CN117456107A - Three-dimensional mapping method and device for granary - Google Patents
Three-dimensional mapping method and device for granary Download PDFInfo
- Publication number
- CN117456107A CN117456107A CN202311754908.7A CN202311754908A CN117456107A CN 117456107 A CN117456107 A CN 117456107A CN 202311754908 A CN202311754908 A CN 202311754908A CN 117456107 A CN117456107 A CN 117456107A
- Authority
- CN
- China
- Prior art keywords
- granary
- dimensional
- trigger
- grain
- discrete
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000013507 mapping Methods 0.000 title claims abstract description 33
- 238000010586 diagram Methods 0.000 claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 230000005284 excitation Effects 0.000 claims description 3
- 235000013339 cereals Nutrition 0.000 description 43
- 238000010276 construction Methods 0.000 description 9
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 241000209140 Triticum Species 0.000 description 2
- 235000021307 Triticum Nutrition 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/50—Lighting effects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Business, Economics & Management (AREA)
- Marine Sciences & Fisheries (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Animal Husbandry (AREA)
- Software Systems (AREA)
- Mining & Mineral Resources (AREA)
- Geometry (AREA)
- Optics & Photonics (AREA)
- Economics (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses a three-dimensional mapping method and device for a granary, relates to the field of granary modeling, and comprises the following steps: an omnidirectional light beam transceiver is arranged at a channel opening (1) of the granary, and a downward light beam transceiver is arranged at the top end face (2) of the granary; the omnidirectional beam transceiver is matched with the downward beam transceiver, and discrete three-dimensional elevation diagrams of grain surfaces are generated through cross checking; fitting to a three-dimensional map in the granary based on a preset height of the granary; wherein the light beam transceiver is used for ranging. According to the method, the three-dimensional elevation continuous map of the grain surface is obtained through laser and electromagnetic wave matching analysis, and three-dimensional map building data in the granary are accurately obtained.
Description
Technical Field
The application relates to the field of granary modeling, in particular to a three-dimensional mapping method and device for a granary.
Background
It is estimated that rice, wheat, etc. as main grain sources are not only damaged by various pests in the growth stage but also undergo great loss in the storage stage.
In the existing scene, when researching a bulk grain construction scheme for the granary, a clear and mature external construction modeling and drawing construction mode is provided for the external granary, and the method comprises unmanned aerial vehicle shooting and granary model generation according to construction drawings;
however, there is no related technology modeling for the inner side of the granary used for molding at present, so a three-dimensional mapping method and device for the granary are needed.
Disclosure of Invention
The three-dimensional mapping method and device for the granary solve the problems in the prior art.
In a first aspect, the present application provides a three-dimensional mapping method for a grain bin, comprising: an omnidirectional light beam transceiver is arranged at the channel opening of the granary, and a downward light beam transceiver is arranged at the top end surface of the granary;
the omnidirectional beam transceiver is matched with the downward beam transceiver, and discrete three-dimensional elevation diagrams of grain surfaces are generated through cross checking;
fitting to a three-dimensional map in the granary based on a preset height of the granary;
wherein the light beam transceiver is used for ranging.
Preferably, the method comprises the steps of: the omnidirectional beam transceiver is arranged at a circle of position interval on the inner periphery of the joint of the channel opening and the granary.
Preferably, the downward beam transceivers are arranged at a plurality of discrete points on the top end surface of the granary, and each two adjacent beam transceivers correct the error value of beam transceiver according to the height difference on the top end surface, and the beam transceivers emit laser and analyze the height value of the corresponding local grain surface based on the excitation signal generated by the fastest return light.
Preferably, the system further comprises a first trigger and a second trigger which are mutually radar signal transmitting and receiving ends, wherein the system is based on the fact that the preset height of the granary is fit into a three-dimensional building diagram in the granary, signal interference waveforms received by the first trigger and the second trigger are used for assisting the fitting into the three-dimensional building diagram in the granary, and the signal interference waveforms comprise granary wall interference and grain height Cheng Zhedang interference.
Preferably, the first trigger and the second trigger are both provided with directional antennas, the axis of the main lobe is coaxial, and the axis is vertical to the horizontal plane.
Preferably, the first trigger or the second trigger is driven around the grain bin along the edge of the grain bin wall at discrete points along the edge of the grain bin wall by the downward beam transceiver.
Preferably, the first trigger or the second trigger is driven around the granary along the mean elevation of the discrete three-dimensional elevation map of the grain surface.
Preferably, the maximum value elevation and the minimum value elevation of the first trigger or the second trigger along the discrete three-dimensional elevation map of the grain surface are respectively attached to the wall of the granary to drive around the granary, and then the neighborhood of discrete points in the discrete three-dimensional elevation map is fitted based on the cross analysis of the two signal interference waveforms to form a linear three-dimensional curved surface map.
In a second aspect, the present application provides a three-dimensional mapping method for a grain bin, implemented based on the apparatus according to any one of the first aspects, comprising the steps of:
s1, collecting ranging data of a light beam transceiver and presetting the height of a granary;
s2, cross-verifying the laser data and generating a discrete three-dimensional elevation map about the grain surface;
and s3, calculating and fitting a three-dimensional building map in the granary according to the discrete three-dimensional elevation map and the preset granary height.
Further, the method further comprises the following steps:
s2.1, collecting signal interference waveforms of a first trigger and a second trigger which are mutually radar signal transmitting and receiving ends, wherein the signal interference waveforms are used for assisting the fitting into a three-dimensional building diagram in a granary, and the signal interference waveforms comprise granary wall interference and grain height Cheng Zhedang interference.
The beneficial effects of this application include:
according to the grain surface position interference data adjusting method, the interference of noise data is avoided, and the grain surface position is accurately acquired.
According to the method, the three-dimensional elevation continuous map of the grain surface is obtained through laser and electromagnetic wave matching analysis, and three-dimensional map building data in the granary are accurately obtained.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the principle of the present application. In the drawings:
fig. 1 is a schematic diagram of a three-dimensional mapping apparatus for a grain bin according to an exemplary embodiment of the present application.
Fig. 2 is a schematic diagram illustrating dynamic turning of a trigger under a cross-section of a three-dimensional mapping device for a grain bin according to an exemplary embodiment of the present application.
Fig. 3 is a schematic front perspective view of a three-dimensional mapping apparatus for a grain bin according to an exemplary embodiment of the present application.
Fig. 4 is a two-dimensional schematic diagram of a three-dimensional mapping apparatus for a grain bin overlapping front perspective and rear perspective according to an exemplary embodiment of the present application.
Fig. 5 is a flow chart of a three-dimensional mapping method for a grain bin according to an exemplary embodiment of the present application.
In the figure:
1. a passage opening; 2. an end face; 3. a first trigger; 4. and a second trigger.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
It is estimated that rice, wheat, etc. as main grain sources are not only damaged by various pests in the growth stage but also undergo great loss in the storage stage. In the existing scene, when researching a bulk grain construction scheme for the granary, a clear and mature external construction modeling and drawing construction mode is provided for the external granary, and the method comprises unmanned aerial vehicle shooting and granary model generation according to construction drawings; however, there is no related technology modeling for the inner side of the granary used for molding at present, so a three-dimensional mapping method and device for the granary are needed.
The specific application scene of the method is a granary built-in map scene, and granary built-in map data are favorable for correcting the details of granary buildings, so that various data references are provided for the investment, construction and use of subsequent granaries.
According to the method, by constructing a laser scanning mode, according to return light loss and optical path data, the elevation difference is analyzed, and under the condition that the elevation difference is known by matching the crossed laser data with the top end face of the granary, based on the initial position of laser output, a perspective data calculation mode and the like is adopted, discrete grain points corresponding to the number of the laser output positions on the grain surface are analyzed and obtained, and then a mathematical method is used for fitting the multi-discrete data into a three-dimensional building diagram in the granary.
The three-dimensional mapping method and device for the granary aim to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example 1:
the embodiment relates to a three-dimensional image building device for a granary, which comprises: fig. 1 is a schematic diagram of a three-dimensional mapping apparatus for a grain bin according to an exemplary embodiment of the present application. As shown in fig. 1, an omnidirectional beam transceiver is arranged at a channel opening 1 of the granary and a downward beam transceiver is arranged at a top end surface 2 of the granary; the omnidirectional beam transceiver is matched with the downward beam transceiver, and discrete three-dimensional elevation diagrams of grain surfaces are generated through cross checking; fig. 3 is a schematic front perspective view of a three-dimensional mapping apparatus for a grain bin according to an exemplary embodiment of the present application. As shown in fig. 3, the vertical lines are discrete elevation lines, the height is the elevation value of the perspective projection under the current view angle, and a plurality of elevation lines are connected with the grain track curve of the perspective projection under the current view angle. Fitting to a three-dimensional map in the granary based on a preset height of the granary; wherein the light beam transceiver is used for ranging. The omnidirectional light beam transceiver is arranged at a circle of position interval on the inner periphery of the joint of the channel opening 1 and the granary. The downward beam transceivers are arranged at a plurality of discrete points on the top end face 2 of the granary and are distributed, each two adjacent beam transceivers correct the error value of beam transceiver according to the height difference of the top end face 2, and the beam transceivers emit laser and analyze the height value of the corresponding local grain surface based on the excitation signal generated by the fastest return light.
Example 2:
on the basis of embodiment 1, fig. 2 is a schematic diagram showing dynamic turning of a trigger under a cross section of a three-dimensional mapping device for a granary according to an exemplary embodiment of the present application. As shown in fig. 2, the system further comprises a first trigger 3 and a second trigger 4 which are mutually radar signal transmitting and receiving ends, wherein the system is fitted into a three-dimensional building in a granary based on a granary preset height, signal interference waveforms received by the first trigger 3 and the second trigger 4 are used for assisting the fitting into the three-dimensional building in the granary, and the signal interference waveforms comprise granary wall interference and grain height Cheng Zhedang interference. Fig. 4 is a two-dimensional schematic diagram of a three-dimensional mapping apparatus for a grain bin overlapping front perspective and rear perspective according to an exemplary embodiment of the present application. According to the analysis of the signal interference waveforms obtained by the two triggers, the first trigger 3 and the second trigger 4 obtain grain surface track curves respectively collected from opposite perspective projection, the middle of the two grain surface track curves is an axis, and after the triggers move, the collected grain surface track curves float up and down at the axis position;
furthermore, the first trigger 3 and the second trigger 4 are both provided with directional antennas, the axes of the main lobes are coaxial, and the axes are vertical to the horizontal plane.
Preferably, or in one scanning mode, the maximum value elevation and the minimum value elevation of the first trigger 3 or the second trigger 4 along the discrete three-dimensional elevation map of the grain surface are respectively attached to the wall of the granary to drive the granary around the granary, and then the neighborhood of discrete points in the discrete three-dimensional elevation map is fitted based on the cross analysis of the two signal interference waveforms to form a linear three-dimensional curved surface map.
Preferably, or in a second mode, the first trigger 3 or the second trigger 4 is driven around the granary along the edge discrete points of the granary wall along the edge of the granary wall by the downward light beam transceiver.
Preferably, or in a three-way scanning mode, the first trigger 3 or the second trigger 4 is driven around the granary along the mean elevation of the discrete three-dimensional elevation map of the grain surface.
Example 3
A three-dimensional mapping method for a granary is implemented based on the devices of embodiment 1 and embodiment 2, and fig. 5 is a flowchart of a three-dimensional mapping method for a granary according to an exemplary embodiment of the present application. As shown in fig. 5, the method comprises the following steps:
s1, collecting ranging data of a light beam transceiver and presetting the height of a granary;
s2, cross-verifying the laser data and generating a discrete three-dimensional elevation map about the grain surface;
s2.1, collecting signal interference waveforms of a first trigger 3 and a second trigger 4 which are mutually radar signal transmitting and receiving ends, wherein the signal interference waveforms are used for assisting the fitting into a three-dimensional building diagram in a granary, and the signal interference waveforms comprise granary wall interference and grain height Cheng Zhedang interference;
and s3, calculating and fitting a three-dimensional building map in the granary according to the discrete three-dimensional elevation map and the preset granary height.
According to the grain surface position interference data adjusting method, the interference of noise data is avoided, and the grain surface position is accurately acquired. According to the method, the three-dimensional elevation continuous map of the grain surface is obtained through laser and electromagnetic wave matching analysis, and three-dimensional map building data in the granary are accurately obtained.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another apparatus, or some features may be omitted or not performed.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in hardware plus software functional modules.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as methods or apparatus. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A three-dimensional drawing device for granary, its characterized in that includes: an omnidirectional light beam transceiver is arranged at a channel opening (1) of the granary, and a downward light beam transceiver is arranged at the top end face (2) of the granary;
the omnidirectional beam transceiver is matched with the downward beam transceiver, and discrete three-dimensional elevation diagrams of grain surfaces are generated through cross checking;
fitting to a three-dimensional map in the granary based on a preset height of the granary;
wherein the light beam transceiver is used for ranging.
2. The three-dimensional mapping apparatus for a grain bin of claim 1, comprising: the omnidirectional beam transceiver is arranged at a circle of position interval on the inner periphery of the joint of the channel opening (1) and the granary.
3. The three-dimensional mapping apparatus for grain bin according to claim 2, characterized in that the downward beam transceivers are arranged at a plurality of discrete points of the top end surface (2) of the grain bin, and each two adjacent beam transceivers correct the error value of the beam transceiver according to the height difference at the top end surface (2), and the beam transceivers emit laser light and analyze the height value of the corresponding local grain surface based on the excitation signal generated by the fastest return light.
4. The three-dimensional mapping apparatus for a granary according to claim 1, further comprising a first trigger (3) and a second trigger (4) which are mutually radar signal transmitting and receiving ends, wherein the three-dimensional mapping in the granary is fitted based on a granary preset height, and signal interference waveforms received by the first trigger (3) and the second trigger (4) are used for assisting the fitting to the three-dimensional mapping in the granary, wherein the signal interference waveforms comprise granary wall interference and grain height Cheng Zhedang interference.
5. The three-dimensional mapping device for granary according to claim 4, wherein the first trigger (3) and the second trigger (4) are provided with directional antennas, the axes of the main flaps are coaxial, and the axes are vertical to the horizontal plane.
6. The three-dimensional mapping apparatus for a grain bin according to claim 5, wherein the first trigger (3) or the second trigger (4) is driven around the grain bin along the edge discrete points of the downward beam transceiver along the grain bin wall.
7. The three-dimensional mapping apparatus for a grain bin according to claim 5, wherein the first trigger (3) or the second trigger (4) is driven around the grain bin along the mean elevation of the discrete three-dimensional elevation map of the grain surface.
8. The three-dimensional mapping device for the granary according to claim 5, wherein the first trigger (3) or the second trigger (4) is respectively attached to the granary wall along the maximum value elevation and the minimum value elevation of the discrete three-dimensional elevation map of the grain surface to drive around the granary, and then is used for fitting the neighborhood of the discrete points in the discrete three-dimensional elevation map based on the cross analysis of the two signal interference waveforms to form a linear three-dimensional curved surface map.
9. A three-dimensional mapping method for a grain bin, characterized in that it is realized on the basis of the device according to any one of claims 1-8, comprising the following steps:
s1, collecting ranging data of a light beam transceiver and presetting the height of a granary;
s2, cross-verifying the laser data and generating a discrete three-dimensional elevation map about the grain surface;
and s3, calculating and fitting a three-dimensional building map in the granary according to the discrete three-dimensional elevation map and the preset granary height.
10. The three-dimensional mapping method for a grain bin according to claim 9, further comprising collecting signal interference waveforms of a first trigger (3) and a second trigger (4) which are mutually radar signal transmitting and receiving ends, for assisting the fitting into the three-dimensional mapping in the grain bin, wherein the signal interference waveforms comprise grain bin wall interference and grain height Cheng Zhedang interference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311754908.7A CN117456107B (en) | 2023-12-20 | 2023-12-20 | Three-dimensional mapping method and device for granary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311754908.7A CN117456107B (en) | 2023-12-20 | 2023-12-20 | Three-dimensional mapping method and device for granary |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117456107A true CN117456107A (en) | 2024-01-26 |
| CN117456107B CN117456107B (en) | 2024-03-19 |
Family
ID=89595147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311754908.7A Active CN117456107B (en) | 2023-12-20 | 2023-12-20 | Three-dimensional mapping method and device for granary |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117456107B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105009834A (en) * | 2014-07-12 | 2015-11-04 | 施侃超 | Underground moisture-proof granary comprising connecting interface with steel-cored plastic pile head and wall protection plate |
| CN204965121U (en) * | 2015-09-29 | 2016-01-13 | 吉林省粮油科学研究设计院 | Grain storage intelligent monitoring system based on three -dimensional laser scanning |
| CN212685540U (en) * | 2020-07-29 | 2021-03-12 | 郑州工大粮安科技有限公司 | Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices |
| CN112629415A (en) * | 2020-12-29 | 2021-04-09 | 合肥达朴汇联科技有限公司 | Granary grain volume measurement system |
| CN114863275A (en) * | 2022-04-27 | 2022-08-05 | 北京良安科技有限公司 | Three-dimensional mapping method, system, equipment and storage medium for granary |
| CN115014371A (en) * | 2022-05-27 | 2022-09-06 | 河南工业大学 | Positioning and mapping method and device for grain transfer vehicle of intelligent grain depot and storage medium |
-
2023
- 2023-12-20 CN CN202311754908.7A patent/CN117456107B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105009834A (en) * | 2014-07-12 | 2015-11-04 | 施侃超 | Underground moisture-proof granary comprising connecting interface with steel-cored plastic pile head and wall protection plate |
| CN204965121U (en) * | 2015-09-29 | 2016-01-13 | 吉林省粮油科学研究设计院 | Grain storage intelligent monitoring system based on three -dimensional laser scanning |
| CN212685540U (en) * | 2020-07-29 | 2021-03-12 | 郑州工大粮安科技有限公司 | Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices |
| CN112629415A (en) * | 2020-12-29 | 2021-04-09 | 合肥达朴汇联科技有限公司 | Granary grain volume measurement system |
| CN114863275A (en) * | 2022-04-27 | 2022-08-05 | 北京良安科技有限公司 | Three-dimensional mapping method, system, equipment and storage medium for granary |
| CN115014371A (en) * | 2022-05-27 | 2022-09-06 | 河南工业大学 | Positioning and mapping method and device for grain transfer vehicle of intelligent grain depot and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| ZAHNG ZHENG-YOU: "Flexible New Technique for Camera Calibration", IEEE, vol. 22, no. 11, 31 December 2020 (2020-12-31), pages 1330 - 1334 * |
| 李万龙等: "基于计算机视觉的储备粮智能稽核方法", 吉林大学学报(信息科学版), vol. 31, no. 1, 15 January 2013 (2013-01-15), pages 107 - 112 * |
| 赵燕东等: "基于WPF的粮仓三维激光测绘系统设计与开发", 《农业工程学报》, vol. 32, no. 11, 30 June 2016 (2016-06-30), pages 265 - 270 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117456107B (en) | 2024-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Banerjee et al. | Online camera lidar fusion and object detection on hybrid data for autonomous driving | |
| EP4283328A1 (en) | Multi-radar and camera joint calibration method, system and device, and storage medium | |
| CN107862293B (en) | Radar color semantic image generation system and method based on countermeasure generation network | |
| CN110645974B (en) | Mobile robot indoor map construction method fusing multiple sensors | |
| CN107167788B (en) | Method and system for obtaining laser radar calibration parameters and laser radar calibration | |
| US20200234491A1 (en) | System for generating point cloud map and method therefor | |
| WO2020133217A1 (en) | Continuous obstacle detection method, device and system, and storage medium | |
| CN112907676A (en) | Calibration method, device and system of sensor, vehicle, equipment and storage medium | |
| US20220276360A1 (en) | Calibration method and apparatus for sensor, and calibration system | |
| CN110568433A (en) | High-altitude parabolic detection method based on millimeter wave radar | |
| CN113534184B (en) | Laser-perceived agricultural robot space positioning method | |
| CN112045655B (en) | Mobile robot pose measurement method and system for large-scale multi-site scene | |
| CN114076918A (en) | Millimeter wave radar, laser radar and camera combined calibration method and device | |
| CN111369600B (en) | Laser radar point cloud data registration method based on reference object | |
| CN111060898B (en) | Internal reference calibration method for field end multi-line beam laser radar | |
| CN113064117A (en) | Deep learning-based radiation source positioning method and device | |
| CN110908374B (en) | Mountain orchard obstacle avoidance system and method based on ROS platform | |
| CN106570905A (en) | Initial attitude verification method of non-cooperative target point cloud | |
| CN115562348A (en) | Unmanned aerial vehicle image technology method based on transformer substation | |
| CN115661269B (en) | External parameter calibration method and device for camera and laser radar and storage medium | |
| CN108333587A (en) | Forward sight scanning radar super-resolution imaging method based on division Bregman | |
| CN117456107B (en) | Three-dimensional mapping method and device for granary | |
| CN115201849A (en) | Indoor map building method based on vector map | |
| CN106950552B (en) | Pulse compression radar non-difference blind-correction method | |
| CN109188394A (en) | Laser radar circuit system and laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |