CN113008136A - Irregular stacking volume measuring method and system, electronic device and storage medium - Google Patents
Irregular stacking volume measuring method and system, electronic device and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a system for measuring the volume of irregular stacking, electronic equipment and a storage medium, wherein a laser sensor in the system for measuring the volume of the irregular stacking is arranged above the positive center of a warehouse, and the system divides the ground of the warehouse into a plurality of measuring areas according to a preset rule; respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor through the laser sensor; then, respectively determining the stacking height of each measuring area according to the measuring angle of the laser sensor, the corresponding measuring distance and the vertical distance from the laser sensor to the ground, which respectively correspond to the measuring areas; and finally, respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area, and further obtaining the volume of the irregular stacking. The volume of the piled material in each measuring area can be measured in the scheme, so that the measuring precision of the piled material is improved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a volume measurement method and system for irregular stacking, electronic equipment and a storage medium.
Background
In the field of industrial three-dimensional measurement, the measurement of irregular industrial shapes is a technical problem which is attempted to be solved, and many successful application examples are provided, such as the measurement of car bodies, the measurement of airplane wings, the measurement of ship propeller surface shapes, the measurement of satellite receiving antenna surface shapes and other large workpieces. On the other hand, on a large industrial site in various industries such as steel, coal, mine, water conservancy, engineering and building materials, many materials such as coal piles, ore piles, sand piles, stone piles, wood, flood prevention substances and the like need to be measured to determine the consumption (weight or volume) of the consumed materials. However, due to the irregularity of the open-air stacking of the materials, the diversity and complexity of the target characteristics, the current measuring method for irregular materials has difficulties, such as:
at present, a volume detection system for irregular stacking in industrial production is shown in fig. 1, but due to the shielding of materials, a part of regions which cannot be measured exist, and the overall measurement result is affected, so that a method capable of accurately measuring the volume of the irregular stacking is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a method and a system for measuring the volume of an irregular stacking material, electronic equipment and a storage medium, which can improve the measurement precision of the volume of the irregular stacking material.
In a first aspect, an embodiment of the present invention provides a method for measuring a volume of an irregular stack, the method being applied to a system for measuring a volume of an irregular stack, the system including a laser sensor installed just above a center of a warehouse for stacking the irregular stack, the method including:
dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
determining, by the laser sensor, a vertical distance of the laser sensor to the ground;
respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area;
smoothing the stacking height of each measuring area to obtain the processed stacking height;
respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area;
and determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring region.
In some embodiments, the smoothing the stacking height of each measurement area to obtain a processed stacking height includes:
respectively acquiring the stacking height of adjacent measurement areas of each measurement area;
and respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights.
In some embodiments, the measuring regions are rectangular regions, and the separately obtaining the stacking height of each measuring region adjacent to the measuring region includes:
respectively obtaining the stacking height of four adjacent measuring areas on four sides of each measuring area;
the step of respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights comprises the following steps:
and smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the four measuring areas to obtain the processed stacking heights.
In some embodiments, the smoothing the stacking heights of the corresponding measurement regions according to the preset weight and the stacking heights of the four measurement regions to obtain the processed stacking heights includes:
and respectively determining the stacking heights of the four measuring areas and the average value of the stacking heights of the corresponding measuring areas, and determining the average value as the processed stacking height.
In some embodiments, the determining the stacking height of each measurement area according to the measurement angle, the corresponding measurement distance, and the vertical distance of the laser sensor corresponding to the measurement area respectively includes:
respectively determining the stacking height of each measuring area according to a stacking height calculation formula, wherein the stacking height calculation formula is as follows:
Z＝H-Lxy×cos(α)；
wherein Z is the stacking height, H is the vertical distance, LxyFor the corresponding measuring distance, α is the measuring angle of the corresponding laser sensor, LxyThe included angle with the vertical line.
In some embodiments, said determining a volume of said irregular stack from a stack volume corresponding to said each measurement region comprises:
determining the volume of the irregular stacking material according to a total volume calculation formula, wherein the total volume calculation formula is as follows:
V＝∑vi；
wherein V is the volume of the irregular windrow, ViIs the volume of the ith measurement zone.
In a second aspect, embodiments of the present invention also provide a system for volumetric measurement of irregular stacking, the system including a laser sensor mounted just above the midpoint of a warehouse for stacking the irregular stacking, the system including:
the area processing unit is used for dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
the first determining unit is used for determining the vertical distance from the laser sensor to the ground through the laser sensor;
the measuring unit is used for respectively measuring the measuring distance from the center point of the stacking surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
the second determining unit is used for respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor corresponding to the measuring area;
the smoothing unit is used for smoothing the stacking height of each measuring area to obtain the processed stacking height;
a third determining unit, configured to determine, according to the processed stacking height and the length and width corresponding to the measurement area, a stacking volume corresponding to each measurement area respectively;
and the fourth determining unit is used for determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring area.
In some embodiments, the smoothing unit is specifically configured to:
respectively acquiring the stacking height of adjacent measurement areas of each measurement area;
and respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights.
In some embodiments, the smoothing unit is further specifically configured to:
respectively obtaining the stacking height of four adjacent measuring areas on four sides of each measuring area;
and smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the four measuring areas to obtain the processed stacking heights.
In some embodiments, the smoothing unit is further specifically configured to:
and respectively determining the stacking heights of the four measuring areas and the average value of the stacking heights of the corresponding measuring areas, and determining the average value as the processed stacking height.
In some embodiments, the second determining unit is specifically configured to:
respectively determining the stacking height of each measuring area according to a stacking height calculation formula, wherein the stacking height calculation formula is as follows:
Z＝H-Ixy×cos(α)；
wherein Z is the stacking height, H is the vertical distance, LxyIs the corresponding measuring distance, alpha is the measuring angle of the corresponding laser sensor, and the measuring angle is LxyThe included angle with the vertical line.
In some embodiments, the fourth determining unit is specifically configured to:
determining the volume of the irregular stacking material according to a total volume calculation formula, wherein the total volume calculation formula is as follows:
V＝∑vi；
wherein V is the volume of the irregular windrow, ViIs the volume of the ith measurement zone.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes, when calling the computer program in the memory, any one of the steps in the method for measuring a volume of an irregular stack provided in the embodiment of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to perform the steps in any one of the irregular windrow volume measurement methods provided by the embodiments of the present invention.
In the embodiment of the invention, the volume measuring system for irregular stacking comprises a laser sensor, wherein the laser sensor is arranged above the midpoint of a warehouse, and the system divides the ground of the warehouse into a plurality of measuring areas according to a preset rule; determining the vertical distance from the laser sensor to the ground through the laser sensor; respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line; then, respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area; smoothing the stacking height of each measuring area to obtain the processed stacking height; respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area; and finally, determining the volume of the irregular stack according to the stack volume corresponding to each measuring area. According to the scheme, the laser sensor is installed above the center of the warehouse, the ground of the warehouse is divided into a plurality of measuring areas, the stacking volume in each measuring area is calculated according to the laser sensor, and finally the stacking volume in each measuring area is obtained to obtain the volume of irregular stacking.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of a prior art method of volumetric measurement of irregular heaps;
FIG. 2 is a schematic diagram of a method for volumetric measurement of irregular heaps provided by an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for measuring the volume of an irregular pile according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a warehouse partitioning provided by embodiments of the present invention;
FIG. 5 is a schematic structural diagram of an irregular windrow volume measurement system provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions 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.
In the description that follows, specific embodiments of the present invention are described with reference to steps and symbols executed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be referred to, several times, as being performed by a computer, the computer performing operations involving a processing unit of the computer in electronic signals representing data in a structured form. This operation transforms the data or maintains it at locations in the computer's memory system, which may be reconfigured or otherwise altered in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the invention have been described in language specific to above, it is not intended to be limited to the specific form set forth herein, but on the contrary, it is to be understood that various steps and operations described hereinafter may be implemented in hardware.
The principles of the present invention are operational with numerous other general purpose or special purpose computing, communication environments or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the invention include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe-based computers, and distributed computing environments that include any of the above systems or devices.
The terms "first", "second", and "third", etc. in the present invention are used for distinguishing different objects, not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Referring to fig. 2, fig. 2 is a schematic view of an application scenario of the method for measuring the volume of an irregular stack material according to the embodiment of the present invention, wherein the method for measuring the volume of an irregular stack material according to the embodiment is applied to a system for measuring the volume of an irregular stack material, and the system includes a laser sensor.
In order to avoid the situation that the stockpile cannot be measured because the stockpile is blocked by other front stockpiles, the installation height of the laser sensor can be increased for a small warehouse, so that the stockpile cannot block the measuring light of the laser, and the embodiment can install the laser sensor above the center of the warehouse, for example, on the top of the center of the warehouse, wherein the warehouse is used for stacking the irregular stockpile, and if the warehouse is a compartment, the laser sensor is installed on the top of the center of the warehouse compartment.
As shown in fig. 2, the pan-tilt head carrying the laser sensor in this embodiment can perform circular motion with the y-axis as a rotation axis, and can perform angular motion along the x-axis, so as to realize full scanning of the stacking surface.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for measuring the volume of an irregular stack according to an embodiment of the present invention. The execution subject of the irregular stacking volume measurement method can be the irregular stacking volume measurement system provided by the embodiment of the invention or an electronic device integrated with the irregular stacking volume measurement system, wherein the irregular stacking volume measurement system comprises a laser sensor which is installed above the middle of the warehouse. The irregular windrow volume measurement method may include:
301. the ground of the warehouse is divided into a plurality of measurement areas according to preset rules.
The preset rule corresponds to the measurement accuracy, and the higher the required measurement accuracy requirement is, the more the measurement areas are divided.
In some embodiments, referring to fig. 4, the floor of the warehouse may be divided into n × m rectangular sections, where the circles in fig. 4 are scanning tracks, and the laser sensor in this embodiment scans the center of each measurement area, and when the length and width of the warehouse are determined, the length and width of each measurement area are known.
302. And determining the vertical distance from the laser sensor to the ground through the laser sensor.
In this embodiment, a laser sensor is installed at the top of the center of the warehouse, and when the warehouse is not stacked with the stack, the vertical distance from the laser sensor to the ground is determined by the laser sensor, wherein after the vertical distance from the laser sensor to the ground is determined by the laser sensor, the distance can be stored, and the vertical distance is directly used when the method is executed next time.
It should be noted that, in the present embodiment, step 301 and step 302 have no execution order relationship, and step 302 may be executed simultaneously with step 301 or before step 301.
303. The measuring distance from the center point of the pile surface of each measuring area to the laser sensor is measured based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line.
In this embodiment, the measurement distance from the center point of the stack surface to the laser sensor in each measurement area needs to be obtained by rotating the laser sensor and adjusting the measurement angle of the laser sensor with the perpendicular line, and the measurement distance corresponding to each stack surface and the measurement angle of the laser sensor with the perpendicular line when measuring the stack surface are recorded respectively, where LxyAlpha is the measurement angle of the corresponding laser sensor for the corresponding measurement distance.
Wherein if L isxy＜LijIf so, the material pile exists in the measurement area, otherwise, the area is empty and the material pile height of the area is recorded as 0, wherein LijIs the distance, L, from the laser sensor to the ground center point of the measurement areaijCan be perpendicular to the ground by laser sensorsThe distance H, and α, are determined by the formula:
and (4) determining.
304. And respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area.
Specifically, the stacking height of each measurement area may be determined according to a stacking height calculation formula, where the stacking height calculation formula is:
Z＝H-Lxy×cos(α)；
wherein Z is the stacking height, H is the vertical distance, LxyFor the corresponding measuring distance, alpha is the measuring angle of the corresponding laser sensor, and the measuring angle is LxyThe included angle with the vertical line.
305. And smoothing the stacking height of each measuring area to obtain the processed stacking height.
In some embodiments, smoothing the windrow height of each measurement region to obtain a processed windrow height comprises: respectively acquiring the stacking height of adjacent measurement areas of each measurement area; and then, according to the preset weight and the stacking heights of the adjacent measuring areas, smoothing the stacking heights of the corresponding measuring areas respectively to obtain the processed stacking heights.
The adjacent measurement regions may be, for example, another measurement region corresponding to 4 sides in the measurement region shown in fig. 4, or a measurement region corresponding to 4 corners and opposite angles, or a measurement region corresponding to two sides and opposite angles.
In some embodiments, the measurement areas are rectangular areas, and the obtaining of the stacking height of the measurement area adjacent to each measurement area includes: respectively obtaining the stacking height of four adjacent measuring areas on four sides of each measuring area;
at this time, according to the preset weight and the stacking height of the adjacent measuring areas, respectively smoothing the stacking height of the corresponding measuring area to obtain the processed stacking height, including: and smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the four measuring areas to obtain the processed stacking heights.
In some embodiments, smoothing the stacking heights of the corresponding measurement regions according to a preset weight and the stacking heights of the four measurement regions, respectively, to obtain a processed stacking height, includes: and respectively determining the stacking heights of the four measuring areas and the average value of the stacking heights of the corresponding measuring areas, and determining the average value as the processed stacking height.
The preset weight may also be set as other weights, for example, the weights of the adjacent 4 measurement regions are 0.125, the weight of the measurement region is 0.5, and the size of the weight is not limited here.
In the edge and diagonal measurement areas, if the adjacent areas are warehouse edges, the stacking height corresponding to the warehouse edges is 0.
According to the embodiment, the stacking height of each measuring area is smoothed, so that the measuring result is more accurate.
306. And respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area.
Specifically, the area of each pile is the product of the height of the processed pile and the length and width corresponding to the measurement area.
307. And determining the volume of the irregular stack according to the stack volume corresponding to each measuring area.
Specifically, the volume of the irregular stack is determined according to a total volume calculation formula, wherein the total volume calculation formula is as follows:
V＝∑vi；
wherein V is the volume of the irregular pile, ViIs the volume of the ith measurement region, wherein i has a value of [1, n m%]I.e. the volume of each measurement area in fig. 4 is added to obtain the volume of the pile.
In the embodiment of the invention, the volume measuring system for irregular stacking comprises a laser sensor, wherein the laser sensor is arranged above the midpoint of a warehouse, and the system divides the ground of the warehouse into a plurality of measuring areas according to a preset rule; determining the vertical distance from the laser sensor to the ground through the laser sensor; respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line; then, respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area; smoothing the stacking height of each measuring area to obtain the processed stacking height; respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area; and finally, determining the volume of the irregular stack according to the stack volume corresponding to each measuring area. According to the scheme, the laser sensor is installed above the center of the warehouse, the ground of the warehouse is divided into a plurality of measuring areas, the stacking volume in each measuring area is calculated according to the laser sensor, and finally the stacking volume in each measuring area is obtained to obtain the volume of irregular stacking.
In addition, because the laser sensor in the embodiment moves in a circular manner vertically downwards, the error of the deflection angle generated by the mechanical clearance is greatly reduced due to the action of gravity, and the measurement precision is high;
in addition, the measurement precision in the embodiment can be determined according to the actual requirements of the user, the required precision is high, the concentric circles scanned are dense points (and the measurement areas are more small), otherwise, the concentric circles scanned can be sparse, the requirements on the system can be reduced, and the cost is reduced.
In order to better implement the method for measuring the volume of the irregular stack provided by the embodiment of the invention, the embodiment of the invention also provides a device based on the method for measuring the volume of the irregular stack. The terms are the same as those in the above-mentioned method for measuring the volume of the irregular piled material, and the details of the implementation can be referred to the description in the method examples.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a volume measurement system of an irregular stack according to an embodiment of the present invention, where the volume measurement system of the irregular stack may include a region processing unit 501, a first determining unit 502, a measuring unit 503, a second determining unit 504, a smoothing processing unit 505, a third determining unit 506, a fourth determining unit 507, and the like, where:
the area processing unit 501 is configured to divide the ground of the warehouse into a plurality of measurement areas according to preset rules;
a first determining unit 502, configured to determine, by the laser sensor, a vertical distance from the laser sensor to the ground;
a measuring unit 503, configured to measure a measurement distance from a stack surface center point of each measurement area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting a measurement angle of the laser sensor with respect to a vertical line;
a second determining unit 504, configured to determine the stacking height of each measurement area according to the measurement angle, the corresponding measurement distance, and the vertical distance of the laser sensor corresponding to the measurement area, respectively;
a smoothing unit 505, configured to smooth the stacking height of each measurement area to obtain a processed stacking height;
a third determining unit 506, configured to determine the stacking volume corresponding to each measurement region according to the processed stacking height and the length and width corresponding to the measurement region;
a fourth determining unit 507, configured to determine a volume of the irregular stack according to the stack volume corresponding to each measurement region.
In some embodiments, the smoothing unit 505 is specifically configured to:
respectively acquiring the stacking height of adjacent measurement areas of each measurement area;
and respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights.
In some embodiments, the smoothing unit 505 is further specifically configured to:
respectively obtaining the stacking height of four adjacent measuring areas on four sides of each measuring area;
and smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the four measuring areas to obtain the processed stacking heights.
In some embodiments, the smoothing unit 505 is further specifically configured to:
and respectively determining the stacking heights of the four measuring areas and the average value of the stacking heights of the corresponding measuring areas, and determining the average value as the processed stacking height.
In some embodiments, the second determining unit 504 is specifically configured to:
respectively determining the stacking height of each measuring area according to a stacking height calculation formula, wherein the stacking height calculation formula is as follows:
Z＝H-Lxy×cos(α)；
wherein Z is the stacking height, H is the vertical distance, LxyFor the corresponding measuring distance, α is the measuring angle of the corresponding laser sensor, LxyThe included angle with the vertical line.
In some embodiments, the fourth determining unit 507 is specifically configured to:
determining the volume of the irregular stacking material according to a total volume calculation formula, wherein the total volume calculation formula is as follows:
V＝∑vi；
wherein V is the volume of the irregular windrow, ViIs the volume of the ith measurement zone.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Referring to fig. 6, fig. 6 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention.
As shown in fig. 6, an embodiment of the present invention provides an electronic device, which includes a memory 610, a processor 620, and a computer program 611 stored in the memory 620 and operable on the processor 620, and when the processor 620 executes the computer program 611, the following steps are implemented:
dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
determining, by the laser sensor, a vertical distance of the laser sensor to the ground;
respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area;
smoothing the stacking height of each measuring area to obtain the processed stacking height;
respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area;
and determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring region.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may be referred to the above detailed description of the irregular stacking volume measurement method, and are not described again here.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, embodiments of the present invention provide a computer-readable storage medium having stored therein a plurality of instructions that can be loaded by a processor to perform any of the steps of any of the irregular windrow volume measurement methods provided by embodiments of the present invention. For example, the instructions may perform the steps of:
dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
determining, by the laser sensor, a vertical distance of the laser sensor to the ground;
respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area;
smoothing the stacking height of each measuring area to obtain the processed stacking height;
respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area;
and determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring region.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps in any irregular-stacking volume measurement method provided by the embodiment of the present invention, the beneficial effects that can be achieved by any irregular-stacking volume measurement method provided by the embodiment of the present invention can be achieved, for details, see the foregoing embodiments, and are not described herein again.
The method, the system, the electronic device and the storage medium for measuring the volume of the irregular stacking material provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of volumetric measurement of irregular piles, applied to a system of volumetric measurement of irregular piles, the system comprising a laser sensor mounted just above the centre of a warehouse for stacking the irregular piles, the method comprising:
dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
determining, by the laser sensor, a vertical distance of the laser sensor to the ground;
respectively measuring the measuring distance from the center point of the pile surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor respectively corresponding to the measuring area;
smoothing the stacking height of each measuring area to obtain the processed stacking height;
respectively determining the stacking volume corresponding to each measuring area according to the height of the processed stacking and the length and width corresponding to the measuring area;
and determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring region.
2. The method of claim 1, wherein smoothing the windrow height of each measurement region to obtain a processed windrow height comprises:
respectively acquiring the stacking height of adjacent measurement areas of each measurement area;
and respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights.
3. The method of claim 2, wherein the measuring regions are rectangular regions, and the separately obtaining the stacking height of each measuring region adjacent to the measuring region comprises:
respectively obtaining the stacking height of four adjacent measuring areas on four sides of each measuring area;
the step of respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights comprises the following steps:
and smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the four measuring areas to obtain the processed stacking heights.
4. The method according to claim 3, wherein smoothing the stacking heights of the corresponding measurement regions according to the preset weight and the stacking heights of the four measurement regions to obtain the processed stacking heights comprises:
and respectively determining the stacking heights of the four measuring areas and the average value of the stacking heights of the corresponding measuring areas, and determining the average value as the processed stacking height.
5. The method according to any one of claims 1 to 4, wherein the separately determining the windrow height of each measurement area from the measurement angle, the corresponding measurement distance and the vertical distance of the laser sensor to which the measurement area corresponds respectively comprises:
respectively determining the stacking height of each measuring area according to a stacking height calculation formula, wherein the stacking height calculation formula is as follows:
Z＝H-Lxy×cos(α)；
wherein Z is the stacking height, H is the vertical distance, LxyFor the corresponding measuring distance, α is the measuring angle of the corresponding laser sensor, LxyThe included angle with the vertical line.
6. The method of claim 5, wherein said determining the volume of said irregular stack from the stack volume corresponding to said each measurement zone comprises:
determining the volume of the irregular stacking material according to a total volume calculation formula, wherein the total volume calculation formula is as follows:
V＝∑vi；
wherein V is the volume of the irregular windrow, ViIs the volume of the ith measurement zone.
7. A system for volumetric measurement of irregular stacks, the system including a laser sensor mounted just above the midpoint of a warehouse for stacking the irregular stacks, the system comprising:
the area processing unit is used for dividing the ground of the warehouse into a plurality of measuring areas according to preset rules;
the first determining unit is used for determining the vertical distance from the laser sensor to the ground through the laser sensor;
the measuring unit is used for respectively measuring the measuring distance from the center point of the stacking surface of each measuring area to the laser sensor based on the laser sensor by rotating the laser sensor and adjusting the measuring angle of the laser sensor with the vertical line;
the second determining unit is used for respectively determining the stacking height of each measuring area according to the measuring angle, the corresponding measuring distance and the vertical distance of the laser sensor corresponding to the measuring area;
the smoothing unit is used for smoothing the stacking height of each measuring area to obtain the processed stacking height;
a third determining unit, configured to determine, according to the processed stacking height and the length and width corresponding to the measurement area, a stacking volume corresponding to each measurement area respectively;
and the fourth determining unit is used for determining the volume of the irregular stacking according to the stacking volume corresponding to each measuring area.
8. The system according to claim 7, wherein the smoothing unit is specifically configured to:
respectively acquiring the stacking height of adjacent measurement areas of each measurement area;
and respectively smoothing the stacking heights of the corresponding measuring areas according to the preset weight and the stacking heights of the adjacent measuring areas to obtain the processed stacking heights.
9. An electronic device comprising a processor and a memory, the memory having a computer program stored therein, the processor, when calling the computer program in the memory, performing the method of volumetric measurement of an irregular stack as claimed in any one of claims 1 to 6.
10. A computer readable storage medium storing instructions adapted to be loaded by a processor to perform the method of volumetric measurement of irregular stacking material of any of claims 1 to 6.
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