202010059972A CN111238369B CN 111238369 B CN111238369 B CN 111238369B CN 202010059972 A CN202010059972 A CN 202010059972A CN 111238369 B CN111238369 B CN 111238369B
- Authority
- CN
- China
- Prior art keywords
- rectangular object
- data
- dimensional
- rectangular
- dimensional data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a method, a system and equipment for measuring the volume of a double rectangular object. The method comprises the following steps: acquiring bottom plane information of an object which is not placed through a three-dimensional laser camera, adjusting the horizontal position of the camera, filtering three-dimensional data of two placed cuboid objects, and sequentially projecting, traversing rows and columns of the filtered three-dimensional data to form characteristic edge points of two-dimensional data; rotating and distinguishing the characteristic edge points to obtain a rotating angle which can completely separate the data of the two cuboid objects; and finally, rotating and dividing the original three-dimensional data by obtaining the rotation angle to form two groups of independent three-dimensional data, and accordingly respectively obtaining the volume information of the two cuboids. The invention does not need to install a complex auxiliary mechanical structure, breaks through the technical limitation that the existing three-dimensional camera can only measure a single object, can measure two rectangular objects to be measured simultaneously, and greatly improves the efficiency of measuring the object volume.
Description
Technical Field
The invention relates to the technical field of volume measurement, in particular to a method, a system and equipment for measuring the volume of a double rectangular object.
Background
In the field of logistics, since the volume of an object relates to logistics billing, loading transportation and warehouse storage, it is extremely important to accurately acquire the volume of the object and to improve the calculation efficiency. At present, two measurement schemes are mainly applied to actual volume measurement, the first scheme is a scheme of adopting line scanning, three line scanning sensors are arranged on the periphery of an object to be measured, and the volume of the object to be measured is calculated through the output of the three line scanning sensors; the second is to adopt a three-dimensional laser camera based scheme to implement a volume measurement scheme for the object. In the first scheme, not only a complex auxiliary mechanical structure needs to be installed, but also the whole volume detection system is large in volume and high in cost; and the second measurement scheme can only realize the detection of the volume of a cuboid object. Both of them have a problem of low measurement efficiency.
In summary, when the volume of the object is measured in the prior art, the technical problem of low measurement efficiency exists.
Disclosure of Invention
The invention provides a method, a system and equipment for measuring the volume of a double rectangular object, which solve the technical problem of low measurement efficiency when the volume of the object is measured in the prior art.
The invention provides a method for measuring the volume of a double rectangular object, which comprises the following steps:
the three-dimensional laser camera acquires the bottom plane information of a first rectangular object and the bottom plane information of a second rectangular object which are not placed, and obtains the horizontal position adjusting mode of the three-dimensional laser camera based on the acquired bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object;
placing a first rectangular object and a second rectangular object, obtaining bottom surface information of the first rectangular object and bottom surface information of the second rectangular object after the placing, and adjusting the horizontal position of the three-dimensional laser camera to be vertical to the bottom surface of the first rectangular object and the bottom surface of the second rectangular object according to the adjustment mode of the horizontal position;
the method comprises the steps that a three-dimensional laser camera obtains three-dimensional image information containing three-dimensional data of a first rectangular object and three-dimensional data of a second rectangular object;
dividing the three-dimensional image information into three-dimensional data independent of a first rectangular object and three-dimensional data independent of a second rectangular object;
acquiring the volume parameter of the first rectangular object and the volume parameter of the second rectangular object according to the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object;
the volume of the first rectangular object and the volume of the second rectangular object are calculated from the volume parameter of the first rectangular object and the volume parameter of the second rectangular object.
Preferably, the specific process of adjusting the position of the three-dimensional laser camera is as follows:
shielding the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object outside the visual field range to obtain three-dimensional data of the bottom plane of the first rectangular object and three-dimensional data of the bottom plane of the second rectangular object within the visual field range;
carrying out mean value processing on the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object, and projecting the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object which are subjected to mean value processing to an X-Z plane and a Y-Z plane of a three-dimensional coordinate system respectively to obtain a data point set projected to the X-Z plane and a data point set projected to the Y-Z plane;
and respectively fitting the data point set of the X-Z plane and the data point set of the Y-Z plane, and adjusting the position of the three-dimensional laser camera according to the slope of the straight line to be obtained so that the three-dimensional laser camera is perpendicular to the bottom plane of the first rectangular object and the bottom plane of the second rectangular object.
Preferably, a specific process of dividing the three-dimensional image information into the first rectangular solid object-independent three-dimensional data and the second rectangular solid object-independent three-dimensional data is as follows;
filtering the three-dimensional image information to obtain three-dimensional data only containing a first rectangular object and a second rectangular object;
extracting feature edge points in three-dimensional data only containing the first rectangular object and the second rectangular object;
rotating and distinguishing the characteristic edge points to obtain a rotation angle for completely separating three-dimensional data only containing the first rectangular object and the second rectangular object;
the three-dimensional data including only the first rectangular solid object and the second rectangular solid object is divided into three-dimensional data independent of the first rectangular solid object and three-dimensional data independent of the second rectangular solid object according to the obtained rotation angle.
Preferably, the process of filtering the three-dimensional image information includes:
and carrying out absolute value operation on the three-dimensional image information obtained by the three-dimensional laser camera and the bottom plane information under the condition that no object is placed to obtain three-dimensional data only containing the first rectangular object and the second rectangular object.
Preferably, the process of extracting the feature edge points in the three-dimensional data containing only the first rectangular solid object and the second rectangular solid object is:
and projecting the three-dimensional data only containing the first rectangular object and the second rectangular object to obtain projection data, traversing the projection data to obtain head and tail points with data in each row and head and tail points with data in each column to form characteristic edge points.
Preferably, the specific process of rotating and discriminating the feature edge points to obtain the rotation angle for completely separating the three-dimensional data only including the first rectangular object and the second rectangular object is as follows:
and continuously rotating the characteristic edge points until all the characteristic edge points and the segmentation lines of the rows or the columns of the projection data have no intersection point, and obtaining the rotation degree at the moment.
Preferably, the solving process of the partition line of the row or column of the projection data is as follows:
traversing the projection data to find the maximum value and the minimum value corresponding to the row or the column of the projection data;
if the interval from the minimum value to the maximum value does not contain data points, the midpoint of the interval is a dividing line;
and if the section from the minimum value to the maximum value cannot be obtained after traversing, rotating the characteristic edge points according to the rotation angle, and then searching the partition line again.
Preferably, the process of obtaining the volume parameter of the first rectangular solid object and the volume parameter of the second rectangular solid object is:
selecting independent three-dimensional data of any one rectangular object from the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object, and filtering according to the height range of the preset rectangular object to obtain an upper surface data point and a side surface data point of the single rectangular object;
counting the upper surface data points and the side surface data points of the single rectangular object obtained by filtering according to a height interval, and taking the data with the highest frequency of occurrence in a set range as the height of the single rectangular object;
filtering the upper surface data point and the side surface data point of the single rectangular object, wherein the filtering range is a high set error band of the single rectangular object, and acquiring a data point set of the single rectangular object projected to the X-Y plane of the three-dimensional coordinate system;
carrying out convex hull processing on the data point set projected to the X-Y plane to obtain convex hull points;
repeating the steps to obtain convex hull points returned by the single rectangular object at different time points, and comparing the convex hull points obtained twice within a set distance range to obtain effective data points;
performing rectangle fitting on the effective data points to obtain length and width information of the single rectangular object;
and selecting another rectangular object, and repeating the steps.
A double rectangular object volume measurement system comprises a three-dimensional laser camera, a three-dimensional laser camera position adjusting module, a three-dimensional image information segmentation module, a volume parameter acquisition module and a volume calculation module;
the three-dimensional laser camera is used for acquiring bottom plane information of a first rectangular object, bottom plane information of a second rectangular object and three-dimensional image information containing three-dimensional data of the first rectangular object and three-dimensional data of the second rectangular object;
the three-dimensional laser camera position adjusting module is used for adjusting the horizontal position of the three-dimensional laser camera according to the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object;
the three-dimensional image information segmentation module is used for segmenting three-dimensional image information containing the three-dimensional data of the first rectangular object and the three-dimensional data of the second rectangular object into three-dimensional data independent of the first rectangular object and three-dimensional data independent of the second rectangular object;
the volume parameter acquisition module is used for acquiring the volume parameter of the first rectangular object and the volume parameter of the second rectangular object according to the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object;
the volume calculation module is used for calculating the volume of the first rectangular object and the volume of the second rectangular object according to the volume parameter of the first rectangular object and the volume parameter of the second rectangular object.
A dual rectangular object volume measuring device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute a dual rectangular object volume measurement method as described above according to instructions in the program code.
According to the technical scheme, the embodiment of the invention has the following advantages:
according to the embodiment of the invention, the three-dimensional laser camera is adopted to obtain the three-dimensional image information of the two rectangular objects to be measured, and the volume parameters of the two rectangular objects to be measured are calculated according to the three-dimensional image information, so that the volumes of the two rectangular objects to be measured are calculated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a method flowchart of a method, a system and an apparatus for measuring a volume of a dual rectangular object according to an embodiment of the present invention.
Fig. 2 is a system structure diagram of a method, a system and an apparatus for measuring a volume of a double rectangular object according to an embodiment of the present invention.
Fig. 3 is a block diagram of an apparatus framework of a method, a system and an apparatus for measuring a volume of a dual rectangular object according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an X-Z axis adjustment effect of a three-dimensional laser camera of a method, a system and a device for measuring a volume of a double rectangular object according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of the Y-Z axis adjustment effect of a three-dimensional laser camera of the method, system and apparatus for measuring the volume of a double rectangular object according to the embodiment of the present invention.
Fig. 6 is a graph of the feature edge points and the angle obtained by rotation of the feature edge points obtained by the method, the system and the equipment for measuring the volume of the double rectangular objects according to the embodiments of the present invention.
Fig. 7 is a graph projected onto a plane formed by an X axis and a Y axis, obtained by performing comparative filtering on the same object at different times by using a convex hull algorithm, according to the method, the system, and the apparatus for measuring the volume of a dual rectangular object provided by the embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method, a system and equipment for measuring the volume of a double rectangular object, which solve the technical problem of low measurement efficiency when the volume of the object is measured in the prior art.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a method, a system and an apparatus for measuring a volume of a dual rectangular object according to an embodiment of the present invention.
The invention provides a method for measuring the volume of a double rectangular object, which comprises the following steps:
the three-dimensional laser camera acquires the bottom plane information of a first rectangular object and the bottom plane information of a second rectangular object which are not placed, and obtains the horizontal position adjusting mode of the three-dimensional laser camera based on the acquired bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object;
the three-dimensional laser camera applies a laser three-dimensional imaging technology, has the advantages of high measuring point precision, large measuring point density, rich information quantity, high automation of data processing, high digitalization of products and the like, and compared with image acquisition equipment for acquiring image and generating picture data, the acquired three-dimensional data is slightly influenced by the environment, the situation of measurement result output errors caused by picture distortion cannot occur, and the reliability is high.
Placing a first rectangular object and a second rectangular object, obtaining bottom surface information of the first rectangular object and bottom surface information of the second rectangular object after the placing, and adjusting the horizontal position of the three-dimensional laser camera to be vertical to the bottom surface of the first rectangular object and the bottom surface of the second rectangular object according to the adjustment mode of the horizontal position; thereby ensuring that the acquired subsequent acquired data has no deviation.
The method comprises the steps that a three-dimensional laser camera obtains three-dimensional image information containing three-dimensional data of a first rectangular object and three-dimensional data of a second rectangular object;
dividing the three-dimensional image information into three-dimensional data independent of a first rectangular object and three-dimensional data independent of a second rectangular object;
acquiring the volume parameter of the first rectangular object and the volume parameter of the second rectangular object according to the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object;
the volume of the first rectangular object and the volume of the second rectangular object are calculated from the volume parameter of the first rectangular object and the volume parameter of the second rectangular object.
As a preferred embodiment, the specific process of adjusting the position of the three-dimensional laser camera is as follows:
shielding the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object outside the visual field range to obtain three-dimensional data of the bottom plane of the first rectangular object and three-dimensional data of the bottom plane of the second rectangular object within the visual field range;
carrying out mean value processing on the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object, and projecting the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object which are subjected to mean value processing to an X-Z plane and a Y-Z plane of a three-dimensional coordinate system respectively to obtain a data point set projected to the X-Z plane and a data point set projected to the Y-Z plane;
respectively fitting the data point set of the X-Z plane and the data point set of the Y-Z plane, and finely adjusting the direction corresponding to the three-dimensional laser camera according to the direction corresponding to the coordinate Y-Z axis of the three-dimensional laser camera and the positive and negative values of the slope of the fitting straight line projected to the Y-Z axis until the slope of the fitting straight line falls within a set error range;
according to the direction corresponding to the coordinate X-Z axis of the three-dimensional laser camera and the positive and negative values of the slope of the fitting straight line projected to the X-Z axis, finely adjusting the other corresponding direction of the three-dimensional laser camera until the slope of the fitting straight line falls within a set error range; so that the three-dimensional laser camera is perpendicular to the bottom plane of the first rectangular object and the bottom plane of the second rectangular object.
As a preferred embodiment, a specific process of dividing the three-dimensional image information into the first rectangular solid object-independent three-dimensional data and the second rectangular solid object-independent three-dimensional data is as follows;
filtering the three-dimensional image information to obtain three-dimensional data only containing a first rectangular object and a second rectangular object;
extracting feature edge points in three-dimensional data only containing the first rectangular object and the second rectangular object;
rotating and distinguishing the characteristic edge points to obtain a rotation angle for completely separating three-dimensional data only containing the first rectangular object and the second rectangular object;
the three-dimensional data including only the first rectangular solid object and the second rectangular solid object is divided into three-dimensional data independent of the first rectangular solid object and three-dimensional data independent of the second rectangular solid object according to the obtained rotation angle.
As a preferred embodiment, the process of performing filtering processing on the three-dimensional image information is as follows:
and performing absolute value calculation on the difference of the data obtained by the three-dimensional laser camera under the condition that the object is placed and the object is not placed to obtain three-dimensional data only containing the first rectangular object and the second rectangular object.
