CN111336917A - Volume measurement method, device, system and computer readable storage medium - Google Patents
Volume measurement method, device, system and computer readable storage medium Download PDFInfo
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- CN111336917A CN111336917A CN202010112963.6A CN202010112963A CN111336917A CN 111336917 A CN111336917 A CN 111336917A CN 202010112963 A CN202010112963 A CN 202010112963A CN 111336917 A CN111336917 A CN 111336917A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The embodiment of the application relates to a volume measurement method, a volume measurement device, a volume measurement system and a computer-readable storage medium. The method comprises the following steps: scanning the vehicle in the first state through a laser radar to obtain a first three-dimensional profile; scanning the vehicle in a second state through the laser radar to obtain a second three-dimensional profile; registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and forming a loading and unloading space according to the top surface and the bottom surface; the space volume of the loading and unloading space is determined according to the top surface and the bottom surface. The volume measuring method, the device, the system and the computer readable storage medium can improve the accuracy of measuring the volume of the loading and unloading object of the vehicle and reduce errors.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a volume measurement method, a volume measurement device, a volume measurement system and a computer-readable storage medium.
Background
In industrial building scenarios, it is often necessary to perform volumetric measurements of objects (e.g., sand, coal, cargo, etc.) handled by large vehicles. The traditional volume measurement of loading and unloading objects basically depends on manual participation, the subjective randomness is large, and meanwhile, the volume error is large. In addition to manual measurement, the volume of an object loaded and unloaded from a vehicle can be measured by using a non-contact detection technology, for example, ultrasonic ranging, microwave ranging, etc., but the detected volume results have large errors and low accuracy.
Disclosure of Invention
Embodiments of the present application provide a volume measurement method, device, system, and computer-readable storage medium, which can improve the accuracy of measuring the volume of a vehicle loading/unloading object and reduce errors.
A method of volumetric measurement, comprising:
scanning the vehicle in the first state through a laser radar to obtain a first three-dimensional profile;
scanning the vehicle in a second state through the laser radar to obtain a second three-dimensional profile;
registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and forming a loading and unloading space according to the top surface and the bottom surface;
the space volume of the loading and unloading space is determined according to the top surface and the bottom surface.
A volume measurement device, comprising:
the scanning module is used for scanning the vehicle in the first state through the laser radar to obtain a first three-dimensional profile;
the scanning module is further used for scanning the vehicle in a second state through the laser radar to obtain a second three-dimensional profile;
the registration module is used for registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and a loading and unloading space is formed according to the top surface and the bottom surface;
and the volume determining module is used for determining the space volume of the loading and unloading space according to the top surface and the bottom surface.
A volumetric measurement system comprising:
the laser radar is used for scanning the vehicles in the detection area;
electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the method as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as set forth above.
According to the volume measurement method, the device, the system and the computer-readable storage medium, the vehicle in the first state is scanned through the laser radar to obtain the first three-dimensional profile, the vehicle in the second state is scanned through the laser radar to obtain the second three-dimensional profile, the first three-dimensional profile and the second three-dimensional profile are registered to obtain the top surface and the bottom surface corresponding to the loading and unloading object of the vehicle, the loading and unloading space is formed according to the top surface and the bottom surface, the space volume of the loading and unloading space is determined according to the top surface and the bottom surface, the full-scanning three-dimensional laser radar is used for comparing and scanning the vehicle before and after loading and unloading, the profiles before and after loading and unloading are registered to obtain the loading and unloading space, the volume change of the vehicle before and after loading and unloading the object can be accurately calculated, the accuracy of measuring the volume of the.
Drawings
In order to more clearly illustrate the embodiments of the present application 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, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of an embodiment of a volumetric measurement method;
FIG. 2 is a flow chart of a method of volume measurement in one embodiment;
FIG. 3 is a schematic illustration of scanning a vehicle in a first state by a lidar in one embodiment;
FIG. 4 is a schematic illustration of scanning a vehicle in a second state by a lidar in one embodiment;
FIG. 5 is a schematic view of a loading and unloading space in one embodiment;
FIG. 6 is a flow diagram of determining a volume of space for a load space in one embodiment;
FIG. 7 is a schematic diagram illustrating spatial rasterization of a load space in one embodiment;
FIG. 8 is a flow diagram of determining top and bottom coordinates of grid pillars in one embodiment;
FIG. 9 is a block diagram of a volume measurement device in one embodiment;
FIG. 10 is a block diagram of a volumetric measurement system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first client may be referred to as a second client, and similarly, a second client may be referred to as a first client, without departing from the scope of the present application. Both the first client and the second client are clients, but they are not the same client.
Fig. 1 is a diagram illustrating an application scenario of the volume measurement method according to an embodiment. As shown in fig. 1, the lidar 10 may be mounted on top of a mounting rod 30, the lidar 10 may scan a vehicle 20 within a detection area, and the vehicle 20 may or may not be loaded with objects (e.g., gravel, coal mine, cargo, etc.). The lidar 10 may be able to locate the spot of the laser beam on the object with a high degree of accuracy, thereby generating an accurate three-dimensional model of the vehicle 20 within the detection area. Electronics may be coupled to lidar 10 and may be configured to control lidar 10 to scan a vehicle 20 within a detection area.
The electronic device can control the laser radar 10 to scan the vehicle in the first state in the detection area to obtain a first three-dimensional profile, and the laser radar 10 can control the vehicle in the second state in the detection area to scan the vehicle in the second state to obtain a second three-dimensional profile, wherein the first state and the second state can be different loading and unloading states of the same vehicle. The electronic device can register the obtained first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, so that a loading and unloading space can be formed according to the top surface and the bottom surface. The volume of the loading and unloading space can be determined according to the top surface and the bottom surface.
As shown in fig. 2, in one embodiment, a volumetric measurement method is provided that may include the steps of:
A laser radar (LiDAR) is a sensor for accurately obtaining three-dimensional position information, And can highly accurately position a Light spot of a laser beam on an object to generate an accurate three-dimensional model of the object.
The laser radar can emit laser beams through the laser emitter, and the distance and the direction from each point in the three-dimensional space to the laser emitter can be detected through the emitted laser beams, so that a three-dimensional model of an object can be constructed. The laser radar can measure a signal returned by the reflection of the emitted laser on the surface of an object through a laser beam emitted by the laser emitter, and detect the distance and the direction from each point in the three-dimensional space to the laser emitter based on the reflected signal. As one method, the laser radar may determine the distance of the point by measuring the time difference, phase difference, and the like of the transmission and reception of the laser signal, and may measure the direction of the point by horizontal rotation scanning or phase control scanning, and the measuring method is not limited herein.
In this application embodiment, laser radar accessible laser emitter launches the different laser of multibeam direction, enlarges laser radar's area of coverage to can enlarge laser radar's detection area. The vehicle in the first state may be parked within the detection area of the lidar and scanned by the lidar. The first state may refer to a loading and unloading state of the vehicle, which may include a loading state and an unloading state. The loading state refers to a state in which the vehicle is loaded with objects, and the loading state may include a full-load state and a non-full-load state, and the full-load state refers to a state in which the vehicle is full of objects. The unloading state may refer to a state after the object loaded on the vehicle is unloaded, and the unloading state may include an empty state and a partially unloading state, the empty state may refer to a state where the vehicle is not loaded with the object, and the partially unloading state may refer to a state where the object loaded on the vehicle is partially unloaded. The first state may be any one of the above-described plural attachment/detachment states.
The laser radar scans the vehicle in the first state, and the distance and the direction of each point outside the vehicle in the first state relative to the laser radar can be determined, so that a three-dimensional model of the vehicle in the first state can be established. The first three-dimensional contour may be obtained based on a three-dimensional model of the vehicle in the first state, and the first three-dimensional contour may be a contour of the three-dimensional model of the vehicle in the first state, and may be used to accurately describe a shape of the vehicle in the first state in a three-dimensional space. Alternatively, the first three-dimensional contour may be represented by spatial coordinates of points outside the vehicle in the first state.
And step 220, scanning the vehicle in the second state through the laser radar to obtain a second three-dimensional profile.
After the vehicle in the first state is scanned by the laser radar, the same vehicle in the second state can be scanned by the laser radar. The second state may be any one of the above-described plural detachable states, and the second state is different from the first state, and the second state and the first state may be two opposite states before and after detachment, respectively. For example, but not limited to, the first state is a full load state, the second state is an empty load state, or the first state is an empty load state, and the second state is a full load state. After the object is loaded or unloaded to the vehicle in the first state, the vehicle in the second state can be obtained.
The vehicle in the second state can be parked in the detection area of the laser radar, the laser radar can emit laser beams through the laser transmitter to scan the vehicle in the second state, the distance and the direction of each point outside the vehicle in the second state relative to the laser radar can be determined, and therefore the three-dimensional model of the vehicle in the second state can be established. A second three-dimensional contour may be obtained based on the three-dimensional model of the vehicle in the second state, which may be used to accurately describe the shape of the vehicle in the second state in three-dimensional space. Alternatively, the second three-dimensional contour may be represented by spatial coordinates of points outside the vehicle in the second state.
FIG. 3 is a schematic diagram of scanning a vehicle in a first state via a lidar in one embodiment. As shown in fig. 3(a), in one embodiment, the first state is a fully loaded state, and the laser radar 10 scans the vehicle 302 in the fully loaded state to obtain a first three-dimensional profile 304 as shown in fig. 3 (b).
FIG. 4 is a schematic illustration of scanning a vehicle in a second state by a lidar in one embodiment. As shown in fig. 4(a), in one embodiment, the second state is an unloaded state, and the laser radar 10 scans the vehicle 402 in the unloaded state to obtain a second three-dimensional profile 404 as shown in fig. 4 (b).
In one embodiment, the scanning interval between the laser radar scanning the vehicle in the first state and the scanning the vehicle in the second state may be within a preset time interval, which may be set according to actual requirements, such as, but not limited to, 5 minutes, 10 minutes, and the like. Therefore, the three-dimensional contours obtained by the front scanning and the rear scanning are ensured to be contours of the same vehicle in different loading and unloading states, and the situation that the volume of the loading and unloading object is calculated wrongly is prevented. In some embodiments, when the vehicle is in the first state and the second state, the positions and orientations of two parking operations may be different, but both the parking operations need to be in the detection area of the lidar, and although the parking positions and orientations are different, the first three-dimensional profile and the second three-dimensional profile obtained by scanning may be subsequently registered, which does not affect the volume calculation result, and may reduce the difficulty of the operation.
And 230, registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to the loading and unloading object of the vehicle, and forming a loading and unloading space according to the top surface and the bottom surface.
The lidar may be coupled to an electronic device that may have a processor and memory disposed therein to determine the volume of the vehicle handling object based on data obtained from the lidar scanning. The electronic device may acquire a first three-dimensional contour when the vehicle is in a first state and a second three-dimensional contour when the vehicle is in a second state, and register the first three-dimensional contour and the second three-dimensional contour.
As a specific embodiment, registering the first three-dimensional contour and the second three-dimensional contour may refer to aligning matching points in the first three-dimensional contour and the second three-dimensional contour. Alternatively, the same points in the first three-dimensional contour and the second three-dimensional contour may be aligned. The first and second three-dimensional contours may contain points of the same portion of the vehicle, for example, the vehicle may include a nose and a hopper section, the hopper may be used to load an object, where the nose may be the same portion, and the point of the nose of the first three-dimensional contour may be aligned with the point of the nose of the second three-dimensional contour.
Further, since the first three-dimensional contour and the second three-dimensional contour are shape contours of the same vehicle in different loading and unloading states, after the first three-dimensional contour and the second three-dimensional contour are registered, a difference portion between the first three-dimensional contour and the second three-dimensional contour can be determined, and the difference portion can be a difference of an object on the vehicle before and after loading and unloading. For example, the bucket portion of the vehicle may be determined as a difference portion when the object loaded in the first state and the second state changes. The top and bottom surfaces of the vehicle, which correspond to the loading and unloading objects, may be determined based on the differential portion, and the top and bottom surfaces may form the loading and unloading space. The loading and unloading space may refer to a space occupied by a loaded object or an unloaded object.
By way of example, registering the first three-dimensional profile 304 of fig. 3(b) with the second three-dimensional profile 404 of fig. 4(b) may form a loading space 500 as shown in fig. 5 based on the difference between the first three-dimensional profile 304 and the second three-dimensional profile 404, where the dashed line represents a top surface 502 of the loading space 500 and the solid line represents a bottom surface 504 of the loading space 500, and the loading space 500 is the space occupied by the unloaded objects from the vehicle 302 of fig. 3(a) in a fully loaded state to the vehicle 402 of fig. 4(a) in an empty state.
The volume of the loading and unloading space is determined 240 based on the top surface and the bottom surface.
In one embodiment, the first three-dimensional contour and the second three-dimensional contour may be represented by spatial coordinates of the same spatial coordinate system, and the spatial coordinate system may be set according to actual requirements, for example, but not limited to, a spatial coordinate system may be established based on a point at a lower left corner of a vehicle hopper portion as an origin. The top and bottom surfaces may also be represented by the spatial coordinates of the spatial coordinate system.
The electronic equipment can determine the space volume of the loading and unloading space according to the top surface and the bottom surface of the loading and unloading space. In some embodiments, the volume difference between the top surface and the bottom surface may be calculated based on the spatial coordinates of the top surface at each point and the bottom surface at each point, which may be used as the spatial volume of the load handling space.
In the embodiment of the application, the vehicle in the first state is scanned through the laser radar to obtain the first three-dimensional profile, the vehicle in the second state is scanned through the laser radar to obtain the second three-dimensional profile, the first three-dimensional profile and the second three-dimensional profile are registered to obtain the top surface and the bottom surface corresponding to the loading and unloading object of the vehicle, the loading and unloading space is formed according to the top surface and the bottom surface, the space volume of the loading and unloading space is determined according to the top surface and the bottom surface, the full-scanning three-dimensional laser radar is used for performing contrast scanning on the vehicle before and after loading and unloading, the profiles before and after loading and unloading are registered to obtain the loading and unloading space, the volume change of the vehicle before and after loading and unloading the unloading object can be accurately calculated, the accuracy of measuring the volume of the loading.
As shown in FIG. 6, in one embodiment, the step of determining the volume of the loading and unloading space based on the top surface and the bottom surface may comprise the steps of:
After the load-unload space is formed, the load-unload space may be spatially rasterized, which may refer to converting the load-unload space represented by the outline into a space represented by a raster image. The loading and unloading space may be divided into a plurality of grid columns, and the projection of each grid column on the same plane may be the same grid image. Since the loading and unloading space is an irregular space, the height of each of the divided grid columns may be different.
In one embodiment, the length and width of the load space may be obtained, which may refer to the length and width of the load space projected onto a plane. The plane formed by the length and the width (which can be understood as the projected plane) can be divided into a plurality of square grids with the side length being a preset value, wherein the preset value can be set according to actual requirements, for example, 5cm (centimeter), 10cm, 11cm, and the like, but is not limited thereto. Alternatively, if the loading and unloading space has a length of a and a width of b, and a plane formed by the length and the width is divided into square grids with a side length of m, the plane may be divided into (a/m) × (b/m) square grids. The loading and unloading space can be divided into a plurality of grid columns according to a plurality of square grids divided by the plane, and each grid column can correspond to the square grids on the plane one by one.
FIG. 7 is a schematic diagram illustrating spatial rasterization of a load space in one embodiment. As shown in fig. 7, the length and width of the projection of load space 720 onto plane 710 may be obtained, and plane 710 may also be a two-dimensional view of load space 720. The plane 710 may be divided into a plurality of square grids having a side length of a preset value, and the loading and unloading space 720 may be divided into a plurality of grid columns 722 based on the square grids divided by the plane 710, and each grid column 722 may correspond to one square grid in the plane 710.
The loading and unloading space can comprise a top surface and a bottom surface, after the loading and unloading space is divided into a plurality of grid columns, each grid column can comprise an upper surface positioned on the top surface and a lower surface positioned on the bottom surface, and the volume of each grid column can be calculated according to the upper surface and the lower surface of each grid column. As a specific embodiment, the height of the lattice columns may be determined from the upper and lower surfaces of the lattice columns, and the volume of the lattice columns may be calculated based on the height.
In one embodiment, the top coordinates of the grid posts may be determined from the top surface and the bottom coordinates of the grid posts may be determined from the bottom surface. The difference between the top coordinates and the bottom coordinates of the grid columns can be calculated, the difference is the height of the grid columns, and then the volume of the grid columns is calculated according to the preset value and the difference. Alternatively, the volume of the grid column may be the product of the square of the side length of the corresponding square grid and the difference.
As shown in FIG. 8, in one embodiment, the step of determining the top coordinates of the grid pillars from the top surface and the bottom coordinates of the grid pillars from the bottom surface may comprise the steps of:
The plurality of grid columns of the load handling space may correspond one-to-one with the plurality of square grids of the plane. If the loading/unloading space has a length a and a width b and a plane formed by the length and the width is divided into square grids with a side length of m, the plane can be divided into (a/m) × (b/m) square grids. The corresponding row and column values of the square grids corresponding to the grid columns in the plane can be obtained, and the row and column values are used for indicating that the square grids corresponding to the grid columns are arranged in the ith row and the jth column, for example, the row and column values are (i, j), that is, indicating that the square grids corresponding to the grid columns are arranged in the ith row and the jth column.
And step 804, determining the center point coordinates of the corresponding square grids according to the row and column values and the preset values.
The coordinates of the center point of the corresponding square grid can be determined according to the corresponding row and column values of the square grid corresponding to the grid column in the plane and the side length (namely a preset value) of the square grid. In one embodiment, the center point coordinate may be a two-dimensional coordinate, the abscissa of the center point may be a product of the row value and the preset value plus one-half of the preset value, and the ordinate may be a product of the column value and the preset value plus one-half of the preset value.
For example, if the row and column values of the square grid corresponding to the grid pillar are (i, j), and the side length of the square grid is m, the coordinates of the center point of the square grid may be (i × m + m/2, j × m + m/2).
Points that match the center point coordinates of the corresponding square grid can be found in the top and bottom surfaces, respectively. The respective points of the top and bottom surfaces may be represented by the same spatial coordinate system (xyz coordinate system). In one embodiment, the point in the top surface with the closest abscissa (x-coordinate) and ordinate (y-coordinate) to the coordinate of the center point of the corresponding square grid may be found, wherein the closest point may refer to the point in the top surface with the smallest difference between the abscissa and the abscissa of the center point of the square grid and the ordinate of the center point of the square grid. The closest point may be the first point on the top surface to match the coordinates of the center point.
After determining a first point in the top surface, which matches the coordinates of the center point of the corresponding square grid, the coordinates (y-coordinates) of the first point in the vertical direction may be obtained, and the coordinates of the first point in the vertical direction are the height value of the first point. The height value of the first point may be taken as the top coordinate of the grid column.
And 808, searching a second point matched with the coordinates of the central point in the bottom surface, acquiring the height value of the second point, and taking the height value of the second point as the bottom coordinates of the grid column.
The point of the bottom surface whose abscissa (x-coordinate) and ordinate (y-coordinate) are closest to the coordinates of the center point of the corresponding square grid can be found, wherein the closest point can refer to the point of the bottom surface whose difference between the abscissa of the bottom surface and the abscissa of the center point of the square grid and the ordinate of the bottom surface and the ordinate of the center point of the square grid are the smallest. The closest point may be used as the second point of the bottom surface that matches the center point coordinates.
After a second point in the bottom surface, which is matched with the center point coordinate of the corresponding square grid, is determined, the coordinate (y coordinate) of the second point in the vertical direction can be obtained, and the coordinate of the second point in the vertical direction is the height value of the second point. The height value of the second point can be taken as the bottom coordinate of the grid column.
For each grid column, the method in the above embodiment can be adopted to determine the top coordinate and the bottom coordinate of the grid column, determine the height of the grid column according to the top coordinate and the bottom coordinate, and multiply the square of the side length of the square grid by the height, thereby obtaining the volume of the grid column. In one embodiment, after the volume of each grid column in the loading and unloading space is calculated, the volume of each grid column can be accumulated to obtain the space volume of the loading and unloading space.
In the embodiment of the application, the loading and unloading space can be subjected to spatial rasterization, and the volume of each grid column is calculated one by one to obtain the volume of the loading and unloading space, so that the calculated volume is more accurate. And the volume of each grid column can be calculated by utilizing the difference value between the top surface and the bottom surface of the loading and unloading space, the accuracy is high, the complexity of the calculation mode is low, and the volume measurement efficiency is improved.
In one embodiment, the step of registering the first three-dimensional contour and the second three-dimensional contour may comprise: and determining a matching point pair of the first three-dimensional contour and the second three-dimensional contour, selecting one point in the matching point pair to perform horizontal movement and rotation transformation, and aligning the transformed point with the other point in the matching point pair.
The electronic device can match the first three-dimensional contour with the second three-dimensional contour, establish a corresponding relationship between points matched between the first three-dimensional contour and the second three-dimensional contour, and determine the points matched between the first three-dimensional contour and the second three-dimensional contour as matching point pairs. In some embodiments, the first three-dimensional contour and the second three-dimensional contour may be represented by the same spatial coordinate system, and the point of match between the first three-dimensional contour and the second three-dimensional contour may refer to a point having the same or closest abscissa and ordinate.
In some embodiments, an object in three-dimensional space may possess 6 degrees of freedom (x, y, z, roll, pitch, yaw), since the vehicle may be parked twice in the same detection area, which is typically flat (typically the x-y plane in a spatial coordinate system), while being scanned by the lidar. Therefore, the z-coordinate, roll and pitch angle of the vehicle are not changed between two times of parking. In registering the first three-dimensional contour and the second three-dimensional contour, the coordinates of the points in the x-axis, the y-axis, and the angle of yaw may be registered only.
After the matching point pair of the first three-dimensional contour and the second three-dimensional contour is determined, one point in the matching point pair can be selected for horizontal movement and rotation transformation, namely, one point in the matching point pair is selected for x-axis, y-axis and yaw angle transformation. In some embodiments, the nearest neighbor iterative matching algorithm may be utilized for the translation and rotation transformation in the horizontal direction. The two points included in the matching point pair can be aligned, after one point in the matching point pair is selected to be subjected to horizontal movement and rotation transformation, whether the variation quantity of the transformed point and the point before transformation on the x axis, the y axis and the yaw angle is smaller than a threshold value or not can be judged, if yes, the registration of the two points included in the matching point pair is completed, and if not, the transformation is continued until the variation quantity of the transformed point and the point before transformation on the x axis, the y axis and the yaw angle is smaller than the threshold value.
The first three-dimensional contour and the second three-dimensional contour are registered, and a difference portion between the first three-dimensional contour and the second three-dimensional contour can be determined based on a difference value of two points included in the aligned matching point pairs in a vertical direction. In some embodiments, a difference value in a vertical direction may be calculated from coordinates of z-axis of two points included in the matching point pair, and when the difference value is greater than a preset difference value, it may be determined that a point having a larger z-axis coordinate among the two points of the matching point pair belongs to a top surface of the loading and unloading space and a point having a smaller z-axis coordinate belongs to a bottom surface of the loading and unloading space, so that the loading and unloading space may be formed.
In the embodiment of the application, the first three-dimensional contour of the vehicle in the first state and the second three-dimensional contour of the vehicle in the second state can be registered, so that the measurement process of the subsequent volume is simplified, the measurement efficiency is improved, and the measurement accuracy is improved.
In one embodiment, a volumetric measurement method is provided, comprising the steps of:
and (1) scanning the vehicle in the first state through a laser radar to obtain a first three-dimensional profile.
And (2) scanning the vehicle in the second state through the laser radar to obtain a second three-dimensional profile.
And (3) registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and forming a loading and unloading space according to the top surface and the bottom surface.
In one embodiment, the step of registering the first three-dimensional contour and the second three-dimensional contour comprises: determining a matching point pair of the first three-dimensional contour and the second three-dimensional contour; and selecting one point in the matching point pair to perform horizontal movement and rotation transformation, and aligning the transformed point with the other point in the matching point pair.
And (4) determining the space volume of the loading and unloading space according to the top surface and the bottom surface.
In one embodiment, step (4) comprises: the loading and unloading space is subjected to space rasterization, and is divided into a plurality of grid columns; the volume of each grid column is calculated from the top and bottom surfaces, and the spatial volume of the loading and unloading space is determined from the volume of each grid column.
In one embodiment, the step of spatially rasterizing the load space to divide the load space into a plurality of grid columns includes: acquiring the length and width of a loading and unloading space; dividing a plane formed by the length and the width into a plurality of square grids with the side length of a preset value; the load space is divided into a plurality of grid columns according to a square grid.
In one embodiment, the step of calculating the volume of each grid pillar from the top and bottom surfaces comprises: determining the top coordinates of the grid columns according to the top surfaces, and determining the bottom coordinates of the grid columns according to the bottom surfaces; and calculating the difference value between the top coordinate and the bottom coordinate of the grid column, and calculating the volume of the grid column according to the preset value and the difference value.
In one embodiment, the step of determining top coordinates of the grid posts from the top surface and bottom coordinates of the grid posts from the bottom surface comprises: acquiring the corresponding row and column values of the square grids corresponding to the grid columns in the plane; determining the coordinates of the center points of the corresponding square grids according to the row and column values and preset values; searching a first point matched with the coordinates of the central point in the top surface, acquiring a height value of the first point, and taking the height value of the first point as the top coordinates of the grid column; and searching a second point matched with the coordinates of the central point in the bottom surface, acquiring the height value of the second point, and taking the high bottom value of the second point as the bottom coordinates of the grid column.
In one embodiment, the step of determining the spatial volume of the loading and unloading space based on the volume of each of the grid columns comprises: and accumulating the volume of each grid column to obtain the space volume of the loading and unloading space.
In the embodiment of the application, the vehicle in the first state is scanned through the laser radar to obtain the first three-dimensional profile, the vehicle in the second state is scanned through the laser radar to obtain the second three-dimensional profile, the first three-dimensional profile and the second three-dimensional profile are registered to obtain the top surface and the bottom surface corresponding to the loading and unloading object of the vehicle, the loading and unloading space is formed according to the top surface and the bottom surface, the space volume of the loading and unloading space is determined according to the top surface and the bottom surface, the full-scanning three-dimensional laser radar is used for performing contrast scanning on the vehicle before and after loading and unloading, the profiles before and after loading and unloading are registered to obtain the loading and unloading space, the volume change of the vehicle before and after loading and unloading the unloading object can be accurately calculated, the accuracy of measuring the volume of the loading.
As shown in fig. 9, in one embodiment, a volume measurement device 900 is provided that includes a scanning module 910, a registration module 920, and a volume determination module 930.
The scanning module 910 is configured to scan the vehicle in the first state through the lidar to obtain a first three-dimensional profile.
And the scanning module 910 is further configured to scan the vehicle in the second state through the lidar to obtain a second three-dimensional profile.
The registration module 920 is configured to register the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading/unloading object of the vehicle, and form a loading/unloading space according to the top surface and the bottom surface.
A volume determination module 930 configured to determine a spatial volume of the loading and unloading space according to the top surface and the bottom surface.
In the embodiment of the application, the full-scanning three-dimensional laser radar is used for comparing and scanning the front and the back of the loading and unloading of the vehicle, and the profiles before and after the loading and unloading are registered to obtain the loading and unloading space, so that the volume change of the vehicle before and after the loading and unloading of the object can be accurately calculated, the accuracy of measuring the volume of the loading and unloading object of the vehicle is improved, and the error is reduced.
In one embodiment, the volume determination module 930 includes a rasterization unit and a calculation unit.
And the rasterizing unit is used for spatially rasterizing the loading and unloading space and dividing the loading and unloading space into a plurality of grid columns.
In one embodiment, the rasterizing unit includes an acquisition subunit and a dividing subunit.
And the acquisition subunit is used for acquiring the length and the width of the loading and unloading space.
And the dividing subunit is used for dividing the plane formed by the length and the width into a plurality of square grids with the side length of a preset value.
And the dividing subunit is also used for dividing the loading and unloading space into a plurality of grid columns according to the square grid.
And the calculation unit is used for calculating the volume of each grid column according to the top surface and the bottom surface and determining the space volume of the loading and unloading space according to the volume of each grid column.
In one embodiment, the computing unit includes a coordinate determination subunit and a computation subunit.
And the coordinate determination subunit is used for determining the top coordinates of the grid columns according to the top surfaces and determining the bottom coordinates of the grid columns according to the bottom surfaces.
In an embodiment, the coordinate determining subunit is further configured to obtain a row-column value corresponding to a square grid corresponding to the grid column in the plane, determine a center point coordinate of the corresponding square grid according to the row-column value and a preset value, find a first point in the top surface that matches the center point coordinate, obtain a height value of the first point, use the height value of the first point as the top coordinate of the grid column, find a second point in the bottom surface that matches the center point coordinate, obtain a height value of the second point, and use a high-bottom value of the second point as the bottom coordinate of the grid column.
And the calculating subunit is used for calculating the difference value between the top coordinate and the bottom coordinate of the grid column and calculating the volume of the grid column according to the preset value and the difference value.
In one embodiment, the calculation unit is further configured to add the volume of each grid column to obtain a spatial volume of the loading and unloading space.
In the embodiment of the application, the loading and unloading space can be subjected to spatial rasterization, and the volume of each grid column is calculated one by one to obtain the volume of the loading and unloading space, so that the calculated volume is more accurate. And the volume of each grid column can be calculated by utilizing the difference value between the top surface and the bottom surface of the loading and unloading space, the accuracy is high, the complexity of the calculation mode is low, and the volume measurement efficiency is improved.
In one embodiment, the registration module 920 is further configured to determine a matching point pair of the first three-dimensional contour and the second three-dimensional contour, select one point of the matching point pair to perform a horizontal movement and rotation transformation, and align the transformed point with the other point of the matching point pair.
In the embodiment of the application, the first three-dimensional contour of the vehicle in the first state and the second three-dimensional contour of the vehicle in the second state can be registered, so that the measurement process of the subsequent volume is simplified, the measurement efficiency is improved, and the measurement accuracy is improved.
FIG. 10 is a block diagram of a volumetric measurement system in one embodiment. As shown in fig. 10, the volume measurement system may include a lidar 10 and an electronic device 1000, with the lidar 10 being coupled to the electronic device 1000.
The electronic device 1000 may include one or more of the following components: a processor 1010 and a memory 1020, wherein one or more application programs may be stored in the memory 1020 and configured to be executed by the one or more processors 1010, the one or more programs configured to perform the methods as described in the embodiments above.
The Memory 1020 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 1020 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1020 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The stored data area may also store data created during use by the electronic device 1000, and the like.
It is understood that the electronic device 1000 may include more or less structural elements than those shown in the above structural block diagrams, and is not limited thereto.
In an embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when being executed by a processor, carries out the method as described in the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.
Any reference to memory, storage, database, or other medium as used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of volumetric measurement, comprising:
scanning the vehicle in the first state through a laser radar to obtain a first three-dimensional profile;
scanning the vehicle in a second state through the laser radar to obtain a second three-dimensional profile;
registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and forming a loading and unloading space according to the top surface and the bottom surface;
the space volume of the loading and unloading space is determined according to the top surface and the bottom surface.
2. The method of claim 1, wherein said determining a volume of space for said load space from said top and bottom surfaces comprises:
the loading and unloading space is subjected to space rasterization, and is divided into a plurality of grid columns;
and calculating the volume of each grid column according to the top surface and the bottom surface, and determining the space volume of the loading and unloading space according to the volume of each grid column.
3. The method of claim 2, wherein the spatially rasterizing the load space to divide the load space into a plurality of grid columns comprises:
acquiring the length and width of the loading and unloading space;
dividing the plane formed by the length and the width into a plurality of square grids with the side length of a preset value;
and dividing the loading and unloading space into a plurality of grid columns according to the square grids.
4. The method of claim 3, wherein calculating the volume of each grid post from the top and bottom surfaces comprises:
determining the top coordinates of the grid columns according to the top surface, and determining the bottom coordinates of the grid columns according to the bottom surface;
and calculating the difference value between the top coordinate and the bottom coordinate of the grid column, and calculating the volume of the grid column according to the preset value and the difference value.
5. The method of claim 4, wherein determining top coordinates of grid pillars from the top surface and bottom coordinates of the grid pillars from the bottom surface comprises:
acquiring the corresponding row and column values of the square grids corresponding to the grid columns in the plane;
determining the coordinates of the center points of the corresponding square grids according to the row and column values and preset values;
searching a first point matched with the center point coordinate in the top surface, acquiring a height value of the first point, and taking the height value of the first point as the top coordinate of the grid column;
and searching a second point matched with the coordinate of the central point in the bottom surface, acquiring the height value of the second point, and taking the high bottom value of the second point as the bottom coordinate of the grid column.
6. The method of any of claims 2 to 5, wherein said determining a volume of space for said load space based on a volume of said each grid column comprises:
and accumulating the volume of each grid column to obtain the space volume of the loading and unloading space.
7. The method of claim 1, wherein registering the first and second three-dimensional contours comprises:
determining a matching point pair of the first three-dimensional contour and the second three-dimensional contour;
and selecting one point in the matching point pair to perform horizontal movement and rotation transformation, and aligning the transformed point with the other point in the matching point pair.
8. A volume measuring device, comprising:
the scanning module is used for scanning the vehicle in the first state through the laser radar to obtain a first three-dimensional profile;
the scanning module is further used for scanning the vehicle in a second state through the laser radar to obtain a second three-dimensional profile;
the registration module is used for registering the first three-dimensional contour and the second three-dimensional contour to obtain a top surface and a bottom surface corresponding to a loading and unloading object of the vehicle, and a loading and unloading space is formed according to the top surface and the bottom surface;
and the volume determining module is used for determining the space volume of the loading and unloading space according to the top surface and the bottom surface.
9. A volumetric measurement system, comprising:
the laser radar is used for scanning the vehicles in the detection area;
electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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Application publication date: 20200626 |