CN111442814B - Device for non-contact measurement of drainage volume of special-shaped object - Google Patents
Device for non-contact measurement of drainage volume of special-shaped object Download PDFInfo
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- CN111442814B CN111442814B CN202010403454.9A CN202010403454A CN111442814B CN 111442814 B CN111442814 B CN 111442814B CN 202010403454 A CN202010403454 A CN 202010403454A CN 111442814 B CN111442814 B CN 111442814B
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- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
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Abstract
The invention relates to the technical field of visual identification, in particular to a device for measuring the drainage volume of a special-shaped object in a non-contact way, which comprises the following steps: step 10, three-dimensional reconstruction: acquiring original data by using 3D data acquisition equipment based on an optical sensor, and finishing three-dimensional reconstruction of a sample by using a three-dimensional reconstruction algorithm to obtain a primary 3D model of the sample; step 20, attitude calculation: detecting the characteristics of the preliminary 3D model of the sample, completing the posture calculation of the preliminary 3D model of the sample, and obtaining the corrected 3D model of the sample by recovering the physical real posture of the sample; step 30, model completion: completing the 3D model of the sample after the sample is placed, so as to obtain a 3D model with the sample placed and without a hole; step 40, volume calculation: and calculating to obtain the real volume of the object to be measured by an integral volume algorithm. The device for measuring the drainage volume of the special-shaped object in a non-contact manner has the advantages of high volume measurement precision and reduced equipment cost.
Description
Technical Field
The invention relates to the technical field of visual identification, in particular to a device for measuring the drainage volume of a special-shaped object in a non-contact manner.
Background
Application scenario 1: true volume measurement of warehouse stockpiles
Explanation: it is often necessary for the manager of a warehouse to check the true volume (i.e., the volume of displaced water) of a current warehouse for a stack of items, such as: there is a need to quickly and accurately know the true mass and true volume of a coal pile currently in a bunker and from that determine how many transport wagons are needed. The measurement of true volume is typically visual, very inaccurate and dependent on the experience of a skilled worker. The invention can effectively solve the problem and quickly and accurately measure the size of the real volume (the volume of the drained water).
Application scenario 2: freight car loading rate real-time calculation
Explanation: in order to more efficiently transfer trucks, a freight company needs to be able to accurately know the current loading rate of each truck (the loading rate is (1-unused volume of truck bed)/total volume of truck bed) in real time, and the conventional method also depends on visual reporting of a truck driver, which is very inaccurate and highly depends on experience and responsibility of the truck driver. The invention can effectively solve the problem, quickly and accurately measure the unused real volume of the truck, further solve the loading rate and avoid the interference of human factors.
The existing scheme 1: visual interpretation: the true volume of the sample (i.e., the volume of water displaced) was visually observed by the naked eye; existing scheme 2: measuring the real volume (namely the volume of water to be drained) of the sample by a tape measure, a caliper and the like; existing scheme 3: drainage method/exhaust method: accurately determining the true volume of the sample (i.e., the volume of water displaced) by determining the reduction in the liquid (or gas) capacity of the sample testing chamber caused by the sample being placed in the sample testing chamber; existing scheme 4: density method: determining the true volume (i.e., the volume of water displaced) of the sample by measuring the mass of the sample, provided that the average density of the sample is obtained; existing scheme 5: the outer box method: a three-dimensional model of a sample is obtained through a depth camera and other tools, a minimum bounding box is obtained through a convex hull algorithm, and the real volume (namely the water displacement volume) of the sample is estimated through calculating the volume of the box.
In the existing schemes 1-4, the defect is that the error of the volume measurement result is large; the equipment of the prior scheme 5 is high in cost.
Disclosure of Invention
In order to solve the problems, the device for measuring the drainage volume of the special-shaped object in a non-contact mode has the advantages of being high in volume measurement accuracy and reducing equipment cost.
In order to achieve the purpose, the invention adopts the technical scheme that:
a device for measuring the displacement volume of a special-shaped object in a non-contact way is used, and the using method comprises the following steps:
Preferably, the light sensor based 3D data acquisition device comprises an RGBD camera, a lidar or a light curtain.
Preferably, the three-dimensional reconstruction algorithm includes a kininuous algorithm, an elastic fusion algorithm, an InfiniTAM algorithm, a BundleFusion algorithm, or a Loam algorithm.
Preferably, in step 30, comprises
Step 31: re-projecting the 3D model of the sample after being aligned to the bottom surface;
step 32: constructing a dynamic defect point queue of the sample 3D model after the sample is placed;
step 33: and (5) completing the dynamic defect points of the 3D model of the sample after the sample is placed one by one.
Preferably, in step 40, comprises
Step 41: removing redundant data in the 3D model with the sample being straightened and without a hole;
step 42: searching a reference plane of the 3D model with the sample being straightened and without a hole;
step 43: and solving the integral volume in a sampling accumulation summation mode to obtain the real volume of the calculated sample.
The beneficial effects of the invention are as follows:
the device can be used for fully automatically measuring the volume of a sample, does not depend on manual work, is high in measurement accuracy and has no requirement on the material and shape of the sample to be measured.
Drawings
Fig. 1 is a flow chart of the use of the device for measuring the water displacement volume of the special-shaped object in a non-contact mode.
Detailed Description
In order to make the purpose, technical solution and advantages of the present technical solution more clear, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.
A device for measuring the displacement volume of a special-shaped object in a non-contact way is used, and the using method comprises the following steps:
Preferably, the light sensor based 3D data acquisition device comprises an RGBD camera, a lidar or a light curtain.
Preferably, the three-dimensional reconstruction algorithm includes a kininuous algorithm, an elastic fusion algorithm, an InfiniTAM algorithm, a BundleFusion algorithm, or a Loam algorithm.
Preferably, in step 30, comprises
Step 31: re-projecting the 3D model of the sample after being aligned to the bottom surface;
step 32: constructing a dynamic defect point queue of the sample 3D model after the sample is placed;
step 33: and (5) completing the dynamic defect points of the 3D model of the sample after the sample is placed one by one.
Preferably, in step 40, comprises
Step 41: removing redundant data in the 3D model with the sample being straightened and without a hole;
step 42: searching a reference plane of the 3D model with the sample being straightened and without a hole;
step 43: and solving the integral volume in a sampling accumulation summation mode to obtain the real volume of the calculated sample.
Example 1
The method comprises the steps of collecting raw data by using a light sensor-based 3D data collection device including but not limited to an RGBD camera, a laser radar, a light curtain and the like, and completing three-dimensional reconstruction of a sample by using a three-dimensional reconstruction algorithm including but not limited to Kintinuous, elastic fusion, InfiniTAM, Bundlefusion, Loam and the like to obtain a preliminary 3D model of the sample.
Due to the inherent shortcomings of the "light sensor-based 3D data acquisition device", the preliminary 3D model is often deficient in data integrity, which is embodied by the fact that there are often holes in the multiple surfaces of the sample where data cannot be known, or even the absence of all data from the entire surface.
In addition, the spatial pose of the preliminary 3D model is arbitrary and needs to be restored from an arbitrary pose to a physically true pose, i.e. true.
The attitude refers to the 3D rotation state of the object to be measured, and is generally represented by the following 3 × 3 rotation matrix.
By means of attitude calculation based on feature detection technologies such as key point detection, key edge detection, key plane detection and the like, the physical real attitude of the sample can be restored, namely, the sample is straightened, and subsequent operations can be conveniently and smoothly carried out after the sample is straightened. And obtaining a 3D model of the sample after the sample is straightened through attitude calculation.
Due to the inherent shortcomings of the "light sensor-based 3D data acquisition device", the preliminary 3D model is often deficient in data integrity, which is embodied by the fact that there are often holes in the multiple surfaces of the sample where data cannot be known, or even the absence of all data from the entire surface.
In order to accurately and accurately calculate the real drainage volume of the object to be measured, the holes must be filled.
The specific implementation flow is as follows: the first step is as follows: reproject to the bottom surface. The second step is that: and constructing a dynamic defect point queue. The third step: and completing the defect points one by one. A3D model with a sample being straightened and without a hole can be obtained through a model completion operation.
Calculating to obtain the real volume (namely the water displacement volume) of the object to be measured by an integral volume algorithm:
the specific implementation flow is as follows: the first step is as follows: and removing redundant data. The second step is that: a reference plane is found. The third step: and solving an integral volume in a sampling accumulation summation mode.
The foregoing is only a preferred embodiment of the present invention, and many variations in the specific embodiments and applications of the invention may be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the claims of this patent.
Claims (1)
1. A device for measuring the displacement volume of a special-shaped object in a non-contact way is characterized in that the using method comprises the following steps:
step 10, three-dimensional reconstruction: acquiring original data by using 3D data acquisition equipment based on an optical sensor, and finishing three-dimensional reconstruction of a sample by using a three-dimensional reconstruction algorithm to obtain a primary 3D model of the sample;
step 20, attitude calculation: detecting the characteristics of the preliminary 3D model of the sample, completing the posture calculation of the preliminary 3D model of the sample, and obtaining the corrected 3D model of the sample by recovering the physical real posture of the sample;
step 30, model completion: completing the 3D model of the sample after the sample is placed, so as to obtain a 3D model with the sample placed and without a hole;
step 40, volume calculation: calculating to obtain the real volume of the object to be measured by an integral volume algorithm;
the 3D data acquisition equipment based on the optical sensor comprises an RGBD camera, a laser radar or a light curtain;
the three-dimensional reconstruction algorithm comprises a Kintinuous algorithm, an elastic fusion algorithm, an InfiniTAM algorithm, a Bundlefusion algorithm or a Loam algorithm;
in step 30, include
Step 31: re-projecting the 3D model of the sample after being aligned to the bottom surface;
step 32: constructing a dynamic defect point queue of the sample 3D model after the sample is placed;
step 33: completing the dynamic defect points of the 3D model of the sample after the sample is placed one by one;
in step 40, include
Step 41: removing redundant data in the 3D model with the sample being straightened and without a hole;
step 42: searching a reference plane of the 3D model with the sample being straightened and without a hole;
step 43: and solving the integral volume in a sampling accumulation summation mode to obtain the real volume of the calculated sample.
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