And filtering the three-dimensional image information by combining the three-dimensional data of the original base plane, specifically, taking the z-axis information, namely height information, of the three-dimensional data of the original base plane and the three-dimensional image data as a difference, and taking a point in a set height range to obtain the three-dimensional image information of the three-dimensional data of the base plane.
As a preferred embodiment, the process of extracting the feature edge points in the three-dimensional data containing only the first rectangular solid object and the second rectangular solid object is:
and projecting the three-dimensional data only containing the first rectangular object and the second rectangular object to obtain projection data, traversing the projection data to obtain head and tail points with data in each row and head and tail points with data in each column to form characteristic edge points.
The obtained three-dimensional data of the rectangular object is stored in the array in a mode related to the position of the rectangular object, so that the characteristic edge points of the rectangular object can be formed by a method of traversing the head and tail points of the array row by row and column by column.
As a preferred embodiment, the specific process of rotating and discriminating the feature edge points to obtain the rotation angle for completely separating the three-dimensional data containing only the first rectangular object and the second rectangular object includes:
rotating the characteristic edge points by a coordinate rotation method, and determining a boundary and a rotation angle of the first rectangular object and the second rectangular object in three-dimensional data point clustering; and (3) applying the dq coordinate transformation matrix to rotate the characteristic edge points until all the characteristic edge points and the division lines of the rows or columns of the projection data have no intersection point, and obtaining the rotation degree at the moment.
And rotating the characteristic edge points by a certain angle each time by applying the dq rotation matrix until obtaining a division line for completely separating the three-dimensional data only containing the first rectangular object and the second rectangular object, wherein the division line is a constant corresponding to the X axis or the Y axis. In the process of searching for the dividing line, the width of the dividing line is set according to the maximum distance between the three-dimensional data points, and the interval value of two to three times of the maximum distance between the three-dimensional data points is taken to obtain the rotated characteristic edge point.
As a preferred embodiment, the solution of the segmentation line of a row or column of projection data is as follows:
traversing the projection data to find the maximum value and the minimum value corresponding to the row or the column of the projection data;
if the interval from the minimum value to the maximum value does not contain data points, the midpoint of the interval is a dividing line;
and if the section from the minimum value to the maximum value cannot be obtained after traversing, rotating the characteristic edge points according to the rotation angle, and then searching the partition line again.
As a preferred embodiment, the process of acquiring the volume parameter of the first rectangular solid object and the volume parameter of the second rectangular solid object is:
selecting independent three-dimensional data of any one rectangular object from the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object, and filtering according to the height range of the preset rectangular object to obtain an upper surface data point and a side surface data point of the single rectangular object;
counting the upper surface data points and the side surface data points of the single rectangular object obtained by filtering according to a height interval, and taking the data with the highest frequency of occurrence in a set range as the height of the single rectangular object;
filtering the upper surface data point and the side surface data point of the single rectangular object, wherein the filtering range is a high set error band of the single rectangular object, and acquiring a data point set of the single rectangular object projected to the X-Y plane of the three-dimensional coordinate system;
carrying out convex hull processing on the data point set projected to the X-Y plane to obtain convex hull points;
repeating the steps to obtain convex hull points returned by the single rectangular object at different time points, and comparing the convex hull points obtained twice within a set distance range to obtain effective data points;
performing rectangle fitting on the effective data points to obtain length and width information of the single rectangular object;
and selecting another rectangular object, and repeating the steps.
Example 2
As shown in fig. 2, a double rectangular object volume measurement system includes a three-dimensional laser camera 201, a three-dimensional laser camera position adjustment module 202, a three-dimensional image information segmentation module 203, a volume parameter acquisition module 204, and a volume calculation module 205;
the three-dimensional laser camera 201 is configured to obtain bottom plane information of a first rectangular object, bottom plane information of a second rectangular object, and three-dimensional image information including three-dimensional data of the first rectangular object and three-dimensional data of the second rectangular object;
the three-dimensional laser camera position adjusting module 202 is configured to adjust a horizontal position of the three-dimensional laser camera according to the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object;
the three-dimensional image information segmentation module 203 is configured to segment three-dimensional image information including three-dimensional data of a first rectangular solid object and three-dimensional data of a second rectangular solid object into three-dimensional data independent of the first rectangular solid object and three-dimensional data independent of the second rectangular solid object;
the volume parameter acquiring module 204 is configured to acquire a volume parameter of the first rectangular object and a volume parameter of the second rectangular object according to the three-dimensional data of the first rectangular object and the three-dimensional data of the second rectangular object;
the volume calculation module 205 is configured to calculate the volume of the first rectangular object and the volume of the second rectangular object according to the volume parameter of the first rectangular object and the volume parameter of the second rectangular object.
Example 3
As shown in fig. 3, a dual cuboid object volume measuring device 30 comprises a processor 300 and a memory 301;
the memory 301 is used for storing a program code 302 and transmitting the program code 302 to the processor;
the processor 300 is configured to execute the steps of a method of measuring a volume of a dual rectangular object as described above according to the instructions in the program code 302.
Illustratively, the computer program 302 may be partitioned into one or more modules/units that are stored in the memory 301 and executed by the processor 300 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 302 in the terminal device 30.
The terminal device 30 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 300, a memory 301. Those skilled in the art will appreciate that fig. 3 is merely an example of a terminal device 30 and does not constitute a limitation of terminal device 30 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 300 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 301 may be an internal storage unit of the terminal device 30, such as a hard disk or a memory of the terminal device 30. The memory 301 may also be an external storage device of the terminal device 30, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 30. Further, the memory 301 may also include both an internal storage unit and an external storage device of the terminal device 30. The memory 301 is used for storing the computer program and other programs and data required by the terminal device. The memory 301 may also be used to temporarily store data that has been output or is to be output.
Example 4
In this embodiment, the method specifically includes the following steps:
s10: and acquiring bottom plane information, namely substrate information, for placing the object for a plurality of times by using the three-dimensional laser camera.
The three-dimensional laser camera applies a laser three-dimensional imaging technology, has the advantages of high measuring point precision, large measuring point density, rich information quantity, high automation of data processing, high digitalization of products and the like, and compared with image acquisition equipment for acquiring image and generating picture data, the acquired three-dimensional data is slightly influenced by the environment, the situation of measurement result output errors caused by picture distortion cannot occur, and the reliability is high. Therefore, for step S10, the reliability of the object volume measurement can be improved by acquiring the three-dimensional data corresponding to the bottom plane information of the object to be measured using the three-dimensional laser camera.
S11: and adjusting the three-dimensional laser camera to be vertical to the bottom plane by using the returned data.
The returned data refers to three-dimensional data in a visual field range irradiated by the three-dimensional laser camera, and the data of the times are averaged to obtain original three-dimensional data of the substrate. The projection of the obtained original three-dimensional data to the X-Z axis and the Y-Z axis is shown in fig. 4 and 5, wherein fig. 4 is used for completing clockwise and counterclockwise adjustment, and the value of the slope of the fitted straight line of the X-Z data amplified by 1000 times is as follows: 1.5465, respectively; in FIG. 5, the adjustment in the up-down direction is completed, and the slope of the fitted line of X-Y data is amplified by 1000 times as follows: -1.9138; and calculating the slope parameter of the fitting straight line by using a fitting straight line algorithm, adjusting the direction corresponding to the camera according to the positive value and the negative value of the slope, and determining that the operation of adjusting the camera level is finished when the camera direction is adjusted to obtain the slope which is close to the set error range in the fitting process.
S12: the three-dimensional laser camera acquires three-dimensional data of the two objects, and processes the three-dimensional data to separate effective data of the two objects.
Firstly, filtering the three-dimensional data of the two objects obtained for the first time by combining the original base data, specifically, taking the z-axis information, namely height information, of the original base data and the three-dimensional data of the two objects as a difference, and taking a point within a set height range to obtain the three-dimensional data of the two objects with the base parts filtered out.
The obtained three-dimensional data of the two objects is stored in the array in a mode related to the positions of the objects, so that the characteristic edge points of the two objects can be formed by traversing the head and tail points of the array row by row and column by column as shown in figure 6, and the data points used in the next rotation operation are reduced.
And rotating the characteristic edge points by a certain angle each time by applying the dq rotation matrix until a parting line which divides the two objects into two parts is obtained, wherein the parting line is a constant corresponding to the X axis or the Y axis. In the process of finding the dividing line, the width of the dividing line is set according to the maximum distance between the data points, and the interval value of two to three times of the maximum distance between the data points is taken to obtain the rotated characteristic edge point as shown in fig. 6 "o".
Recording the rotation angle and the position of the division line when the division line corresponding to the X axis or the Y axis can be obtained, applying the dq rotation matrix to rotate the original two-object three-dimensional data by the same rotation angle, and dividing the original two-object three-dimensional data into two parts according to the division line, thereby obtaining the three-dimensional data of the first object and the three-dimensional data of the second object.
And performing the same rotation segmentation operation on the three-dimensional data of the object acquired for the second time by using the acquired rotation angle and the segmentation line to acquire the three-dimensional data of the two objects used for the second time.
S13: and respectively processing the two objects to obtain the volume parameters of the object to be measured.
And firstly, three-dimensional data of the first object obtained by first segmentation and three-dimensional data of the first object corresponding to the first object are obtained, and then two three-dimensional data of the first object at different time points are obtained. Respectively carrying out height statistical processing on the first object, and solving the height of the first object, wherein the height statistical processing specifically comprises the following steps: the maximum value and the minimum value of the height are determined, the interval from the maximum value to the minimum value is divided into a plurality of equidistant intervals, the number of data points contained in each interval is counted, and the midpoint of the interval with the largest number of data points is taken as the height value of the first object.
And (3) taking the data point in the set range near the obtained height value, filtering the data of the side surface of the first object to obtain a three-dimensional data point of the upper surface of the first object in the set range, and performing convex hull processing on the data point to obtain a convex hull point. Similarly, the corresponding second object obtained at the second time is rotated, divided, filtered, and processed to obtain two convex hull points of the second object, as shown in fig. 7, the "+" point represents the first convex hull point data, the "o" point represents the second convex hull point data, and the "." point represents the object upper surface data. The obtained data are volume parameters of the object.
S14: and calculating the volumes of the first object and the second object according to the volume parameters respectively.
And performing example comparison processing on the two convex hull points obtained, namely comparing the first convex hull point with the second convex hull point, if the second convex hull point is contained in the set range, determining that the convex hull points are effective, taking the average value of the effective convex hull points, and obtaining the effective convex hull point of the object after comparing all the convex hull points.
And performing rectangle fitting processing on the effective convex wrapping points to obtain the length and the width, and obtaining the volume of the first object according to the obtained height. Similarly, the volume of the second object can be obtained.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A double rectangular object volume measurement method is characterized by comprising the following steps:
the three-dimensional laser camera acquires bottom plane information without a first rectangular object and bottom plane information without a second rectangular object, and obtains a horizontal position adjusting mode of the three-dimensional laser camera based on the acquired bottom plane information without the first rectangular object and the acquired bottom plane information without the second rectangular object;
placing the first rectangular object and the second rectangular object, and obtaining the bottom of the first rectangular object after placing
Adjusting the horizontal position of the three-dimensional laser camera to be vertical to the bottom surface of the first rectangular object and the bottom surface of the second rectangular object according to the horizontal position adjusting mode;
the method comprises the steps that a three-dimensional laser camera obtains three-dimensional image information containing three-dimensional data of a first rectangular object and three-dimensional data of a second rectangular object;
dividing the three-dimensional image information into three-dimensional data independent of a first rectangular object and three-dimensional data independent of a second rectangular object;
acquiring the volume parameter of the first rectangular object and the volume parameter of the second rectangular object according to the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object;
calculating the volume of the first rectangular object and the volume of the second rectangular object according to the volume parameter of the first rectangular object and the volume parameter of the second rectangular object;
the process of obtaining the volume parameter of the first rectangular object and the volume parameter of the second rectangular object is as follows:
selecting independent three-dimensional data of any one rectangular object from the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object, and filtering according to the height range of the preset rectangular object to obtain an upper surface data point and a side surface data point of the single rectangular object;
counting the upper surface data points and the side surface data points of the single rectangular object obtained by filtering according to a height interval, and taking the data with the highest frequency of occurrence in a set range as the height of the single rectangular object;
filtering the upper surface data point and the side surface data point of the single rectangular object, wherein the filtering range is a high set error band of the single rectangular object, and acquiring a data point set of the single rectangular object projected to the X-Y plane of the three-dimensional coordinate system;
carrying out convex hull processing on the data point set projected to the X-Y plane to obtain convex hull points;
repeating the steps to obtain convex hull points returned by the single rectangular object at different time points, and comparing the convex hull points obtained twice within a set distance range to obtain effective data points;
performing rectangle fitting on the effective data points to obtain length and width information of the single rectangular object;
and selecting another rectangular object, and repeating the steps.
2. The method for measuring the volume of a double rectangular object according to claim 1, wherein the specific process of obtaining the horizontal position adjustment mode of the three-dimensional laser camera is as follows:
performing a view range on the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object
Shielding outside the enclosure, and acquiring three-dimensional data of a bottom plane of a first rectangular object and three-dimensional data of a bottom plane of a second rectangular object within a visual field range;
carrying out mean value processing on the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object, and projecting the three-dimensional data of the bottom plane of the first rectangular object and the three-dimensional data of the bottom plane of the second rectangular object which are subjected to mean value processing to an X-Z plane and a Y-Z plane of a three-dimensional coordinate system respectively to obtain a data point set projected to the X-Z plane and a data point set projected to the Y-Z plane;
and respectively fitting the data point set of the X-Z plane and the data point set of the Y-Z plane, and adjusting the position of the three-dimensional laser camera according to the slope of the straight line to be obtained so that the three-dimensional laser camera is perpendicular to the bottom plane of the first rectangular object and the bottom plane of the second rectangular object.
3. A double rectangular solid volume measuring method according to claim 2,
a specific process of dividing the three-dimensional image information into the first rectangular object-independent three-dimensional data and the second rectangular object-independent three-dimensional data is as follows;
filtering the three-dimensional image information to obtain three-dimensional data only containing a first rectangular object and a second rectangular object;
extracting feature edge points in three-dimensional data only containing the first rectangular object and the second rectangular object;
rotating and distinguishing the characteristic edge points to obtain a rotation angle for completely separating three-dimensional data only containing the first rectangular object and the second rectangular object;
the three-dimensional data including only the first rectangular solid object and the second rectangular solid object is divided into three-dimensional data independent of the first rectangular solid object and three-dimensional data independent of the second rectangular solid object according to the obtained rotation angle.
4. The method for measuring the volume of a double rectangular object according to claim 3, wherein the process of filtering the three-dimensional image information comprises:
and carrying out absolute value calculation on three-dimensional image information obtained by the three-dimensional laser camera, the bottom plane information without the first rectangular object and the bottom plane information without the second rectangular object to obtain three-dimensional data only containing the first rectangular object and the second rectangular object.
5. The method according to claim 4, wherein the process of extracting the feature edge points in the three-dimensional data containing only the first rectangular object and the second rectangular object is:
and projecting the three-dimensional data only containing the first rectangular object and the second rectangular object to obtain projection data, traversing the projection data to obtain head and tail points with data in each row and head and tail points with data in each column to form characteristic edge points.
6. The method for measuring the volume of a double rectangular object according to claim 5, wherein the specific process of rotating and discriminating the feature edge points to obtain the rotation angle for completely separating the three-dimensional data containing only the first rectangular object and the second rectangular object comprises:
and continuously rotating the characteristic edge points until all the characteristic edge points and the segmentation lines of the rows or the columns of the projection data have no intersection point, and obtaining the rotation degree at the moment.
7. A method of measuring a volume of a dual rectangular object according to claim 6, wherein the dividing line of the row or column of the projection data is solved as follows:
traversing the projection data to find the maximum value and the minimum value corresponding to the row or the column of the projection data;
if the interval from the minimum value to the maximum value does not contain data points, the midpoint of the interval is a dividing line;
and if the section from the minimum value to the maximum value cannot be obtained after traversing, rotating the characteristic edge points according to the rotation angle, and then searching the partition line again.
8. A double rectangular object volume measurement system is characterized by comprising a three-dimensional laser camera, a three-dimensional laser camera position adjusting module, a three-dimensional image information segmentation module, a volume parameter acquisition module and a volume calculation module;
the three-dimensional laser camera is used for acquiring bottom plane information without a first rectangular object and bottom plane information without a second rectangular object, bottom plane information of the first rectangular object, bottom plane information of the second rectangular object, and three-dimensional image information containing three-dimensional data of the first rectangular object and three-dimensional data of the second rectangular object;
the three-dimensional laser camera position adjusting module is used for adjusting the horizontal position of the three-dimensional laser camera according to the bottom plane information without the first rectangular object, the bottom plane information without the second rectangular object, the bottom plane information of the first rectangular object and the bottom plane information of the second rectangular object;
the three-dimensional image information segmentation module is used for segmenting three-dimensional image information containing the three-dimensional data of the first rectangular object and the three-dimensional data of the second rectangular object into three-dimensional data independent of the first rectangular object and three-dimensional data independent of the second rectangular object;
the volume parameter acquisition module is used for acquiring the volume parameter of the first rectangular object and the volume parameter of the second rectangular object according to the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object;
the volume calculation module is used for calculating the volume of the first rectangular object and the volume of the second rectangular object according to the volume parameter of the first rectangular object and the volume parameter of the second rectangular object;
the process of obtaining the volume parameter of the first rectangular object and the volume parameter of the second rectangular object is:
selecting independent three-dimensional data of any one rectangular object from the independent three-dimensional data of the first rectangular object and the independent three-dimensional data of the second rectangular object, and filtering according to the height range of the preset rectangular object to obtain an upper surface data point and a side surface data point of the single rectangular object;
counting the upper surface data points and the side surface data points of the single rectangular object obtained by filtering according to a height interval, and taking the data with the highest frequency of occurrence in a set range as the height of the single rectangular object;
filtering the upper surface data point and the side surface data point of the single rectangular object, wherein the filtering range is a high set error band of the single rectangular object, and acquiring a data point set of the single rectangular object projected to the X-Y plane of the three-dimensional coordinate system;
carrying out convex hull processing on the data point set projected to the X-Y plane to obtain convex hull points;
repeating the steps to obtain convex hull points returned by the single rectangular object at different time points, and comparing the convex hull points obtained twice within a set distance range to obtain effective data points;
performing rectangle fitting on the effective data points to obtain length and width information of the single rectangular object;
and selecting another rectangular object, and repeating the steps.
9. A double rectangular object volume measuring device is characterized by comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute a dual cuboid volume measurement method according to any one of claims 1-7 according to instructions in the program code.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010059972.3A CN111238369B (en) | 2020-01-19 | 2020-01-19 | Method, system and equipment for measuring volume of double rectangular objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010059972.3A CN111238369B (en) | 2020-01-19 | 2020-01-19 | Method, system and equipment for measuring volume of double rectangular objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111238369A CN111238369A (en) | 2020-06-05 |
| CN111238369B true CN111238369B (en) | 2021-07-06 |
Family
ID=70864144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010059972.3A Expired - Fee Related CN111238369B (en) | 2020-01-19 | 2020-01-19 | Method, system and equipment for measuring volume of double rectangular objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111238369B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229331B (en) * | 2020-09-22 | 2022-01-07 | 南京理工大学 | Monocular vision-based object rotation angle and translation distance measuring method |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8294809B2 (en) * | 2005-05-10 | 2012-10-23 | Advanced Scientific Concepts, Inc. | Dimensioning system |
| CN102628682A (en) * | 2012-04-24 | 2012-08-08 | 重庆大学 | Volume measurement method based on industrial CT scanning technology |
| CN104880149B (en) * | 2014-02-28 | 2018-08-28 | 江苏永钢集团有限公司 | Large-scale bulk cargo stockpile volume measuring method and its equipment based on stereopsis analysis |
| CN104197834A (en) * | 2014-09-04 | 2014-12-10 | 福建师范大学 | Non-contact complex surface cone volume measurement system and method |
| DE102016120406A1 (en) * | 2016-10-26 | 2018-04-26 | Deutsche Post Ag | A method of determining a charge for sending a shipment |
| CN106643508A (en) * | 2017-02-28 | 2017-05-10 | 成都中科创达软件有限公司 | Method and system for measuring volume of regular three-dimensional object |
| CN109000559B (en) * | 2018-06-11 | 2020-09-11 | 广东工业大学 | Object volume measuring method, device and system and readable storage medium |
| CN109000560B (en) * | 2018-06-11 | 2021-07-06 | 广东工业大学 | Method, device and equipment for detecting package size based on three-dimensional camera |
| CN109029303B (en) * | 2018-06-11 | 2020-05-19 | 广东工业大学 | Method, device and system for measuring bottom area parameters of object and readable storage medium |
| CN109029618B (en) * | 2018-07-11 | 2020-02-07 | 苏州科技大学 | Monocular vision packing box volume measuring method |
| CN109801333B (en) * | 2019-03-19 | 2021-05-14 | 北京华捷艾米科技有限公司 | Volume measurement method, device and system and computing equipment |
-
2020
- 2020-01-19 CN CN202010059972.3A patent/CN111238369B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN111238369A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210192761A1 (en) | Image depth estimation method and device, readable storage medium, and electronic apparatus | |
| CN111047640B (en) | Volumetric flask volume calibration method and device, terminal equipment and storage medium | |
| US20180150969A1 (en) | Information processing device, measuring apparatus, system, calculating method, storage medium, and article manufacturing method | |
| CN111259890A (en) | Water level identification method, device and equipment of water level gauge | |
| CN112556994B (en) | Optical information detection method, device and equipment | |
| CN108182708B (en) | Calibration method and calibration device of binocular camera and terminal equipment | |
| US20230351635A1 (en) | Optical axis calibration method and apparatus of optical axis detection system, terminal, system, and medium | |
| CN112233076B (en) | Structural vibration displacement measurement method and device based on red round target image processing | |
| CN112801111B (en) | Image straight line edge point classification method and device based on gradient direction | |
| US20040120603A1 (en) | Enhancing the resolution of measurement systems employing image capturing systems to measure lengths | |
| CN111709999A (en) | Calibration plate, camera calibration method and device, electronic equipment and camera system | |
| CN112883955A (en) | Shelf layout detection method and device and computer readable storage medium | |
| CN111238369B (en) | Method, system and equipment for measuring volume of double rectangular objects | |
| CN115060162A (en) | Chamfer dimension measuring method and device, electronic equipment and storage medium | |
| CN114862929A (en) | Three-dimensional target detection method and device, computer readable storage medium and robot | |
| CN114897669A (en) | Labeling method and device and electronic equipment | |
| CN108564571B (en) | Image area selection method and terminal equipment | |
| US8630477B2 (en) | Electronic device and method for outputting measurement data | |
| CN116188960A (en) | Instrument intelligent reading method, device, equipment and medium based on key point identification | |
| CN113608207A (en) | Blast furnace burden surface shape measuring method, terminal equipment and storage medium | |
| CN114066930A (en) | Planar target tracking method and device, terminal equipment and storage medium | |
| CN111950659B (en) | Double-layer license plate image processing method and device, electronic equipment and storage medium | |
| CN112711965B (en) | Drawing recognition method, device and equipment | |
| CN115435749A (en) | Method and device for measuring inclination angle of bonding finger, terminal and storage medium | |
| CN114882058A (en) | Angular point detection method and device and calibration board |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210706 Termination date: 20220119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |