CN111561872A - Method, device and system for measuring package volume based on speckle coding structured light - Google Patents
Method, device and system for measuring package volume based on speckle coding structured light Download PDFInfo
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Abstract
The invention relates to the technical field of machine vision, and particularly discloses a package volume measuring method based on speckle coding structured light, wherein a speckle module can emit a speckle strip, the speckle strip comprises a plurality of scattered spots, each scattered spot is provided with a code representing a relative position, and the measuring method comprises the following steps: acquiring a speckle image to be detected, which is acquired by an industrial camera; determining a speckle code corresponding to a speckle image to be detected; comparing the speckle code corresponding to the speckle image to be detected with the speckle code corresponding to the preset reference speckle image to obtain the height of each speckle point in the speckle image to be detected relative to the preset reference surface; and obtaining the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and by combining motion fitting. The invention also discloses a device and a system for measuring the wrapping volume based on the speckle coding structured light. The method for measuring the parcel volume based on the speckle coding structured light effectively solves the problem of parcel occlusion.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a speckle-coded structured light-based parcel volume measurement method, a speckle-coded structured light-based parcel volume measurement device and a speckle-coded structured light-based parcel volume measurement system.
Background
In recent years, the development of the E-commerce industry is rapid, the development of the logistics express delivery industry is driven, particularly in China, along with the development of electronic commerce, the E-commerce logistics express delivery industry is continuously developed at a high growth rate, the express delivery quantity is stably kept in the world first, related industries are continuously innovated, the service capacity is continuously improved, and the logistics express delivery industry becomes a new power for promoting the development of national economy. When transporting and sorting packages, an express company needs to acquire length, width, height information and package volume of the packages so as to calculate express delivery transportation cost, optimize transportation space and account transportation cost.
The three-dimensional measurement technology based on the structured light is particularly suitable for volume measurement of packages in an automatic sorting line, the structured light measurement mainly comprises a laser serving as an active light source and an industrial camera, light information of a specific structure emitted by the laser is projected to the surface of a measured object, the structured light is projected to the surface of the object to be measured to deform, and the image information is collected by the camera and is analyzed and calculated to obtain specific information of the measured object. The basic principle of the 3D industrial camera based on the structured light is a laser triangulation method, and the triangulation method has the advantages of simple structure, no need of complex image processing, high measurement efficiency and the like. The laser triangulation method uses a laser as an active light source, the laser irradiates the surface of an object to be measured, images are formed on an imaging surface of an industrial camera through reflection, the imaging position and the height of the object have a unique corresponding geometric relationship, when the height of the surface of the object to be measured changes or the object moves, the imaging position of the laser on the camera moves, the depth information of the surface of the object can be calculated according to the displacement information of the laser imaging, the data is fitted by combining the movement of a conveyor belt, the length, width, height and volume information of the object to be measured can be obtained, and the principle of triangulation is shown in figure 1.
In fig. 1, AE is an incident laser line, point a is an object surface point, after reflection from the object surface, the image points of point E, A on the imaging surface of the camera are C, B, O is an imaging focal point, the included angle between the incident light AE and the reflected light EC is θ, the included angle between the reflected light EC and the imaging surface of the industrial camera is α, it can be seen from fig. 1 that the positions of the height a of the object surface are different, the positions of the formed image points B are also different, point E is a reference point, the corresponding image point C is a reference point on the imaging surface, and there is a relation of similar triangles between the positions
The material is pushed out of the die,
since AE in the formula is the height of the object surface, the height of the corresponding object surface point is determined from the displacement of the imaging point.
Traditional parcel volume measurement is mainly measured with the contact, and contact measurement is inefficient, and the cost of labor is high, and along with automatic sorting equipment's popularization, non-contact measurement replaces contact measurement gradually, installs non-contact 3D industrial camera on the conveyer belt and has improved parcel volume measurement's precision and efficiency greatly, has practiced thrift the cost to non-contact measurement's range of application is more nimble.
A typical non-contact measurement example is a line laser 3D industrial camera using a combination of a line structured light and an industrial camera, the structure of the line structured light 3D industrial camera is shown in FIG. 2, a line laser is vertically projected on a conveyor belt, the camera shoots a laser line in an oblique front along the running direction of the conveyor belt, when a package passes through the conveyor belt, the laser line is segmented due to the difference of the height of the part of the laser line projected on the conveyor belt and the height of the package, the package height is calculated by using a triangulation method through the laser on the conveyor belt and the laser on the package in a picture shot by the camera, then the coordinate of the laser line on the package in a standard coordinate system is calculated according to the transformation relation of a camera coordinate system, a laser plane and the standard coordinate system, and the package length, width and height information is calculated by combining.
The measurement principle of the line structured light 3D industrial camera in the prior art determines the relative position of the laser and the camera, and this solution has the following disadvantages:
(1) because the relative positions of the camera and the laser are along the running direction of the conveyor belt, the shielding problem occurs when the package distance on the conveyor belt is short, as shown in fig. 3;
(2) the core principle of the line structured light 3D industrial camera is to measure the height difference of the laser lines on the conveyor belt and the package, and solve the package height by the trigonometry, as shown in fig. 4, the larger the package size is, the larger the height difference of the laser lines in the pictures is, i.e. the larger the size of the pictures to be transmitted and processed is, the longer the time required by the image processing algorithm is, and in the automatic sorting system, especially the conveyor belt running at high speed, there is a higher requirement for the frame rate of the camera, if the frame rate of 500Hz is required to be reached, the time required for the algorithm to process one picture is within 2 milliseconds, so the line structured light 3D camera is difficult to be used for the automatic sorting line running at high speed.
Disclosure of Invention
The invention provides a speckle-coded structured light-based parcel volume measurement method, a speckle-coded structured light-based parcel volume measurement device and a speckle-coded structured light-based parcel volume measurement system, which solve the problem that parcel volume is blocked during measurement in the related art.
As a first aspect of the present invention, there is provided a package volume measuring method based on speckle coded structured light, wherein the method is applied to a measuring system based on speckle coded structured light, the measuring system based on speckle coded structured light includes a speckle module and an industrial camera, the speckle module can emit a speckle band, the speckle band includes a plurality of scattered spots, each of the scattered spots has a code representing a relative position, the industrial camera can collect a speckle image to be measured formed on a package to be measured by the speckle band when the package to be measured passes through a conveying device, the package volume measuring method based on speckle coded structured light includes:
acquiring the speckle image to be detected, which is acquired by the industrial camera;
determining a speckle code corresponding to the speckle image to be detected;
comparing the speckle code corresponding to the speckle image to be detected with the speckle code corresponding to a preset reference speckle image to obtain the height of each speckle point in the speckle image to be detected relative to a preset reference surface;
and obtaining the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and by combining motion fitting.
Further, the determining the speckle code corresponding to the speckle image to be detected includes:
extracting the circle center coordinate of each scattered spot in the speckle image to be detected;
determining the speckle code of each scattered spot in the speckle image to be detected according to the circle center coordinate of each scattered spot in the speckle image to be detected;
and obtaining the speckle code corresponding to the speckle image to be detected according to the speckle code of each scattered spot in the speckle image to be detected.
Further, the comparing the speckle code corresponding to the speckle image to be detected with the speckle code corresponding to the preset reference speckle image to obtain the height of each speckle point in the speckle image to be detected relative to the preset reference surface includes:
comparing the speckle codes corresponding to the speckle images to be detected with a fixed code table, and determining the position of each speckle code corresponding to the speckle images to be detected in the fixed code table;
matching the speckle points in the speckle image to be detected with the speckle points in the preset reference speckle image according to the position of each scattered spot in the preset reference speckle image in the fixed coding table;
and calculating the height of each speckle point in the speckle image to be detected relative to the preset reference surface.
Further, the obtaining of the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to the preset reference surface and by combining motion fitting includes:
filtering speckle points in the speckle image to be detected according to the height of each speckle point in the speckle image to be detected relative to a preset reference surface, and reserving scattered spots on the package to be detected in the speckle image to be detected;
and fitting the height of the scattered spots on the package to be detected in the speckle image to be detected relative to a preset reference surface in combination with movement to obtain the volume of the package to be detected.
Further, the fitting of the height of the scattered spot on the package to be detected in the speckle image to be detected relative to a preset reference surface in combination with the motion to obtain the volume of the package to be detected comprises:
determining a transformation relation between a camera coordinate system and a standard coordinate system;
calculating the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system according to the transformation relation between the camera coordinate system and the standard coordinate system;
and calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
Further, the obtaining of the volume of the to-be-measured package by combining the height of the scattered spot on the to-be-measured package in the to-be-measured speckle image with the height of a preset reference surface and motion fitting further comprises, before the step of calculating the volume of the to-be-measured package according to the three-dimensional coordinate of the scattered spot on the to-be-measured package in the to-be-measured speckle image under the standard coordinate system:
judging whether the package to be detected completely passes through a speckle area, wherein the speckle area is formed after a speckle belt is emitted by the speckle module;
if the package to be detected does not completely pass through the speckle area, returning to the step of acquiring the speckle image to be detected, which is acquired by the industrial camera;
and if the to-be-detected package completely passes through the speckle area, executing the step of calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
Further, the method for measuring the parcel volume based on the speckle coding structured light further comprises the following steps of, before the step of determining the speckle coding corresponding to the speckle image to be measured:
and carrying out image preprocessing on the speckle image to be detected.
As another aspect of the present invention, there is provided a speckle-coded structured light-based parcel volume measurement apparatus, comprising a memory and a processor, wherein the memory is in communication with the processor, and the memory stores computer instructions, and the processor executes the computer instructions to execute the speckle-coded structured light-based parcel volume measurement method described above.
As another aspect of the present invention, there is provided a speckle-encoded structured light-based measurement system, comprising: the device comprises a speckle module, an industrial camera, a conveying device and the package volume measuring device based on the speckle coding structured light, wherein the conveying device is used for conveying packages to be measured, the speckle module and the industrial camera are arranged perpendicular to the running direction of the conveying device, and the industrial camera is in communication connection with the package volume measuring device based on the speckle coding structured light;
the speckle module can emit a speckle belt to a package to be detected on the conveying device, and a speckle image to be detected is formed on the package to be detected, wherein the speckle belt comprises a plurality of scattered spots, and each scattered spot is provided with a code representing a relative position;
the industrial camera is used for collecting the speckle image to be detected;
the package volume measuring device based on the speckle coding structured light is used for acquiring the speckle codes according to the speckle images to be measured and processing and calculating to obtain the volume of the packages to be measured.
Further, the speckle module includes laser emitter and laser diffraction optical element, laser diffraction optical element sets up laser emitter's transmission mouth position, the structured light that laser emitter sent forms the speckle area behind the laser diffraction optical element.
The invention provides a package volume measuring method based on speckle coding structured light, which is characterized in that a speckle belt is sent out through a speckle module, a speckle image formed by the speckle belt on a package to be measured is collected through an industrial camera, and speckle codes of the speckle image to be measured can be obtained because speckle points in the speckle belt are correspondingly provided with codes representing relative positions, so that the volume of the package to be measured can be obtained after processing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic diagram of the principle of laser triangulation in the prior art.
Fig. 2 is a schematic diagram of a structured light 3D industrial camera system in the prior art.
Fig. 3 is a schematic occlusion diagram of a line structured light 3D camera in the prior art.
Fig. 4 is a measurement picture of a line structured light camera in the prior art.
Fig. 5 is a schematic structural diagram of a measurement system based on speckle-encoded structured light provided by the invention.
Fig. 6 is a flowchart of a measuring method based on speckle-encoded structured light according to the present invention.
FIG. 7 is a schematic diagram of a speckle encoding section provided by the present invention.
Fig. 8 is a specific working flow chart of the speckle-encoded structured light-based measurement system provided by the invention.
FIG. 9 is a schematic diagram of calibrating all checkerboards provided by the present invention.
Fig. 10 is a flowchart of an embodiment of a speckle-encoded structured light-based measurement method according to the present invention.
Fig. 11 is a schematic diagram of a speckle pattern to be measured obtained by the speckle-coding-structured-light-based measurement method provided by the invention.
Fig. 12 is a schematic structural diagram of a speckle-encoded structured light-based measurement system according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, a method for measuring a parcel volume based on a speckle-coded structured light is provided, which is applied to a measuring system based on a speckle-coded structured light, as shown in fig. 5, the measuring system based on a speckle-coded structured light includes a speckle module 100 and an industrial camera 200, the speckle module 100 can emit a speckle belt, the speckle belt includes a plurality of scattered spots, each scattered spot has a code representing a relative position, the industrial camera 200 can collect an image of a speckle to be measured formed on a parcel to be measured by the speckle belt when the parcel to be measured passes through a conveying device 300, fig. 6 is a flowchart of a method for measuring a parcel volume based on a speckle-coded structured light according to an embodiment of the present invention, and the method for measuring a parcel volume based on a speckle-coded structured light includes:
s110, acquiring the speckle image to be detected, which is acquired by the industrial camera;
s120, determining a speckle code corresponding to the speckle image to be detected;
s130, comparing the speckle code corresponding to the speckle image to be detected with the speckle code corresponding to a preset reference speckle image to obtain the height of each speckle point in the speckle image to be detected relative to a preset reference surface;
and S140, obtaining the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and by combining motion fitting.
According to the wrapping volume measuring method based on the speckle coding structured light, which is provided by the embodiment of the invention, the speckle belt is sent out through the speckle module, the speckle images formed by the speckle belt on the to-be-measured wrapping are collected through the industrial camera, and the speckle codes of the to-be-measured speckle images can be obtained because the speckle points in the speckle belt are correspondingly provided with the codes representing the relative positions, so that the volume of the to-be-measured wrapping can be obtained after processing.
In the embodiment of the present invention, the structured light emitted by the speckle module 100 is a long strip-shaped speckle encoding structured light, the speckle module may specifically include a collimated laser emitter and a laser diffraction optical element, the speckles emitted by the speckle module are distributed in a strip shape, the speckle strips are distributed along a direction perpendicular to the running direction of the conveyor belt (i.e., the direction indicated by the arrow in fig. 5), and the relative positions of the collimated laser emitter and the industrial camera are perpendicular to the running direction of the conveyor belt, as shown in fig. 5. The laser is applied to the surface of the package to be measured to form speckles with a specific coding structure, the speckle coding segments are shown in fig. 7, and the relative positions of the scattered spots in the speckle bands represent corresponding codes, such as the code 22124314323142414344121 of the speckle segments in fig. 7. Note that, in the entire coding structure, at least five consecutive coding points are used as matching units, and repeated coding does not occur.
Specifically, the determining the speckle code corresponding to the speckle image to be detected includes:
extracting the circle center coordinate of each scattered spot in the speckle image to be detected;
determining the speckle code of each scattered spot in the speckle image to be detected according to the circle center coordinate of each scattered spot in the speckle image to be detected;
and obtaining the speckle code corresponding to the speckle image to be detected according to the speckle code of each scattered spot in the speckle image to be detected.
Specifically, the comparing the speckle code corresponding to the speckle image to be measured with the speckle code corresponding to the preset reference speckle image to obtain the height of each speckle point in the speckle image to be measured relative to the preset reference plane includes:
comparing the speckle codes corresponding to the speckle images to be detected with a fixed code table, and determining the position of each speckle code corresponding to the speckle images to be detected in the fixed code table;
matching the speckle points in the speckle image to be detected with the speckle points in the preset reference speckle image according to the position of each scattered spot in the preset reference speckle image in the fixed coding table;
and calculating the height of each speckle point in the speckle image to be detected relative to the preset reference surface.
The method for obtaining the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and by combining motion fitting comprises the following steps:
filtering speckle points in the speckle image to be detected according to the height of each speckle point in the speckle image to be detected relative to a preset reference surface, and reserving scattered spots on the package to be detected in the speckle image to be detected;
and fitting the height of the scattered spots on the package to be detected in the speckle image to be detected relative to a preset reference surface in combination with movement to obtain the volume of the package to be detected.
It should be noted that the fixed coding table is composed of codes of each speckle in a preset speckle band, all the speckles are distributed on four rows, the code of each speckle represents the row number where the speckle is located, and five continuous speckles are used as the minimum matching unit to be matched with the coding table, so that the position of the speckle to be matched in the coding table can be uniquely determined.
It can be understood that the package volume measuring method based on the speckle coding structured light provided by the embodiment of the invention has the principle that a strip-shaped speckle strip emitted by a speckle module is shot on the surface of a conveyor belt, an industrial camera shoots a speckle pattern which is used as a reference speckle pattern, when a package to be measured passes through the conveyor belt, a part of speckles are shot on the package to be measured, the speckle picture is shot by the industrial camera, the speckle codes and the centers of the speckles are extracted through an image algorithm, the transverse offset pixel numbers of corresponding points in each speckle pattern and the reference speckle pattern are calculated through comparison between the code matching algorithm and the reference speckle pattern, the height of the speckles is further calculated, the three-dimensional coordinates of the speckles under a standard coordinate system are solved according to the height of the speckles and the transformation between the standard coordinate system and a camera coordinate system, the running speed of the conveyor belt is combined, and obtaining the volume of the measured object.
Specifically, the combination of the heights of the scattered spots on the to-be-detected package in the to-be-detected speckle image relative to the preset reference surface with motion fitting to obtain the volume of the to-be-detected package includes:
determining a transformation relation between a camera coordinate system and a standard coordinate system;
calculating the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system according to the transformation relation between the camera coordinate system and the standard coordinate system;
and calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
Specifically, the obtaining of the volume of the package to be measured by combining the heights of the scattered spots on the package to be measured in the speckle image to be measured with respect to a preset reference surface with motion fitting further includes performing, before the step of calculating the volume of the package to be measured according to the three-dimensional coordinates of the scattered spots on the package to be measured in the speckle image to be measured in the standard coordinate system:
judging whether the package to be detected completely passes through a speckle area, wherein the speckle area is formed after a speckle belt is emitted by the speckle module;
if the package to be detected does not completely pass through the speckle area, returning to the step of acquiring the speckle image to be detected, which is acquired by the industrial camera;
and if the to-be-detected package completely passes through the speckle area, executing the step of calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
The method for measuring the parcel volume based on the speckle coding structured light further comprises the following steps of:
and carrying out image preprocessing on the speckle image to be detected.
It can be understood that before measurement and calculation are performed on a package to be measured, an industrial camera needs to be calibrated, wherein as shown in fig. 8, calibration of camera internal reference is performed only once when the camera leaves a factory, calibration is performed after the camera is installed on a specific measurement site in the steps of standard coordinate system calibration, standard height calibration and pre-calculation, and calibration is performed only once when the installation position, the position of a conveyor belt and the like are not changed in later use.
(1) Camera internal reference calibration
Camera calibration is important in machine vision, and the first step in measurement using the speckle-coded structured light-based parcel volume measurement method of embodiments of the present invention requires calibration of internal parameters of an industrial camera, using a 9 x 7 checkerboard as a reference, each having a 40mm square size, as shown in fig. 9.
According to the imaging principle of a camera, the transformation relation between an image coordinate system and a world coordinate system is as follows:
where (u, v) is the pixel coordinate of the image, ZcCoordinates representing the camera coordinate system, (X)w,Yw,Zw) Representing world coordinates, extracting angular points of a checkerboard calibration plate by an image algorithm in the calibration process to obtain pixel coordinates of the checkerboard angular points, taking a plane of the calibration plate as a world coordinate system, calculating the world coordinates of each angular point according to the size of the checkerboard, establishing a constraint equation according to a series of image pixel coordinate pairs and world coordinates with known corresponding relations, determining a transformation matrix by solving the equation, wherein the transformation matrix is represented in the formula
(2) Standard coordinate system calibration
When the standard coordinate system is used for measurement, the tool used in the world coordinate system where the measured object is located is still a checkerboard used for internal reference calibration, and the checkerboard plane is the xoy plane of the world coordinate system. When calculating the size of the parcel, the sitting position of the spot on the parcel under the world coordinate system is calculatedMarking and fitting, determining the y coordinate of the spot in each frame of image according to the motion of the conveyor belt, marking the standard coordinate system, wherein the x axis of the standard coordinate system is required to be vertical to the running direction of the conveyor belt, extracting the angular points of the checkerboard through an image algorithm, and solving the transformation relation between the camera and the standard coordinate system according to the pixel coordinates and world coordinates of the angular points, namely the external reference matrix
(3) Reference speckle pattern
The core idea of the measurement is to shoot a speckle pattern of a measured object during measurement, extract a spot code and a spot center position irradiated on the object, search spots corresponding to each point in a reference speckle pattern through code matching, and calculate corresponding depth according to the transverse offset of the measured spot compared with the reference spot, so that the position and the code of each spot in the reference speckle pattern need to be recorded in advance. In order to ensure the integrity of the reference speckle pattern, a high-reflectivity object such as white paper is laid on the surface of the conveyor belt irradiated by the laser, a clear and complete speckle pattern is shot to serve as the reference speckle pattern, each reference speckle code is extracted through an image processing algorithm, and the center coordinates of each reference speckle are calculated.
(4) Standard altitude calibration
The method comprises the steps of shooting a standard height speckle pattern by using a standard part with known height, extracting the circle center position of a spot irradiated on the standard part by using an image processing algorithm, calculating the height of the standard part by using the formula in combination with the circle center position of the spot in a reference speckle pattern, taking the ratio of the actual height to the measured height as a height coefficient, multiplying the measured height calculated by using a ranging formula during measurement by the height coefficient to obtain the actual height, and if the calibration is correct, approximating the standard height coefficient to 1.
(5) Measuring
After completing camera internal reference calibration, standard coordinate system calibration, reference speckle pattern calculation and standard height calibration, the length, width and height information of the measured object can be measured by using the camera, the measurement process is shown in fig. 10, and the embodiment of the invention relates to measuring the transverse offset of the speckles on the measured object, so that only the middle part of an imaging surface needs to be collected during measurement photographing, as shown in fig. 11. In order to avoid unnecessary photographing when no package passes through the conveyor belt, a photoelectric switch is arranged at a certain distance from the camera in the moving direction of the conveyor belt, whether the package passes through is judged through the photoelectric switch, and the timing for starting photographing and finishing photographing is determined.
The detailed working process of the speckle-coded structured light-based parcel volume measurement method provided by the embodiment of the invention is described in detail below with reference to fig. 10.
a) When a package passes, triggering a photoelectric switch, continuously shooting at a fixed frame rate by an industrial camera, and collecting a speckle pattern to be detected;
b) preprocessing a speckle pattern;
c) extracting the center coordinates of each scattered spot in the image, and determining the code of each scattered spot according to the center ordinate;
d) comparing the speckle codes extracted in the last step with a fixed coding table, determining the position of each code in the fixed coding table, and matching the speckle in the speckle pattern to be detected with the speckle points in the reference speckle pattern by combining the position of each speckle in the reference speckle pattern in the fixed coding table;
e) according to the triangular distance measurement principle, the height of each spot in the speckle pattern to be measured relative to a reference surface, namely the surface of the conveyor belt, is calculated;
f) some spots in the speckle pattern to be detected are spots which are shot on the conveyor belt by laser, the spots shot on the conveyor belt can be filtered according to the height of the calculated spots relative to the reference surface in the previous step, and only the spots shot on the object to be detected are reserved;
g) the method comprises the following steps that a standard coordinate system calibration step determines a transformation relation between a camera coordinate system and the standard coordinate system, a xoy plane of the standard coordinate system is superposed with a plane of a conveyor belt, the height of a spot obtained in the step e relative to the conveyor belt is a z coordinate value of the spot under the standard coordinate system, and the three-dimensional coordinate of the spot under the standard coordinate system can be obtained by combining the transformation relation between the camera coordinate system and the standard coordinate system;
h) and if the measured object does not completely pass through the speckle area, continuously acquiring the speckle pattern and repeating the measuring steps, and if the measured object completely passes through the speckle area, solving the volume of the measured object according to the three-dimensional coordinates of all the spots printed on the measured object.
Compared with a linear laser 3D industrial camera in the prior art, the speckle camera has the advantages that the relative position of the laser and the camera is perpendicular to the running direction of the conveyor belt, so that the shielding problem does not exist when the distance between measured objects is small. In addition, compared with the line laser camera which reflects the height difference between the measured object and the conveying belt as the deviation of the laser line in the image in the vertical direction, the speckle camera in the embodiment of the invention reflects the height difference between the measured object and the conveying belt in the transverse deviation of the spot in the image, so that only a narrow area needs to be acquired in the image acquisition process, the image acquisition frame rate is favorably improved, the image algorithm processing time is shortened, and the high-frequency measurement is realized. To sum up, when the method for measuring the volume of the package based on the speckle coding structured light is used for volume measurement, the measurement frequency can reach 500Hz, the range of the volume of the detected object is 1000mm by 2000mm (width by height by length), the measurement precision is +/-5 mm, and the method can output the volume and the original point cloud picture, and can be applied to industries such as railway, storage and the like besides the industry of express sorting.
As another embodiment of the present invention, a speckle-coded structured light-based parcel volume measurement apparatus is provided, wherein the apparatus includes a memory and a processor, the memory is in communication with the processor, the memory stores computer instructions, and the processor executes the computer instructions to execute the speckle-coded structured light-based parcel volume measurement method described above.
In the embodiment of the invention, the package volume measuring device based on the speckle coding structured light can be an upper computer.
As another embodiment of the present invention, there is provided a speckle-encoded structured light-based measurement system, including: the device comprises a speckle module, an industrial camera, a conveying device and the package volume measuring device based on the speckle coding structured light, wherein the conveying device is used for conveying packages to be measured, the speckle module and the industrial camera are arranged perpendicular to the running direction of the conveying device, and the industrial camera is in communication connection with the package volume measuring device based on the speckle coding structured light;
the speckle module can emit a speckle belt to a package to be detected on the conveying device, and a speckle image to be detected is formed on the package to be detected, wherein the speckle belt comprises a plurality of scattered spots, and each scattered spot is provided with a code representing a relative position;
the industrial camera is used for collecting the speckle image to be detected;
the package volume measuring device based on the speckle coding structured light is used for acquiring the speckle codes according to the speckle images to be measured and processing and calculating to obtain the volume of the packages to be measured.
The measuring system based on the speckle coding structured light provided by the embodiment of the invention adopts the measuring device based on the speckle coding structured light, sends out the speckle strips through the speckle module, and collects the speckle images formed by the speckle strips on the packages to be measured through the industrial camera, and because the speckle points in the speckle strips are correspondingly provided with codes representing relative positions, the speckle codes of the speckle images to be measured can be obtained, so that the volumes of the packages to be measured can be obtained after processing.
Specifically, the speckle module includes laser emitter and laser diffraction optical element, laser diffraction optical element sets up laser emitter's transmission mouth position, the structured light that laser emitter sent passes through form the scattered spot area behind the laser diffraction optical element.
It should be understood that, in the embodiment of the present invention, the laser diffractive optical element may specifically form the structured light emitted by the laser emitter into a speckle pattern having a long stripe-shaped distribution, and may specifically be obtained by performing photolithography as needed, which is well known to those skilled in the art and will not be described herein again.
In the embodiment of the present invention, as shown in fig. 12, the measuring system based on the speckle-coded structured light further includes a reflective mirror, an optical filter, and the like, and the reflective mirror and the optical filter can specifically select a set position and a set direction according to requirements, which are well known to those skilled in the art and are not limited herein.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a parcel volume measurement method based on speckle coding structured light which characterized in that is applied to measurement system based on speckle coding structured light, measurement system based on speckle coding structured light includes speckle module and industrial camera, speckle module can launch the scattered spot area, scattered spot area includes a plurality of scattered spots, and every scattered spot has the code that represents relative position, industrial camera can gather when the parcel that awaits measuring passes through on conveyer the speckle image that awaits measuring that scattered spot area formed on the parcel that awaits measuring, parcel volume measurement method based on speckle coding structured light includes:
acquiring the speckle image to be detected, which is acquired by the industrial camera;
determining a speckle code corresponding to the speckle image to be detected;
comparing the speckle code corresponding to the speckle image to be detected with the speckle code corresponding to a preset reference speckle image to obtain the height of each speckle point in the speckle image to be detected relative to a preset reference surface;
and obtaining the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and by combining motion fitting.
2. The method according to claim 1, wherein the determining the speckle code corresponding to the speckle image to be detected comprises:
extracting the circle center coordinate of each scattered spot in the speckle image to be detected;
determining the speckle code of each scattered spot in the speckle image to be detected according to the circle center coordinate of each scattered spot in the speckle image to be detected;
and obtaining the speckle code corresponding to the speckle image to be detected according to the speckle code of each scattered spot in the speckle image to be detected.
3. The method for measuring the parcel volume based on speckle coded structured light according to claim 2, wherein the comparing the speckle code corresponding to the speckle image to be measured with the speckle code corresponding to a preset reference speckle image to obtain the height of each speckle point in the speckle image to be measured relative to a preset reference plane comprises:
comparing the speckle codes corresponding to the speckle images to be detected with a fixed code table, and determining the position of each speckle code corresponding to the speckle images to be detected in the fixed code table;
matching the speckle points in the speckle image to be detected with the speckle points in the preset reference speckle image according to the position of each scattered spot in the preset reference speckle image in the fixed coding table;
and calculating the height of each speckle point in the speckle image to be detected relative to the preset reference surface.
4. The method for measuring the volume of the package based on the speckle coding structured light according to any one of claims 1 to 3, wherein the obtaining of the volume of the package to be measured according to the height of each speckle point in the speckle image to be measured relative to a preset reference surface and combining with motion fitting comprises:
filtering speckle points in the speckle image to be detected according to the height of each speckle point in the speckle image to be detected relative to a preset reference surface, and reserving scattered spots on the package to be detected in the speckle image to be detected;
and fitting the height of the scattered spots on the package to be detected in the speckle image to be detected relative to a preset reference surface in combination with movement to obtain the volume of the package to be detected.
5. The method for measuring the volume of the package based on the speckle coded structured light according to claim 4, wherein the fitting of the height of the scattered spot on the package to be measured in the speckle image to be measured relative to a preset reference surface in combination with the motion to obtain the volume of the package to be measured comprises:
determining a transformation relation between a camera coordinate system and a standard coordinate system;
calculating the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system according to the transformation relation between the camera coordinate system and the standard coordinate system;
and calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
6. The method according to claim 5, wherein the step of fitting the height of the scattered spot on the package to be measured in the speckle image to be measured with respect to a preset reference plane in combination with the motion to obtain the volume of the package to be measured further comprises the step of calculating the volume of the package to be measured according to the three-dimensional coordinates of the scattered spot on the package to be measured in the speckle image to be measured in the standard coordinate system:
judging whether the package to be detected completely passes through a speckle area, wherein the speckle area is formed after a speckle belt is emitted by the speckle module;
if the package to be detected does not completely pass through the speckle area, returning to the step of acquiring the speckle image to be detected, which is acquired by the industrial camera;
and if the to-be-detected package completely passes through the speckle area, executing the step of calculating the volume of the to-be-detected package according to the three-dimensional coordinates of the scattered spots on the to-be-detected package in the to-be-detected speckle image under the standard coordinate system.
7. The speckle-coded structured light-based parcel volume measurement method according to any one of claims 1 to 3, further comprising, before the step of determining the speckle code corresponding to the speckle image to be measured:
and carrying out image preprocessing on the speckle image to be detected.
8. A speckle-encoded structured light-based parcel volume measurement apparatus comprising a memory and a processor, the memory and the processor being communicatively coupled, wherein the memory stores computer instructions, and the processor executes the computer instructions to perform the speckle-encoded structured light-based parcel volume measurement method of any one of claims 1 to 7.
9. A speckle-encoded structured light-based measurement system, comprising: the speckle module, the industrial camera, the conveying device and the package volume measuring device based on the speckle coding structured light of claim 8, wherein the conveying device is used for conveying packages to be measured, the speckle module and the industrial camera are arranged perpendicular to the running direction of the conveying device, and the industrial camera is in communication connection with the package volume measuring device based on the speckle coding structured light;
the speckle module can emit a speckle belt to a package to be detected on the conveying device, and a speckle image to be detected is formed on the package to be detected, wherein the speckle belt comprises a plurality of scattered spots, and each scattered spot is provided with a code representing a relative position;
the industrial camera is used for collecting the speckle image to be detected;
the package volume measuring device based on the speckle coding structured light is used for acquiring the speckle codes according to the speckle images to be measured and processing and calculating to obtain the volume of the packages to be measured.
10. The method according to claim 9, wherein the speckle module comprises a laser emitter and a laser diffraction optical element, the laser diffraction optical element is arranged at an emission port of the laser emitter, and structured light emitted by the laser emitter forms a speckle pattern after passing through the laser diffraction optical element.
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