CN112529952B - Object volume measurement method and device and electronic equipment - Google Patents
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Abstract
The embodiment of the disclosure provides an object volume measuring method and device and electronic equipment, and belongs to the technical field of data processing. The method comprises the following steps: acquiring point cloud data of a measured object; determining surface point clouds and projection contour lines of the measured object based on the point cloud data; and determining the volume of the measured object based on the surface point cloud and the projection contour line. Through the scheme of the disclosure, the problem of measurement defects of the small laser radar under special conditions is solved, and meanwhile, the volume of an object can be accurately measured.
Description
Technical Field
The disclosure relates to the technical field of data processing, and in particular relates to an object volume measurement method, an object volume measurement device and electronic equipment.
Background
In the express and logistics industries and in the processes of warehousing, transportation and loading of goods, the volume measurement of objects needs to be conveniently and rapidly carried out. The handheld small-sized laser radar measuring equipment has the advantages of high detection precision, simple data processing and convenience in operation, and is increasingly applied. However, small lidar measurement devices may experience some local measurement inaccuracies or lack of local measurement values during use. For a common TOF type laser radar, a single ranging is performed by measuring the time from a laser transmitting end to an object to be measured. For a general rough surface object, the laser can be reflected better, so that the measuring effect is good; in the case of a specular reflection surface or a low reflectance surface (for example, a transparent tape on the surface of an object or a black surface on the surface of an object), the following situation occurs for the laser ranging point.
Case 1: the ranging point occurs between the specular reflection object and the lidar;
case 2: the distance measuring point is arranged at a position far from the real scanning position;
case 3: the laser radar does not receive the reflected laser, so that no measured value exists, namely the ranging point does not exist;
the three conditions can lead to missing or inaccurate scanning point clouds on the surface of the measured object. Thus, when using the object point cloud for volume calculation, inaccuracy of the result may be caused.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method, an apparatus, and an electronic device for measuring a volume of an object, which are used for solving the problems in the prior art.
In a first aspect, embodiments of the present disclosure provide an object volume measurement method, including:
acquiring point cloud data of a measured object;
determining surface point clouds and projection contour lines of the measured object based on the point cloud data;
and determining the volume of the measured object based on the surface point cloud and the projection contour line.
According to a specific implementation manner of the embodiment of the present disclosure, the obtaining point cloud data of the measured object includes:
placing the object to be measured on the ground, and keeping the handheld device obliquely above the object to enable the object to be measured to have a projection area on the ground;
scanning and acquiring point cloud data under the first pose by using a laser radar data acquisition module in an object volume measurement system;
and acquiring pose data by using an inertial navigation data acquisition module.
According to a specific implementation manner of the embodiment of the present disclosure, the obtaining point cloud data of the measured object includes:
and integrating the inertial navigation data in time by using the FPGA, and fusing the pose information obtained after integration with the corresponding point cloud to obtain pose data synchronous with the laser radar.
According to a specific implementation manner of the embodiment of the present disclosure, the determining the surface point cloud and the projection contour line of the object to be measured includes:
performing primary filtering on the point cloud data under the first pose, distinguishing the point cloud of the object to be measured on the ground by using a laser radar point cloud ground segmentation algorithm and the surface point cloud of the object to be measured, and respectively storing the point cloud;
and performing edge detection on the ground projection point cloud to obtain edge points of the ground projection point cloud, and obtaining a projection contour line of the measured object on the ground through curve fitting.
According to a specific implementation manner of the embodiment of the present disclosure, the determining the surface point cloud and the projection contour line of the object to be measured includes:
judging whether the surface point cloud of the measured object is complete or not, comprising:
dividing the projection contour line of the measured object on the ground into a plurality of small line segments;
forming a plurality of small tangential planes by utilizing the plurality of small line segments and the first pose of the small laser radar;
and selecting one of the plurality of small sections as a reference surface, searching all points, of which the distance between the points on the surface of the measured object and the reference surface is smaller than a set distance threshold value 1, if the points are larger than a set point number threshold value, the points on the surface of the measured object are complete, and if the conditions are not met, the points on the surface of the measured object are incomplete, and sequentially judging the plurality of small sections.
According to a specific implementation manner of the embodiment of the present disclosure, the determining the surface point cloud and the projection contour line of the object to be measured includes:
repairing when the surface point cloud of the measured object is incomplete, the method comprises the following steps:
and selecting one of the plurality of small tangential planes as a reference plane, searching all points, of which the distance between the surface point cloud of the measured object and the reference plane is smaller than a set distance threshold value 2, forming a part of the surface point cloud of the measured object by all points within the range of the set distance threshold value 2, performing plane fitting on the point cloud within the range of the threshold value 2, wherein a plane fitting result obtained when the plane is intersected with the reference plane is a part of the missing part of the surface point cloud of the measured object, and repeating the operation on all the small tangential planes to finish the repair of the missing part of the surface point cloud of the measured object.
According to a specific implementation manner of the embodiment of the present disclosure, after the determining the surface point cloud and the projection contour line of the object under test, the method further includes:
the equipment is kept above the measured object in an inclined way, and the equipment rotates around the object to scan to obtain complete point cloud data with accurate pose information;
and obtaining the complete point cloud of the measured object by utilizing the complete point cloud of the measured object with different poses and the correct pose corresponding to the point cloud through point cloud registration and splicing.
According to a specific implementation manner of the embodiment of the present disclosure, the determining the volume of the object to be measured based on the surface point cloud and the projection contour line includes:
calculating key points of the whole point cloud of the measured object;
confirming whether the key points are correct;
if the key point is incorrect, reconfirming the vertex of the object;
if the key points are correct, calculating the volume of the object through the key points.
In a second aspect, embodiments of the present disclosure provide an object volume measurement device comprising:
the acquisition module is used for acquiring point cloud data of the object to be detected;
the first determining module is used for determining the surface point cloud and the projection contour line of the object to be measured based on the point cloud data;
and the second determining module is used for determining the volume of the measured object based on the surface point cloud and the projection contour line.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the object volume measurement method of the first aspect or any implementation of the first aspect.
In a fourth aspect, the presently disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the object volume measurement method of the first aspect or any implementation of the first aspect.
In a fifth aspect, the presently disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the object volume measurement method of the first aspect or any implementation of the first aspect.
The object volume measurement scheme in the embodiment of the disclosure comprises the following steps: acquiring point cloud data of a measured object; determining surface point clouds and projection contour lines of the measured object based on the point cloud data; and determining the volume of the measured object based on the surface point cloud and the projection contour line. According to the scheme, the problem of measurement defects of the laser radar under special conditions is solved, and the accuracy of object volume detection is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic flow chart of an object volume measurement method according to an embodiment of the disclosure;
FIG. 2 is a schematic illustration of object measurement provided by an embodiment of the present disclosure;
FIG. 3 is a schematic view of an object volume measuring device according to an embodiment of the disclosure;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Referring to fig. 1 and 2, a flow chart of an object volume measurement method according to an embodiment of the disclosure is shown in fig. 1, where the method mainly includes:
s101, acquiring point cloud data of an object to be detected;
s102, determining surface point clouds and projection contour lines of the measured object based on the point cloud data;
s103, determining the volume of the measured object based on the surface point cloud and the projection contour line.
In the implementation process of steps S101-S103, the embodiment of the disclosure further provides an object measurement system, where the system includes a laser data acquisition module, an inertial navigation data acquisition module, a data fusion module, a projection profile extraction module, a point cloud repair module, a storage module, a point cloud registration and splicing module, and a volume calculation module; the methods S101-S103 may include the steps of:
step 1, placing a measured object on the ground, acquiring point cloud data of a small laser radar and inertial equipment under a first pose by using a laser data acquisition module, and acquiring the first pose point cloud data with a correct pose by using a data fusion module;
step 2, preprocessing the point cloud data by utilizing the projection profile extraction module to obtain the surface point cloud of the measured object under the first pose and the projection profile of the measured object on the ground;
step 3, selecting a plurality of small line segments from the projection contour line of the measured object on the ground by a point cloud restoration module, respectively judging whether the surface point cloud of the measured object corresponding to the small section formed by combining the small line segments with the first pose of the small laser radar is complete, if not, taking the small section as a reference section, and performing plane fitting on the point cloud at the position of the surface point cloud of the measured object corresponding to the section to complete the complementation of the surface point cloud of the corresponding object;
step 4, repeatedly obtaining point cloud data under a plurality of poses, storing the obtained data in the storage module, and then carrying out rapid registration and splicing on the object to be detected repairing point cloud under the plurality of poses by using the pose information through a point cloud registration splicing module so as to obtain the complete point cloud of the object to be detected;
and 5, calculating the minimum external cuboid of the measured object according to the measured object complete point cloud by the volume calculation module, thereby completing the calculation of the object volume.
The process of obtaining the point cloud data of the object under test under the first pose in the step 1 is as follows: firstly, placing a measured object on the ground, keeping a handheld device above the object obliquely, enabling the measured object to have a projection area on the ground, then, utilizing a laser radar data acquisition module in an object volume measurement system to scan and acquire point cloud data under a first pose, then utilizing an inertial navigation data acquisition module to acquire pose data, and then, obtaining the point cloud data with correct pose information through data fusion;
the preprocessing process of the point cloud data under the first pose by using the projection contour extraction module in the step 2 is as follows:
step 11, performing primary filtering on the point cloud data under the first pose, distinguishing the point cloud of the object to be measured on the ground projection and the surface point cloud of the object to be measured by using a laser radar point cloud ground segmentation algorithm, and respectively storing the point cloud;
step 12, performing edge detection on the ground projection point cloud to obtain edge points of the ground projection point cloud, and obtaining a projection contour line of the measured object on the ground through curve fitting;
the process of judging whether the surface point cloud of the measured object is complete by the point cloud restoration module in the step 3 is as follows:
firstly, dividing a projection contour line of the object to be measured on the ground into a plurality of small line segments, and then forming a plurality of small tangential planes by utilizing the plurality of small line segments and a first pose of the small laser radar; then selecting one of the plurality of facet surfaces as a reference surface, searching all points, of which the distance between the point cloud of the surface of the measured object and the reference surface is smaller than a set distance threshold value 1, if the point number is larger than a set point number threshold value, the point cloud of the surface of the measured object is complete, and if the condition is not met, the point cloud of the surface of the measured object is incomplete, and sequentially judging the plurality of facet surfaces;
the repairing process of the point cloud repairing module in the step 3 when the point cloud of the surface of the measured object is incomplete is as follows:
selecting one of the plurality of facet surfaces as a reference surface, searching all points, of which the distance between the point cloud of the surface of the measured object and the reference surface is smaller than a set distance threshold value 2, forming a part of the point cloud of the surface of the measured object by all points within the range of the set distance threshold value 2, performing plane fitting on the point cloud within the range of the threshold value 2, wherein a plane fitting result obtained when the plane is intersected with the reference surface is a part of the missing part of the point cloud of the surface of the measured object, and repeating the operation on all the plurality of facet surfaces to finish the repair of the missing part of the point cloud of the surface of the measured object;
the specific process of the step 4 is that firstly, equipment is kept obliquely above a measured object, then, point cloud data which are complete and have accurate pose information are obtained through rotating and scanning around the object, then, the point cloud data are stored in a storage module, the purpose is to obtain the complete measured object point cloud by utilizing the measured object point clouds with different poses, and then, the complete point cloud is obtained through a plurality of correct point cloud poses and the complete measured object point cloud through point cloud registration and splicing.
The step 5 comprises the following steps: step 51, calculating key points, namely 8 vertexes, of the complete object point cloud; step 52, manually confirming whether the key points are correct, if so, entering step 53, and if not, manually reconfirming the key points of the object; step 53, calculating the volume of the object through the object key points;
preferably, in the step 1, the data fusion module utilizes an FPGA to integrate inertial navigation data in time, and pose information obtained after integration is fused with corresponding point clouds, so as to obtain pose data synchronous with the laser radar.
The application has the beneficial effects that:
1: measuring the volume of an object more accurately;
2: judging whether the object surface point cloud is complete or not, and solving the problem that the laser radar cannot acquire the complete object surface point cloud;
3: and registering and splicing the point cloud rapidly and accurately.
According to a specific implementation manner of the embodiment of the disclosure, first, point cloud data of an object and ground point cloud under a first pose of a small-sized laser radar are obtained by scanning the object through the laser radar data obtaining module, then data of inertial equipment are obtained through the inertial navigation data obtaining module, then the pose data of the inertial equipment are integrated and accumulated in the data fusion module by utilizing an FPGA (field programmable gate array), more accurate pose information is obtained, and then the pose of the first pose measured object is obtained through coordinate conversion;
according to a specific implementation manner of the embodiment of the present disclosure, the projection contour extraction module is used to process the point cloud data under the first pose, so as to obtain a ground projection contour line for judging whether the surface contour point cloud of the object in the current pose is complete.
The specific process of processing data by the projection profile extraction module is as follows: the object is placed on the ground, the handheld device is kept obliquely above the object, a projection area exists on the ground, and then the laser radar is utilized to scan the object to obtain point cloud data of the laser radar in a first pose. And (3) performing primary filtering on the point cloud data, finding Ping Miandian cloud by using a laser radar point cloud ground segmentation algorithm, storing the Ping Miandian cloud as ground point cloud by using a random sampling plane fitting algorithm, storing the rest point cloud as the point cloud of the measured object, and dividing all points which are about 20mm away from the ground into the ground point cloud. Because errors of the laser radar and high reflection substances or high light absorption substances on the surface of the object lead to the fact that the projection contour of the ground cannot be a uniform curve or a straight line, the ground point cloud is required to be searched for edge points by using a density clustering algorithm to obtain sufficiently dense edge points, and then the projection contour line of the measured object in the current pose on the ground is obtained by quadratic curve fitting, wherein the projection contour line is the most true projection contour line of the closest object.
3. And if the point cloud restoration module is complete to the point cloud on the surface of the object in the current pose, the incomplete point cloud is completed by taking a tangent plane formed by the projection contour line of the object to be measured on the ground and the laser radar position data as a reference plane. Firstly, judging whether the surface point cloud of the measured object is complete or not, wherein the specific flow is as follows:
1) Dividing the ground projection contour line into a plurality of line segments with the length of about 50mm, wherein each line segment is combined with a tiny tangent plane formed by the small laser radar and tangent to the surface of the object, and the principle is equivalent to a differential principle, so that all tangent planes tangent to the surface of the object at the current angle can be obtained;
2) Judging whether the outline of the object in the current pose is complete or not: firstly, taking the tangent plane as a reference plane, searching data points with the distance value from the tangent plane smaller than a set threshold value 1 in object point cloud data, wherein the number of points is larger than a set point number threshold value, the condition is met, the surface of an object tangent to the tangent plane is complete, and if the condition is not met, the contour point cloud of the surface of the object at the current angle is incomplete;
if the surface of the object at the current angle is incomplete, the specific repair process of the surface profile point cloud comprises the following steps:
searching all points, which are in the object point cloud and have the values smaller than a set distance threshold value 3, from the reference surface as a reference, wherein the point cloud within the range of the set distance threshold value 3 forms a part of the surface of the object at the current angle, carrying out random sampling plane fitting on the point cloud, and if the fitted plane meets the condition of intersecting the reference surface, the plane is a required surface, and repeating the operation on all tangential surfaces formed by the contour points, so that the missing part of the contour point cloud of the surface of the object at the current angle can be repaired;
judging the step 2) on all the tangent planes formed by taking the points through the contour lines, and then independently storing the object point cloud with complete current pose or the object point cloud with complete repair;
4. after the complete point cloud acquisition of the single object is completed, point cloud data of different angles and the gestures of the point cloud are acquired, and the detailed operation of acquiring the point cloud of different gestures based on the inertial equipment in the handheld equipment is as follows:
firstly, keeping equipment obliquely above an object, and then rotating and scanning around the object to acquire point cloud data, and repeating the step 2 and the step 3 while acquiring the point cloud data so as to acquire the point cloud data of the object with complete different poses;
5. and carrying out rapid and accurate registration and splicing on the point clouds with different angles according to the relative pose of the point clouds, thereby obtaining a target point cloud: carrying out rapid and accurate registration and splicing on the object point clouds with different angles by utilizing the object point clouds with different angles and corresponding relative pose by utilizing an ICP registration algorithm, so as to obtain a complete object point cloud;
6. and the minimum external cuboid of the complete point cloud of the measured object is completed, and the calculation of the object volume is completed. The method for calculating the volume based on the complete object point cloud data comprises the following steps:
1) Calculating key points of the complete object point cloud, namely 8 vertexes;
2) Manually confirming whether the key points are correct or not, if so, entering the step 4), and if not, manually reconfirming the key points of the object;
3) Calculating the volume of the object through the object key points;
corresponding to the above embodiments, the embodiments of the present application further provide an object volume measurement device, including:
corresponding to the above method embodiment, referring to fig. 3, the presently disclosed embodiment further provides an object volume measuring device 50 comprising:
an obtaining module 501, configured to obtain point cloud data of a measured object;
the first determining module 502 is configured to determine a surface point cloud and a projection contour line of the object to be measured based on the point cloud data;
a second determining module 503, configured to determine a volume of the object to be measured based on the surface point cloud and the projection contour line.
The apparatus shown in fig. 3 may correspondingly perform the content in the foregoing method embodiment, and the portions not described in detail in this embodiment refer to the content described in the foregoing method embodiment and are not described herein again.
Referring to fig. 4, the embodiment of the present disclosure further provides an electronic device 60, where the electronic device 60 may be a mobile terminal or an electronic device as referred to in the above embodiment. The electronic device may include:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the object volume measurement method of the foregoing method embodiments.
The disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the object volume measurement method in the foregoing method embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the object volume measurement method of the foregoing method embodiments.
Referring now to fig. 4, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic device 60 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While an electronic device 60 having various means is shown, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, enable the electronic device to implement the solutions provided by the method embodiments described above.
Alternatively, the computer readable medium carries one or more programs, which when executed by the electronic device, enable the electronic device to implement the solutions provided by the method embodiments described above.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or configuration server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (9)
1. A method of measuring the volume of an object, comprising:
acquiring point cloud data of a measured object;
determining surface point clouds and projection contour lines of the measured object based on the point cloud data;
determining the volume of the measured object based on the surface point cloud and the projection contour line;
the determining the surface point cloud and the projection contour line of the measured object comprises the following steps:
judging whether the surface point cloud of the measured object is complete or not;
if the surface point cloud of the measured object is incomplete, repairing the surface point cloud of the measured object when the surface point cloud of the measured object is incomplete;
repairing when the surface point cloud of the measured object is incomplete comprises the following steps:
dividing the projection contour line of the measured object on the ground into a plurality of small line segments;
forming a plurality of small sections by using the small line segments and the first pose of the small laser radar;
and selecting one of the plurality of small tangential planes as a reference plane, searching all points, of which the distance between the point cloud of the surface of the measured object and the reference plane is smaller than a set second distance threshold value, forming a part of the point cloud of the surface of the measured object by all points in the second distance threshold value range, performing plane fitting on the point cloud in the second distance threshold value range, wherein the plane fitting result when the plane obtained by fitting is intersected with the reference plane is a part of the missing part of the point cloud of the surface of the measured object, and repeating the operation on all the plurality of small tangential planes to finish the repair of the missing part of the point cloud of the surface of the measured object.
2. The method of claim 1, wherein the acquiring the point cloud data of the object under test comprises:
placing the object to be measured on the ground, and keeping the handheld device obliquely above the object to enable the object to be measured to have a projection area on the ground;
scanning and acquiring point cloud data under a first pose by using a laser radar data acquisition module in an object volume measurement system;
and acquiring pose data by using an inertial navigation data acquisition module.
3. The method of claim 1, wherein the acquiring the point cloud data of the object under test comprises:
and integrating the inertial navigation data in time by using the FPGA, and fusing the pose information obtained after integration with the corresponding point cloud to obtain pose data synchronous with the laser radar.
4. The method of claim 1, wherein determining the surface point cloud and the projection profile of the object comprises:
performing primary filtering on the point cloud data under the first pose, distinguishing the point cloud of the object to be measured on the ground by using a laser radar point cloud ground segmentation algorithm and the surface point cloud of the object to be measured, and respectively storing;
and performing edge detection on the ground projection point cloud to obtain edge points of the ground projection point cloud, and obtaining a projection contour line of the measured object on the ground through curve fitting.
5. The method of claim 1, wherein determining the surface point cloud and the projection profile of the object comprises:
judging whether the surface point cloud of the measured object is complete or not, comprising:
dividing the projection contour line of the measured object on the ground into a plurality of small line segments;
forming a plurality of small sections by using the small line segments and the first pose of the small laser radar;
and selecting one of the plurality of facet surfaces as a reference surface, searching all points, of which the distance between the point cloud of the surface of the measured object and the reference surface is smaller than a set first distance threshold value, if the point number is larger than a set point number threshold value, the point cloud of the surface of the measured object is complete, and if the condition is not met, the point cloud of the surface of the measured object is incomplete, and sequentially judging the plurality of facet surfaces.
6. The method of claim 1, wherein after determining the surface point cloud and the projection profile of the object, the method further comprises:
the method comprises the steps that the equipment is kept obliquely above an object to be measured, and the equipment rotates around the object to obtain complete point cloud data of different poses with accurate pose information;
and obtaining the complete object point cloud by means of point cloud registration and splicing by utilizing the point clouds of the detected objects with different poses and pose information corresponding to the point clouds.
7. The method of claim 1, wherein determining the volume of the object under test based on the surface point cloud and the projection profile comprises:
calculating key points of the whole point cloud of the measured object;
confirming whether the key points are correct;
if the key point is incorrect, reconfirming the vertex of the object;
if the key points are correct, calculating the volume of the object through the key points.
8. An object volume measuring device, comprising:
the acquisition module is used for acquiring point cloud data of the object to be detected;
the first determining module is used for determining the surface point cloud and the projection contour line of the object to be measured based on the point cloud data;
the second determining module is used for determining the volume of the measured object based on the surface point cloud and the projection contour line;
the determining the surface point cloud and the projection contour line of the measured object comprises the following steps:
judging whether the surface point cloud of the measured object is complete or not;
if the surface point cloud of the measured object is incomplete, repairing the surface point cloud of the measured object when the surface point cloud of the measured object is incomplete;
repairing when the surface point cloud of the measured object is incomplete comprises the following steps:
dividing the projection contour line of the measured object on the ground into a plurality of small line segments;
forming a plurality of small sections by using the small line segments and the first pose of the small laser radar;
and selecting one of the plurality of small tangential planes as a reference plane, searching all points, of which the distance between the point cloud of the surface of the measured object and the reference plane is smaller than a set second distance threshold value, forming a part of the point cloud of the surface of the measured object by all points in the second distance threshold value range, performing plane fitting on the point cloud in the second distance threshold value range, wherein the plane fitting result when the plane obtained by fitting is intersected with the reference plane is a part of the missing part of the point cloud of the surface of the measured object, and repeating the operation on all the plurality of small tangential planes to finish the repair of the missing part of the point cloud of the surface of the measured object.
9. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
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