CN114993175A - Method and system for measuring material accumulation volume based on laser scanning - Google Patents
Method and system for measuring material accumulation volume based on laser scanning Download PDFInfo
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Abstract
The invention provides a method and a system for measuring material accumulation volume based on laser scanning, wherein the method comprises the following steps: arranging a laser scanner above a conveyor belt for conveying materials, wherein the laser scanner scans the materials stacked on the conveyor belt when the conveyor belt runs to obtain two-dimensional point cloud data of material stacking; acquiring the conveying speed of the conveyor belt, and combining the conveying speed, the two-dimensional point cloud data and the adjacent frame time difference to obtain three-dimensional point cloud data; and obtaining a three-dimensional point cloud coordinate of the material accumulation volume according to the three-dimensional point cloud data, and further calculating to obtain the material accumulation volume. The invention can improve the detection efficiency and accuracy of the material accumulation volume and increase the convenience of material accumulation volume detection.
Description
Technical Field
The invention relates to the technical field of material volume detection, in particular to a method and a system for measuring material accumulation volume based on laser scanning.
Background
At present, in the measurement of agricultural materials, the weight of the materials is generally measured, the automatic application in volume measurement is extremely small, and along with the development of the automation level, the accurate acquisition of the geometric model of agricultural products and the accumulation volume of irregular agricultural materials has important significance in the processes of analyzing quick freezing, long-term storage, harvesting, processing and the like. The traditional method for measuring the volume of the irregular agricultural product comprises a drainage method, a sand drainage method, a boxing method and the like, the method is time-consuming and labor-consuming, and in the measurement process, the agricultural product is contacted with water or sand, so that the pollution and the physicochemical property change of the product can be caused, and the measurement is inaccurate. Therefore, the method for measuring the agricultural material accumulation volume in an efficient and non-contact mode is significant for improving the agricultural automation level.
Disclosure of Invention
The invention provides a method and a system for measuring the material accumulation volume based on laser scanning, which solve the problems of time and labor consumption and inaccurate measurement of the existing contact measurement required by the volume measurement of agricultural products, can improve the detection efficiency and accuracy of the material accumulation volume, and increase the convenience of the material accumulation volume detection
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of measuring material bulk volume based on laser scanning, comprising:
arranging a laser scanner above a conveyor belt for conveying materials, wherein the laser scanner scans the materials stacked on the conveyor belt when the conveyor belt runs so as to obtain two-dimensional point cloud data of material stacking;
acquiring the conveying speed of the conveyor belt, and combining the conveying speed, the two-dimensional point cloud data and the adjacent frame time difference to obtain three-dimensional point cloud data;
and obtaining a three-dimensional point cloud coordinate of the material accumulation volume according to the three-dimensional point cloud data, and further calculating to obtain the material accumulation volume.
Preferably, the method further comprises the following steps:
and filtering the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data, and segmenting the point cloud of the conveyor belt and the material accumulation outline to segment the conveyor belt plane data.
Preferably, the filtering the three-dimensional point cloud data includes:
performing straight-through filtering on the three-dimensional point cloud data to filter out points with values not in a given value domain in a specified dimension direction;
after the through filtering, noise elimination is carried out by utilizing statistical filtering so as to remove noise points in the three-dimensional point cloud data;
and after removing noise, performing ground separation filtering to perform point cloud segmentation on the conveyor belt and the material accumulation outline so as to segment the plane data of the conveyor belt.
Preferably, the calculating obtains the material bulk volume, including:
and performing three-dimensional reconstruction according to the three-dimensional point cloud data to obtain a point cloud model, projecting the point cloud model to the ground, meshing the ground, calculating the volume of each grid corresponding to the prism unit, and summing to obtain the volume of material accumulation.
Preferably, the method further comprises the following steps:
and performing 2.5D volume calculation on the point cloud model by using three cuboid boxes with different volumes, comparing the calculated volume with the volume of material accumulation, and judging that the measurement accuracy of the volume of material accumulation meets the measurement requirement if the volume difference is smaller than a set threshold value.
Preferably, the merging the two-dimensional point cloud data and the adjacent frame time difference according to the transmission speed to obtain the three-dimensional point cloud data includes:
acquiring the time difference delta T of data measured by a laser scanner;
calculating the space Delta S between adjacent frames according to a formula Delta S-Delta T V, wherein V is the transmission speed;
defining the Y value of the first frame point cloud as 0, and then the Y value of the subsequent single frame data is: y is 0+ Δ S i Wherein i is the number of frames;
and combining two-dimensional point cloud data (X, Z) obtained by scanning according to the laser scanner and Y coordinates of all frames into three-dimensional point cloud data.
The invention also provides a system for measuring the material accumulation volume based on laser scanning, which comprises: the system comprises a conveyor belt, a laser scanner and an industrial personal computer;
the input end of the industrial personal computer is connected with the output end of the laser scanner, the laser scanner is arranged right above the conveyor belt and scans materials stacked on the conveyor belt when the conveyor belt runs so as to obtain two-dimensional point cloud data accumulated by the materials;
and the industrial personal computer combines the two-dimensional point cloud data and the adjacent frame time difference according to the conveying speed of the conveying belt to obtain three-dimensional point cloud data so as to obtain a three-dimensional point cloud coordinate of the material accumulation volume, and then calculates to obtain the material accumulation volume.
Preferably, the method further comprises the following steps: a filter;
the industrial personal computer is in signal connection with the filter, and the filter is used for filtering the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data and segmenting the point cloud of the accumulation outline of the conveyor belt and the material to segment the plane data of the conveyor belt.
Preferably, the method further comprises the following steps: touching a mould screen;
the touch screen is in signal connection with the industrial personal computer, is provided with a human-computer interaction operation interface and displays a material stacking outline and a material stacking volume in real time according to the three-dimensional point cloud coordinate.
Preferably, the method further comprises the following steps: a drive motor;
the transmission motor is in transmission connection with the conveyor belt, the transmission motor is in signal connection with the industrial personal computer, and the industrial personal computer controls the transmission motor to operate, so that the conveyor belt keeps a set conveying speed to push accumulated materials to the scanning area of the laser scanner at a constant speed.
The invention provides a method and a system for measuring material accumulation volume based on laser scanning, wherein a laser scanner is adopted to scan the material volume stacked on a conveyor belt to obtain two-dimensional point cloud data, and the two-dimensional point cloud data and adjacent frame time difference are combined into three-dimensional point cloud data according to the conveying speed of the conveyor belt to obtain the calculated material accumulation volume.
Drawings
In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.
Fig. 1 is a schematic diagram of a method for measuring a material bulk volume based on laser scanning according to the present invention.
Fig. 2 is a logic flow diagram for measuring a material bulk volume according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a system for measuring a material bulk volume based on laser scanning according to the present invention.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
The method aims at the problems of low detection efficiency and low accuracy of the current volume measurement of agricultural products. The invention provides a method and a system for measuring the material accumulation volume based on laser scanning, which solve the problems of time and labor consumption and inaccurate measurement due to the fact that the existing agricultural product volume measurement needs contact measurement, can improve the material accumulation volume detection efficiency and accuracy, and increase the material accumulation volume detection convenience.
As shown in fig. 1, a method for measuring a material accumulation volume based on laser scanning includes:
s1: arranging a laser scanner above a conveyor belt for conveying materials, wherein the laser scanner scans the materials stacked on the conveyor belt when the conveyor belt runs so as to obtain two-dimensional point cloud data of material stacking;
s2: acquiring the conveying speed of the conveyor belt, and combining the conveying speed, the two-dimensional point cloud data and the adjacent frame time difference to obtain three-dimensional point cloud data;
s3: and obtaining a three-dimensional point cloud coordinate of the material accumulation volume according to the three-dimensional point cloud data, and further calculating to obtain the material accumulation volume.
In practical applications, the laser scanner may use laser scanning types including laser triangulation ranging, laser radar, 3D structured light, and the like, wherein the laser radar has high theoretical accuracy, and preferably performs scanning.
In one embodiment, finished tobacco shreds can be selected as detection materials, the plane of a conveyor belt is kept horizontal, laser scanners are fixed right above the central line of the conveyor belt by side frame supports on two sides of the conveyor belt, a data line is connected with the laser scanners and an industrial personal computer, and the conveyor belt is driven by a conveying motor to drive at a constant speed. A flow chart of the operation of the entire measurement system is shown in fig. 2.
Before the system runs, the transmission belt and the laser instrument are firstly calibrated to be horizontally placed, the method is to place the level instruments on the top of the laser instrument and the plane of the transmission belt respectively, and fine adjustment is carried out according to parameters of the level instruments until the level instruments are horizontally placed. Sopas software can be used for seeing a real-time point cloud image, and the scanning angle is finely adjusted according to the range of the point cloud image, so that the final scanning angle range is kept in the area of the conveyor belt, and the acquisition of useless data is reduced. Reading real-time message data of the laser instrument, wherein the original message data mainly comprises an initial scanning angle alpha, an angular resolution beta and a start time T of each frame of data measurement i And a scanning distance value S j However, in addition to each frame of measurement time point, the format of other data is mostly 16 systems, the 16 systems of data of the original message data needs to be converted into 10 systems of data, and since the laser scanner is a two-dimensional scanner, the three-dimensional data needs to be synthesized by combining with a conveyor belt moving at a constant speed to obtain three-dimensional point cloud data. The method can solve the problems that the volume measurement of the existing agricultural products needs contact measurement, time and labor are consumed, and the measurement is inaccurate, can improve the detection efficiency and accuracy of the material accumulation volume, and increases the convenience of the material accumulation volume detection.
The method further comprises the following steps: and filtering the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data, and segmenting the point cloud of the stacking contour of the conveyor belt and the material to segment the plane data of the conveyor belt.
Further, the filtering processing of the three-dimensional point cloud data includes:
and performing straight-through filtering on the three-dimensional point cloud data to filter out points with values not in a given value domain in the specified dimension direction.
And after the through filtering, performing noise elimination by utilizing statistical filtering to remove noise points in the three-dimensional point cloud data.
And after removing noise, performing ground separation filtering to perform point cloud segmentation on the conveying belt and the material accumulation outline so as to segment the plane data of the conveying belt.
Specifically, after three-dimensional data are combined to obtain a complete three-dimensional point cloud coordinate, filtering the point cloud, and the steps are as follows: straight-through filtering, statistical filtering and straight-through ground separation filtering.
The straight-through filtering has the function of filtering out points with values not in a given value domain in the specified dimension direction, and the realization principle is as follows: firstly, appointing a dimension and a value range under the dimension, secondly, traversing each point in the point cloud, judging whether the value of the point on the appointed dimension is in the value range, deleting the points of which the value is not in the value range, and finally, finishing the traversal, wherein the remained points are the point cloud after filtering. The straight-through filtering algorithm is simple and efficient, and is suitable for operations such as background elimination. The algorithm is flexible to use, but completely depends on a limited field and corresponding conditions of a user, in the research, the operation characteristics of an online measuring system of the tobacco shred stacking volume are combined, the value range of the point cloud scanned by a laser instrument on an X axis is fixed, the Y axis data is obtained by calculating the scanning frequency and the conveyor belt speed of the laser instrument, the value range is limited, only the Z value is in the only unpredictable value range, and therefore the Z dimension is selected to set the value range to directly filter the tobacco shred point cloud data. Because the height of the laser instrument is generally fixed in the actual production, after the optimal height is determined, the corresponding value range can be directly determined by combining the actual tobacco shred height range in the production.
And after the straight-through filtering is finished, a few noise points still exist in the point cloud data, and then the function of eliminating the noise points can be performed by utilizing statistical filtering. The statistical filtering algorithm is used for removing discrete points, outliers are often introduced by measurement noise, and are characterized by being sparsely distributed in space, which can be understood as: each point expresses a certain information quantity, the denser a certain area point is, the larger the possible information quantity is, the outlier information belongs to useless information, and the information quantity is small, so that the information expressed by the outlier can be ignored. Considering the characteristics of outliers, it can be defined that the point cloud is smaller than a certain density, i.e. the point cloud is invalid.
For the scene of measuring the volume of the materials stacked on the conveyor belt, the distance between the laser instrument and the conveyor belt is generally not changed as long as the laser instrument is fixed, namely, the distance is determined only when the system is installed and debugged, and then the distance can be used for point cloud segmentation of the plane of the conveyor belt and the outline of the cut tobacco in volume calculation. When the distance is measured, the material of the conveying belt needs to be determined, the reflectivity is preferably within the range of 55% -90%, and the height distance can be accurately measured. The method is used for point cloud segmentation, and straight-through filtering is used for separating the conveyor belt plane and the tobacco shred outline data under the condition of the determined height of the laser instrument.
Further, the calculating to obtain the material bulk volume comprises:
and performing three-dimensional reconstruction according to the three-dimensional point cloud data to obtain a point cloud model, projecting the point cloud model to the ground, meshing the ground, calculating the volume of each grid corresponding to the prism unit, and summing to obtain the volume of material accumulation.
Further, the method also includes:
and performing 2.5D volume calculation on the point cloud model by using three cuboid boxes with different volumes, comparing the calculated volume with the volume of material accumulation, and judging that the measurement accuracy of the volume of material accumulation meets the measurement requirement if the volume difference is smaller than a set threshold value.
In practical application, the regular volume measurement utilizes three cuboid boxes with different volumes to carry out on-line measurement system accuracy verification, the three boxes are respectively subjected to laser scanning, point cloud processing and volume calculation experiments, and the parameters of the boxes are shown in table 1.
TABLE 1
The speed of the conveyor belt is controlled to be 85mm/s in the experiment, the height of the laser instrument is adjusted to be about 1200mm, the actual height is obtained by measuring the empty conveyor belt, the average value of the Z value of the measuring empty conveyor belt is 1208.594mm, and during point cloud processing, the method comprises the following steps: filtering directly, filtering abnormal values, and setting the value range to 1000-1250 mm. And secondly, counting and filtering, wherein in order to keep a few point cloud data on the side of the rule body, a K value is set as a default value of 6, and N is set as 1 during filtering. And thirdly, point cloud segmentation, wherein the conveyor belt plane can be segmented by utilizing the function because the intersecting boundary contour of the regular body and the conveyor belt plane is obvious. Straight-through filtering, the division of the boxes and the plane of the conveyor by means of straight-through filtering is simpler and more efficient, since the distance to the plane of the conveyor has been measured to be 1208.594.
The specific principle is that point cloud data with 2.5D characteristics are projected to the ground, the ground is divided into discrete grids with fixed step distances after meshing, the sum is the volume of an irregular body after the volumes of prism units corresponding to each grid are calculated, and the calculated volume tends to the true value of the point cloud outline volume as the grid is smaller. Interpolation processing is carried out on the vacancy values by selecting an interplate mode, the step distances are unified to be 1, the ground is defined as a conveyor belt plane, namely, the distance value constant is 1208.594mm, the top surface is point cloud data of the top of the box, and the obtained result is shown in table 2.
TABLE 2
As can be seen from Table 2, the volume measurement errors of the three boxes with different volumes are less than 1.5%, the average errors are less than 1%, the fluctuation is small, and the online measurement system can be judged to have extremely high volume detection accuracy and good stability on the regular body.
In order to verify the detection accuracy of the online measurement system on irregular accumulation materials, the true value of the accumulation volume of the materials to be detected needs to be measured. Taking the tobacco shred as an example, the material to be measured on the conveyor belt is poured into the conveyor belt with the length, width and height as follows: 300mm 285mm 160 mm's carton gently rocks until the material surface that awaits measuring is level and smooth, then measures the height of the material top that awaits measuring to the carton bottom and is 100mm, then the volume measured value of measuring the material on the conveyer belt is: 300 × 285 × 100 ═ 8550000 (mm) 3 ). The on-line measuring system is further utilized to carry out three times of measurement on the materials to be measured on the conveyor belt, and the three groups of point cloud data are subjected to point cloud processing and then 2.5D volume calculation to obtain the measured value of the materials to be measured of 8578269mm 3 、8504140mm 3 、8667057mm 3 Compared with measured values, the volume measurement errors are less than 1.5%, and the average error is 0.75%, so that the online measurement system is proved to have extremely high accuracy and good stability in volume detection of irregular materials.
Further, the merging to obtain three-dimensional point cloud data according to the transmission speed, the two-dimensional point cloud data and the time difference between adjacent frames includes:
acquiring the time difference delta T of data measured by a laser scanner;
calculating the space Delta S between adjacent frames according to a formula Delta S-Delta T V, wherein V is the transmission speed;
defining the Y value of the first frame point cloud as 0, and then the Y value of the subsequent single frame data is: y is 0+ Δ S i Wherein i is the number of frames;
and combining two-dimensional point cloud data (X, Z) obtained by scanning according to the laser scanner and Y coordinates of all frames into three-dimensional point cloud data.
In practical application, in three-dimensional modeling of irregular volume, it is common practice to define elevation as the Z axis of three-dimensional point cloud, and to define two-dimensional point cloud data scanned by a laser instrument under static state as represented by X and Z, and then the third three-dimensional data is Y axis data, and the main calculation principle is as follows:
time difference of adjacent frames: Δ T ═ Ti +1-Ti (i ═ 0, 1, 2 …).
Scanning angle corresponding to each distance value of single frame data: a + β i (i＝0、1、2…)。
And calculating to obtain coordinates (X, Z) according to the two-dimensional point cloud data.
Distance between adjacent frames: Δ S ═ Δ T × V.
Calculating third-dimensional data: since the scanner frequency reaches 50hz, the acquisition of single frame data is completed only within 20ms, so that the Y values of the single frame data are all consistent. Defining the Y value of the first frame point cloud as 0, and then the Y value of the subsequent single frame data is: y is 0+ Δ S i (i＝0、1、2…)。
The invention provides a method for measuring material accumulation volume based on laser scanning, which comprises the steps of scanning the material volume stacked on a conveyor belt by adopting a laser scanner to obtain two-dimensional point cloud data, combining the two-dimensional point cloud data and adjacent frame time difference into three-dimensional point cloud data according to the conveying speed of the conveyor belt to obtain the calculated material accumulation volume, solving the problems that the existing agricultural product volume measurement needs contact measurement, time and labor are consumed, the measurement is inaccurate, improving the material accumulation volume detection efficiency and accuracy, and increasing the convenience of material accumulation volume detection.
Accordingly, as shown in fig. 3, the present invention further provides a system for measuring a material accumulation volume based on laser scanning, comprising: conveyer belt, laser scanner and industrial computer. The input of industrial computer laser scanner's output is connected, laser scanner sets up directly over the conveyer belt, and to piling up when the conveyer belt operation material on the conveyer belt scans to acquire the accumulational two-dimensional point cloud data of material. And the industrial personal computer combines the two-dimensional point cloud data and the adjacent frame time difference according to the conveying speed of the conveying belt to obtain three-dimensional point cloud data so as to obtain a three-dimensional point cloud coordinate of the material accumulation volume, and then calculates to obtain the material accumulation volume.
The system further comprises: a filter; the industrial personal computer is in signal connection with the filter, and the filter is used for filtering the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data and segmenting the point cloud of the stacking contour of the conveyor belt and the material to segment the plane data of the conveyor belt.
The system further comprises: touching a mold screen; the touch screen is in signal connection with the industrial personal computer, is provided with a human-computer interaction operation interface and displays a material stacking outline and a material stacking volume in real time according to the three-dimensional point cloud coordinate.
The system further comprises: a drive motor; the transmission motor is in transmission connection with the conveyor belt, the transmission motor is in signal connection with the industrial personal computer, and the industrial personal computer controls the transmission motor to operate, so that the conveyor belt keeps a set conveying speed to push accumulated materials to the scanning area of the laser scanner at a constant speed.
In practical application, the laser scanner is a mock LMS111 scanner of the mock brand, the scanning frequency is 50hz, and the angular resolution is 0.5 degrees; the length of the conveyor belt is 1.5m, and the width of the conveyor belt is 0.5 m; the speed of the rotating motor can be adjusted in a stepless mode, and the speed range can be as follows: 50mm/s-150 mm/s.
The invention provides a system for measuring material accumulation volume based on laser scanning, which is characterized in that a laser scanner is adopted to scan the material volume stacked on a conveyor belt to obtain two-dimensional point cloud data, and the two-dimensional point cloud data and the adjacent frame time difference are combined into three-dimensional point cloud data according to the conveying speed of the conveyor belt to obtain the calculated material accumulation volume. The problem of the volume measurement of current agricultural product need the contact measurement, have consuming time power and measure unsafe is solved, the pile volume detection efficiency and the accuracy that can improve the material, increase the convenience that the volume detected is piled up to the material.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
Claims (10)
1. A method for measuring material bulk volume based on laser scanning is characterized by comprising the following steps:
arranging a laser scanner above a conveyor belt for conveying materials, wherein the laser scanner scans the materials stacked on the conveyor belt when the conveyor belt runs so as to obtain two-dimensional point cloud data of material stacking;
acquiring the conveying speed of the conveyor belt, and combining the conveying speed, the two-dimensional point cloud data and the adjacent frame time difference to obtain three-dimensional point cloud data;
and obtaining a three-dimensional point cloud coordinate of the material accumulation volume according to the three-dimensional point cloud data, and further calculating to obtain the material accumulation volume.
2. The method for measuring the bulk volume of a material based on laser scanning of claim 1, further comprising:
and after scanning, carrying out filtering processing on the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data, and segmenting the point cloud of the stacking contour of the conveyor belt and the material so as to segment the plane data of the conveyor belt.
3. The method for measuring material bulk volume based on laser scanning according to claim 2, wherein said filtering the three-dimensional point cloud data comprises:
performing straight-through filtering on the three-dimensional point cloud data to filter out points with values not in a given value domain in a specified dimension direction;
after the through filtering, noise elimination is carried out by utilizing statistical filtering so as to remove noise points in the three-dimensional point cloud data;
and after removing noise, performing ground separation filtering to perform point cloud segmentation on the conveying belt and the material accumulation outline so as to segment the plane data of the conveying belt.
4. The method of claim 3, wherein the calculating a material bulk volume comprises:
and performing three-dimensional reconstruction according to the three-dimensional point cloud data to obtain a point cloud model, projecting the point cloud model to the ground, meshing the ground, calculating the volume of each grid corresponding to the prism unit, and summing to obtain the volume of material accumulation.
5. The method for measuring the bulk volume of a material based on laser scanning according to claim 4, further comprising:
and performing 2.5D volume calculation on the point cloud model by using three cuboid boxes with different volumes, comparing the calculated volume with the volume of material accumulation, and judging that the measurement accuracy of the volume of material accumulation meets the measurement requirement if the volume difference is smaller than a set threshold value.
6. The method for measuring the material accumulation volume based on laser scanning as claimed in claim 5, wherein the merging of the two-dimensional point cloud data and the adjacent frame time difference according to the conveying speed to obtain the three-dimensional point cloud data comprises:
acquiring the time difference delta T of data measured by a laser scanner;
calculating the space Delta S between adjacent frames according to a formula Delta S-Delta T V, wherein V is the transmission speed;
defining the Y value of the first frame point cloud as 0, and then the Y value of the subsequent single frame data is: y is 0+ Δ S i Wherein i is the number of frames;
and (4) two-dimensional point cloud data (X, Z) obtained by scanning according to the laser scanner and Y coordinates of all frames are combined into three-dimensional point cloud data.
7. A system for measuring bulk material based on laser scanning, comprising: the system comprises a conveyor belt, a laser scanner and an industrial personal computer;
the input end of the industrial personal computer is connected with the output end of the laser scanner, the laser scanner is arranged right above the conveyor belt and scans materials stacked on the conveyor belt when the conveyor belt runs so as to obtain two-dimensional point cloud data accumulated by the materials;
and the industrial personal computer combines the two-dimensional point cloud data with the conveying speed of the conveying belt to obtain three-dimensional point cloud data so as to obtain three-dimensional point cloud coordinates of the material accumulation volume, and then calculates to obtain the material accumulation volume.
8. The system for measuring material bulk volume based on laser scanning of claim 7, further comprising: a filter;
the industrial personal computer is in signal connection with the filter, and the filter is used for filtering the three-dimensional point cloud data to remove abnormal data in the three-dimensional point cloud data and segmenting the point cloud of the accumulation outline of the conveyor belt and the material to segment the plane data of the conveyor belt.
9. The system for measuring material bulk volume based on laser scanning of claim 8, further comprising: touching a mold screen;
the touch screen is in signal connection with the industrial personal computer, is provided with a human-computer interaction operation interface and displays a material stacking outline and a material stacking volume in real time according to the three-dimensional point cloud coordinate.
10. The system for measuring material bulk volume based on laser scanning of claim 9, further comprising: a drive motor;
the transmission motor is in transmission connection with the conveyor belt, the transmission motor is in signal connection with the industrial personal computer, and the industrial personal computer controls the transmission motor to operate, so that the conveyor belt keeps a set conveying speed to push accumulated materials to the scanning area of the laser scanner at a constant speed.
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