CN201233223Y - Lumber automatic monitor system - Google Patents
Lumber automatic monitor system Download PDFInfo
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- CN201233223Y CN201233223Y CNU2008201095418U CN200820109541U CN201233223Y CN 201233223 Y CN201233223 Y CN 201233223Y CN U2008201095418 U CNU2008201095418 U CN U2008201095418U CN 200820109541 U CN200820109541 U CN 200820109541U CN 201233223 Y CN201233223 Y CN 201233223Y
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Abstract
The utility model relates to an automatic log supervision system. The system adopts laser measurement to acquire the areas of the cross sections of logs loaded on a traveling train, utilizes a video camera to shoot images to acquire the lengths of wagons in order to acquire the lengths of the loaded logs and automatically calculates the volume of the loaded logs in order to realize supervision on imported logs. Another system also comprises a device which shoots the images of the end surfaces of static logs and obtains the area of each log after processing the images of the end surfaces of the logs, and the system utilizes a graduated scale to measure the lengths of the logs, automatically calculates the volume of the logs in a yard or a static train and automatically supervises the logs according to the calculated volume. The improved system substitutes the prior manual volume measurement system and plays a positive role in fighting against smuggling crimes, reducing manual inspection examination intensity and increasing customs clearance efficiency and inspection examination accuracy.
Description
Technical field
The utility model relates to the supervision field, is specifically related to a kind of Wood automatic monitoring system, is used for supervising automatically driving vehicle and loads loading log in timber measurement, stockyard log or the stationary vehicle.
Background technology
China's log import in 2007 is nearly more than 3,000 ten thousand cubes according to statistics, 5,300,000,000 dollars of total values, and log is the bulk supply tariff of a lot of frontier custom houses of China port import, therefore need the emphasis supervision, wood volume is measured, checked, whether conceal to check, understatement with declaring quantity.The hand gauging method is adopted in the present stage metering of timber, to the suspicious timber of declaring, according to the specifying measurement of national standard, manually with tape measure every timber is measured, and the accuracy of this method and rationality are not very desirable.According to the regulation of national standard, its specific practice is: at each root timber, by the profile of the less end of its xsect, manually use box chi (tape measure) to determine its footpath level; Footpath level according to each root wood multiply by a coefficient of determining, obtains the volume number of this root wood, and all need the volume number of the wood of dipping accumulative total, just can obtain the volume number of required dipping wood, i.e. volume of timber number.
The hand gauging mode not only exists needs the shortcoming that personnel are many, labour intensity is big, efficient is low, potential safety hazard is many, and gauging error is big, fluctuation is big because human factor causes.Still do not reach comparatively ideal result even recheck to check and accept and strengthen management, inspection speed is slow, can only spot-check, and can't stop to smuggle phenomenon and exist.
For the automatic measurement test of wood volume, reported that remote sensing technology via satellite estimated the wood volume in some forest zone, land in 1997, but the precision of these methods and operating process obviously do not meet the existing national standard of China.
1992, people such as Brodie used computer vision and have detected log volume.This system has adopted the Hough Hough transform method that detects circular target, obtains the maximum value of Hough transformation results by the K means clustering algorithm, utilizes these maximum value to determine end face footpath grade, thereby calculates log volume.But this system can only handle the log end face of very approaching circle, and its measuring error scope is difficult to practicality in the timber metering at home of such gauging error within 10%.
Domestic, there is the research report based on the Computer Vision Detection log volume in Qingdao Marine University.This system has adopted the obtain instrument of video camera as image, the video input computing machine of gathering at the scene, in video, select image effect preferably picture handle.This system has adopted the technology of cluster analysis and fuzzy diagnosis, and the end face that is extracted depends on the threshold value that is adopted.System all is approximately circular to all end faces, and the average length that multiply by timber again of getting all timber two ends face area summations is as total volume of timber, and as seen, this system does not meet the existing national standard of China yet.
The research of Zhejiang Polytechnic College related work was arranged in 2002.This system has adopted a kind of improved Hausdorff distance algorithm to extract end profile.Though this method has certain innovation, only be to use some predetermined masterplates to approach end profile.
Said system does not extract its profile at each log end face, therefore also can't calculate the footpath level according to national standard, do not consider in the practical application except to log yet, also need demand that sheet material, sawn timber are measured, can't measure loading timber in the train under the motion state, can't satisfy the needs of customs field the timber supervision.
The utility model content
The purpose of this utility model provides a kind of Wood automatic monitoring system, realize the extraction of log end profile in the image, and then according to national standard calculating footpath level, the statistics log volume, and with laser measurement calculate, Machine Vision Recognition Technology sheet material measurement volume, the application of this system can reduce hand inspection intensity, improves and checks accuracy rate, the crime of effectively cracking down on smuggling.
For achieving the above object, the utility model adopts following technical scheme:
A kind of Wood automatic monitoring system is provided, is used for the timber that the train that travels loads is supervised, this system comprises: laser scanner, be connected with control module, be used for scanning the railway car that travels, obtain the outer contour data of timber in the compartment, and send it to control module; Control module, be connected with timber cross section acquiring unit with video camera respectively, the outer contour data that are used for receiving send to timber cross section acquiring unit, and obtain the splitting signal that train enters or leaves according to the outer contour data that receive, thereby control starting or stoping of video camera; Video camera, be used for taking continuously railway car by the time picture, and picture shot sent to the car length acquiring unit; Timber cross section acquiring unit is connected with the timber measurement administrative unit, is used for obtaining the timber area of section according to the outer contour data that receive, and sends it to the timber measurement administrative unit; The car length acquiring unit is connected with the timber measurement administrative unit, is used for obtaining car length according to the compartment displacement that receives picture, and sends it to the timber measurement administrative unit; The timber measurement administrative unit is used for obtaining the timber measurement that train loads according to timber area of section that receives and car length, supervises.
Wherein, described laser scanner is the two dimensional laser scanning instrument, be installed in the gantry frame of top, compartment or the both sides of support, described gantry frame is striden track and is set up, described support is at track two side positions, described two dimensional laser scanning instrument adopts the diffuse reflection laser scanner, and the distance of timber outline each point in the diffuse reflection laser scanner of scanning and the compartment is sent to control module.
Wherein, described timber cross section acquiring unit comprises: the coordinate transform subelement: be connected with the cross section accumulative total subelement of suing for peace, distance to timber outline each point in described diffuse reflection laser scanner and the compartment is carried out coordinate transform, obtain each point coordinate of outer contour of timber, and send it to cross section accumulation summation subelement; Described cross section accumulation summation subelement is connected with described timber measurement administrative unit, is used for each point coordinate of outer contour according to timber, obtains the area of section that loads timber by the accumulation summation.
Wherein, timber cross section acquiring unit also comprises log slit area removal subelement, be connected with described cross section accumulation summation subelement, be used for when the timber that train loads is log, the area of section of the loading timber that accumulation summation back is obtained and numerical range are 0.96～0.98 coefficient product, be used to remove the area that the log space takies, obtain the area of section of described log.
Wherein, described video camera is numeral or analog video camera, and video camera is installed on portal frame or the support, is taking from the train top, makes the visual field of video camera can cover track.
Wherein, described car length acquiring unit comprises: subelement is obtained in the compartment displacement, be connected with the car length computation subunit, be used for obtaining the compartment enter leave with the compartment during the displacement of the picture characteristic area of clapping, obtain the pixel that described displacement occupies and send it to the car length computation subunit; Unit picture element is demarcated subelement, is connected with the car length computation subunit, is used for calibrating camera and claps the pairing actual range of picture unit picture element; The car length computation subunit is connected with described timber measurement administrative unit, is used for pixel and the unit picture element pairing actual range shared according to described displacement, obtains the actual displacement in compartment, obtains car length.
The present invention also provides a kind of Wood automatic monitoring system, be used for the loading log of stockyard log or stationary vehicle is supervised, this system comprises: video camera, be connected with graphics processing unit, be used to take log end view drawing picture, and the log end view drawing of taking is looked like to send to graphics processing unit; Rule is used to measure the length of log; Described graphics processing unit is connected with the area of section acquiring unit, is used for the log end view drawing that receives is looked like to handle, and obtains every log The corresponding area in described log end view drawing picture, and sends it to the area of section acquiring unit; Described area of section acquiring unit, be connected with the log volume administrative unit, be used for according to every log determining the line of apsides and the center of each log end face in described log end view drawing picture The corresponding area, obtain described log area of section, and send to the log volume administrative unit; Described log volume administrative unit is used for obtaining log volume according to log area of section that receives and the log length that records, and supervises.
Wherein, described graphics processing unit comprises: image pre-service subelement, be connected with the image segmentation subelement, and be used for removing the background of log end view drawing picture, and the log end view drawing after will handling looks like to send to the image segmentation subelement; The image segmentation subelement extracts subelement with image outline and is connected, and is used for the log end view drawing after handling is looked like to carry out image segmentation, obtains the zone of every log correspondence in log end view drawing picture, and sends it to image outline extraction subelement; Image outline extracts subelement, is connected with the area of section acquiring unit, is used for that the log end view drawing after cutting apart is looked like to carry out profile and extracts, and obtains the profile of every log corresponding region in log end view drawing picture, and sends it to the connection of area of section acquiring unit.
Wherein, described image segmentation subelement comprises: the Hough transformation subelement, obtaining subelement with image pre-service subelement with matching degree respectively is connected, log end view drawing after handling is looked like to carry out Hough transformation, Hough according to every log end region correspondence changes peak value, determines the center of every log end region; Matching degree is obtained subelement, is connected with the profile subelement, and the center that is used to set with described every log end region is the circular shuttering in the center of circle, obtain described circular shuttering under different-diameter with the matching degree of every log end region; Subelement is determined in the zone, extracting subelement with image outline is connected, be used for obtaining matching degree that subelement obtains greater than stopping coupling under the setting threshold in matching degree, the circular shuttering of determining the matching degree maximum is a matching template, and the zone that falls in the described matching template is that log is in the corresponding zone of end view drawing picture.
Wherein, described video camera is numeral or analog video camera.
The Wood automatic monitoring system that the utility model provides can carry out simply, fast, mill scale accurately, by adopting laser measurement, the board measure volume of timber of profile detection technique to loading in the train that travels, adopt Flame Image Process and recognition technology that the log volume in travel train and the stockyard is measured, the project implementation can realize on the train in current and the wood volume in the stockyard carries out automatically, measurement fast, can substitute hand gauging fully, realize 100% examination, the crime of can effectively cracking down on smuggling.
Description of drawings
Fig. 1 is the composition frame chart of the utility model to the Wood automatic monitoring system;
Fig. 2 is 1 pair of automatic monitoring system composition frame chart that loads timber of embodiment;
The compartment cross sectional representation that Fig. 3 obtains for scanner among the embodiment 1;
Fig. 4 is the installation site synoptic diagram of video camera among the embodiment 1;
Fig. 5 is the outline synoptic diagram of timber in the compartment among the embodiment 1;
Fig. 6 is the another kind of Wood automatic monitoring block diagram of system of the utility model;
Fig. 7 is the automatic monitoring system composition frame chart of 2 pairs of logs of embodiment;
Fig. 8 is the Wood automatic monitoring system schematic of embodiment 3.
Among the figure: 1, image collecting device; 2, control computer; 3, converter; 4, switch; 5, data server.
Embodiment
The Wood automatic monitoring system that the utility model proposes is described in detail as follows in conjunction with the accompanying drawings and embodiments.
Be illustrated in figure 1 as the composition frame chart of the utility model to the Wood automatic monitoring system, be used for the timber that the train that travels loads is supervised, this system comprises: laser scanner, be connected with control module, be used for scanning the railway car that travels, obtain the outer contour data of timber in the compartment, and send it to control module; Control module, be connected with timber cross section acquiring unit with video camera respectively, the outer contour data that are used for receiving send to timber cross section acquiring unit, and obtain the splitting signal that train enters or leaves according to the outer contour data that receive, thereby control starting or stoping of video camera; Video camera, be used for taking continuously railway car by the time picture, and picture shot sent to the car length acquiring unit; Timber cross section acquiring unit is connected with the timber measurement administrative unit, is used for obtaining the timber area of section according to the outer contour data that receive, and sends it to the timber measurement administrative unit; The car length acquiring unit is connected with the timber measurement administrative unit, is used for obtaining car length according to the compartment displacement that receives picture, and sends it to the timber measurement administrative unit; The timber measurement administrative unit is used for obtaining the timber measurement that train loads according to timber area of section that receives and car length, judges that whether timber delivery goes beyond the scope, and supervises automatically.
The implementation of each component units in the native system is described in detail in detail below.
(1) laser scanner
For in train is run at high speed process, obtain the volume that every joint compartment loads timber, must be able to obtain to load in the compartment outer contour data of timber, laser scanner is the two dimensional laser scanning instrument in the present embodiment, adopt the diffuse reflection laser scanner to obtain to load in the compartment outer contour of timber, diffuse reflection laser setup scanning angle in each laser scanner is 90 degree, sweep frequency 75Hz, obtain each diffuse reflection laser instrument to each point distance by above-mentioned two laser scanners, and the diffuse reflection laser instrument is sent to control module to the each point distance by timber outline on the railway car by timber outline on the railway car.
The two dimensional laser scanning instrument is installed in the gantry frame of top, compartment or the both sides of support in the present embodiment, and described gantry frame is striden track and set up, and described support is at track two side positions.
(2) video camera
Video camera in the present embodiment is the black and white digital camera, as shown in Figure 4, is installed on (or on support) on the portal frame, takes from the train top, makes the visual field of video camera can cover the train driving track.
(3) control module
Control module is a Computer Control Unit in the present embodiment, be connected with video camera with above-mentioned laser scanner respectively, laser scanner is scanning that the compartment enters or obvious variation can take place the scan-data of compartment when leaving, computer installation can be judged according to above-mentioned scan-data and draws that the compartment enters or the splitting signal of compartment when leaving, start the video camera pictures taken or stop the video camera pictures taken according to above-mentioned splitting signal, in addition, Computer Control Unit sends to timber cross section acquiring unit in the computing machine with scan-data.
(4) timber cross section acquiring unit
As Fig. 2 is the utility model embodiment 1 Wood automatic monitoring system schematic, timber decoding acquiring unit comprises: coordinate transform subelement and cross section accumulation summation subelement, wherein, the coordinate transform subelement is connected with Computer Control Unit and the cross section accumulative total subelement of suing for peace respectively, distance to timber outline each point in described laser scanner and the compartment is carried out coordinate transform, obtain each point coordinate of timber outer contour in the compartment, and send it to cross section accumulation summation subelement.
The compartment cross sectional representation of Fig. 3 for obtaining by scanner, present embodiment obtains the outer contour of timber in the compartment with laser scanner and is based on laser distance measuring principle, promptly at first obtain the distance of 2 of A, B on the laser instrument of scanner and the loading plate, according to this distance setting coordinate, can draw in the compartment coordinate A (X of 2 of A, B on the loading plate through coordinate transform
j, Y
j), B (X
J+1, Y
J+1), set coordinate, and the distance value that obtains is carried out coordinate transformating technology for existing common technology, no longer describe in detail here.
Wherein xsect accumulation summation subelement is connected with the timber measurement administrative unit, is used for each point coordinate of outer contour according to timber, obtains the area of section that loads timber by the accumulation summation, and sends to the timber measurement administrative unit.
Top position, both sides in the train driving track, place the two dimensional laser scanning instrument respectively, because the scanning angle of laser setup is 90 degree in the scanner, can guarantee the complete scan of carrying out to the outer contour of timber in the compartment, because the sweep frequency of setting is 75Hz, can obtain 75 outer contours by above-mentioned scanner per second, this train is the train that travels, therefore, the outer contour of timber all is different in the compartment that at every turn scans, can obtain like this at the timber outer contour of railway car diverse location that travels, Fig. 5 is for being obtained the outer contour of timber in one of them compartment, above-mentioned A by laser scanner, 2 of B project to the X-Y axle through coordinate transform, and (X is a transverse axis, Y is the longitudinal axis) the area Δ S of the shade and shadow that surrounds part
jComputing formula be:
Vehicle can scan several outer contours that are positioned at the compartment diverse location from entering scanning area to leaving, to i area of section S that outer contour surrounds wherein
iJust can obtain, be specially by the accumulation summation:
Wherein, m is that counting on the outer contour of being gathered during the timber xsect in the laser scans compartment of scanner subtracts 1.
In the present embodiment when the timber that loads in the compartment is log, timber cross section acquiring unit also comprises log slit area removal subelement, this log slit area is removed subelement and is connected with cross section accumulation summation subelement, the area of section of the loading timber that accumulation summation back is obtained and numerical range are 0.96～0.98 coefficient product, be used to remove the area that the log space takies, obtain the area of section that train loads log.
By said method, can obtain the timber cross-sectional area that is positioned at the compartment diverse location that scans.
(5) car length acquiring unit
The Wood automatic monitoring block diagram of system of basis as shown in Figure 2, the car length acquiring unit comprises in the present embodiment:
Subelement is obtained in the compartment displacement, is connected with the car length computation subunit, be used for obtaining the compartment enter leave with the compartment during the displacement of the picture characteristic area of clapping, obtain the pixel that the compartment displacement occupies and send it to the car length computation subunit.
Unit picture element is demarcated subelement, is connected with the car length computation subunit, is used for calibrating camera and claps the pairing actual range of picture unit picture element; Clap the pairing actual range of unit picture element in the picture for calibrating camera, can erect scale in the visual field of video camera demarcates, if the length of scale is 2m, adjust camera parameter, make the number of pixels of scale correspondence be about 2000, then a pairing physical length of pixel in the image is about 1mm, therefore, as long as the edge navigates to the regulation that Pixel-level just can satisfy national standard.In addition, also can use the sideline in standard length compartment to replace scale to demarcate.
The car length computation subunit is connected with the timber measurement administrative unit, is used for pixel and the unit picture element pairing actual range shared according to the compartment displacement, obtains the actual displacement in compartment, obtains car length and sends to the timber measurement administrative unit.
Method according to the actual distance that moves in above-mentioned displacement calculating compartment in the present embodiment is: the physical length of obtaining a pixel correspondence in the captured image of digital camera; Obtain the shared number of pixels of described displacement; Physical length and number of pixels product by a described pixel correspondence obtain the distance that the true train compartment moves.
The outline figure in compartment as shown in Figure 5, provide data compartment head arrival and compartment afterbody that judgement draws to leave signal according to laser scanner in the present embodiment, will take the compartment head and to take the compartment displacement addition that calculates in n the picture that photographs between the compartment afterbody, then obtain the compartment total length L, formula is as follows:
L＝L
0+L
1+L
2...+L
n-1
Wherein, L
0Be the distance that compartment between first pictures that arrive to take from the compartment head and second pictures moves, L
1The distance that the compartment that obtains for second pictures and the 3rd pictures from compartment head arrival shooting moves, L
2The distance that the 3rd pictures of arrive taking for the compartment head and the compartment of the 4th pictures acquisition move, L
N-1The distance that the n-1 pictures of arrive taking for the compartment head and the compartment of n pictures acquisition move.
The compartment head that provides about above-mentioned laser scanner arrives and the compartment afterbody leaves the method for signal, can use laser scanner directly to be connected with digital camera, directly reach the signal that leaves with the compartment afterbody to the compartment head to the digital camera transmission scan, or laser scanner is connected to Computer Control Unit, obtain laser scanner scans by Computer Control Unit and arrive and compartment afterbody when leaving signal to the compartment head, indirect control figure video camera carries out or stops picture shooting.
Obtain the method that the car length unit obtains car length in the present embodiment and be not limited to above-mentioned accumulative total summation, the distance that also can be directly moved by the compartment that arrives first pictures taken and the acquisition of n pictures from the compartment head directly draws the total length in compartment.
(6) timber measurement administrative unit
Be used for obtaining the timber measurement that train loads, judge whether this delivery goes beyond the scope, realize supervising automatically according to timber area of section that receives and car length.
The timber measurement administrative unit is obtained the volume that loads timber in the present embodiment following method:
Got access to each area of section of loading timber of diverse location in the compartment according to timber cross section acquiring unit, obtain the volume of loading timber by above-mentioned mean value and the product of compartment total length that each loads the area of section of timber, this method is simple, and has certain degree of accuracy;
The sweep frequency of laser scanner is lower, even vehicle by the time only scan an xsect that loads timber by laser scanner, in this case, also can directly obtain the volume that loads timber by the product of this cross-sectional area and compartment total length, this method also can be obtained the volume that loads timber, but the xsect of the loading timber that obtains is many more, approaching more real timber xsect, and precision can be high more.
The sweep frequency of laser scanner is 75Hz in the present embodiment, when the compartment passes through, the cross-sectional view that obtains has several, therefore can obtain and load the cross-sectional area of timber at each diverse location of compartment, owing to can segmentation in the car length acquiring unit obtain the displacement in compartment, the mobile accumulation of each segmentation is summed to the compartment total length, therefore the different segment length in the corresponding compartment of actual every section displacement, owing to can get access to the interior a plurality of cross-sectional areas of the different sections in compartment according to laser scanner, therefore obtain every section volume that loads timber in the compartment, the volume accuracy of the loading timber that obtains like this is the highest, be exactly to adopt this method in the present embodiment, be specially:
Video camera take train by the time picture the time, adopt time set to obtain the used time Δ t of displacement of the unique point between two adjacent pictures, by the displacement of characteristic area in the two adjacent pictures, obtain the displacement L in actual compartment by coordinate transform
i, because the sweep frequency of laser instrument is 75Hz in the scanner, thus time of Δ t in, the compartment that is scanned loads timber cross section number n and is:
n＝Δt×75
Can draw section S
1(xsect that zero-time scanned of Δ t), section S
1+nCar goods volume delta V between (xsect) through being scanned behind the Δ t
iThe computing formula of (promptly wherein loading the volume of timber in one section compartment) is:
Wherein, L
iBy the displacement that the displacement of characteristic area in the two adjacent pictures is obtained actual compartment by coordinate transform, n for time of Δ t in the compartment that scanned load timber cross section number, Δ t is the used time of displacement of the unique point between two adjacent pictures.
Thereby the volume V that loads timber in the whole compartment just can calculate according to following formula:
Wherein, P is that i is an integer by the hop count in the resulting whole compartment of the captured continuous picture of digital camera.
Wood automatic monitoring system in the present embodiment, realization is to the automatic measurement of the timber measurement of being transported in the driving vehicle, managerial personnel judge whether to go beyond the scope according to the timber measurement that obtains, realize supervision automatically, owing to replaced traditional manual measurement, omission can not appear, and the volume accuracy height of the timber of detection, play positive role to hitting smuggling offences, the artificial examination of reduction intensity, raising customs clearance efficiency and examination accuracy.
Be illustrated in figure 6 as utility model another kind of Wood automatic monitoring system is provided, be used for the loading log of stockyard log or stationary vehicle is supervised, this system comprises: video camera, be connected with graphics processing unit, be used to take log end view drawing picture, and the log end view drawing of taking is looked like to send to graphics processing unit; Log length is obtained, and is used to adopt rule to measure the length of log; Graphics processing unit is connected with the area of section acquiring unit, is used for the log end view drawing that receives is looked like to handle, and obtains every log The corresponding area in described log end view drawing picture, and sends it to the area of section acquiring unit; The area of section acquiring unit, be connected with the log volume administrative unit, be used for according to every log determining the line of apsides and the center of each log end face in described log end view drawing picture The corresponding area, obtain described log area of section, and send to the log volume administrative unit; The log volume administrative unit is used for obtaining log volume according to log area of section that receives and the log length that records, and supervises.The implementation of each step in the present embodiment is described in detail in detail below.
In the present embodiment,, need set up the proportionate relationship of captured image and actual range because the cross-sectional area of log is to be obtained by image, measure under the log situation of stockyard, when video camera imaging, below rollway, place the scale of regular length, make it with the log end face in same plane.By calculating length of the scale pairing number of pixels in image, just can obtain the physical length of a pixel correspondence in the image.If length of the scale is 2m, adjust camera parameter, make the number of pixels of scale correspondence be about 2000, then a pairing physical length of pixel in the image is about 1mm, therefore, as long as the edge navigates to the regulation that Pixel-level just can satisfy national standard.In like manner, it also is the same that the log xsect obtains principle, in fact for most log end faces, even the length of its minor axis has small difference with physical length, also can not influence the division of its footpath level.
For near the situation that is not suitable for the log end face, placing scale, as the compartment end face of static train, can use the sideline in standard length compartment to replace scale to carry out calibrating length, also can in the visual field of video camera, erect scale in addition and demarcate.
As Fig. 7 is the structural drawing of present embodiment Wood automatic monitoring system, specifically comprises:
(1) video camera,
Video camera is connected with graphics processing unit in the present embodiment, is used to take log end view drawing picture, and the log end view drawing of taking is looked like to send to graphics processing unit, and this video camera is digital camera or analog video camera.
(2) graphics processing unit
Because a captured width of cloth log end view drawing looks like to have comprised hundreds of log end faces, extract the cross-sectional area that just can obtain log to the accurate profile of these different log end faces respectively.After obtaining log end view drawing picture, extract every log The corresponding area in log end view drawing picture in the present embodiment by graphics processing unit.
As shown in Figure 4, graphics processing unit comprises: image pre-service subelement, image segmentation subelement, image outline extract subelement.
The log end view drawing is connected with the image segmentation subelement as the pre-service subelement, is used for removing the background of log end view drawing picture, and the log end view drawing after will handling looks like to send to the image segmentation subelement.
The log end view drawing comprises artificial pre-service subelement and rim detection subelement again as the pre-service subelement in the present embodiment.
Artificial pre-service subelement, be used to eliminate the outer background of log to be detected, owing to comprised other scenery except that log to be measured in the original log image usually, for eliminating the influence of these backgrounds, need to adopt artificial pre-service subelement to carry out artificial pre-service, for next step processing provides unified information representation.
In the log volume automated detection system, because the variation of viewing field of camera, and the variation of detected object, make to exist some other scenery in the image.These scenery can bring influence to identification, so the problem that the pre-service of image will solve removes these irrelevant backgrounds exactly, unified information representation are provided for next step processing.Usually, the background more complicated that has nothing to do with the detection target in the image is so this operation is finished by hand by the operator.
The subsequent treatment of image is carried out in artificial pretreated zone, thereby can get rid of the interference of background.Owing to adopted the scale of standard length to determine the physical length of image pixel correspondence in the present embodiment, so the positional information of scale in image is most important, must position scale exactly, to reduce the measuring error of being brought because of the error of scale.Therefore, the definite of scale finished by the operator.
The rim detection subelement is used to adopt the method for rim detection to detect some trickle backgrounds and removal.
The image segmentation subelement extracts subelement with image outline and is connected, and is used for the log end view drawing after handling is looked like to carry out image segmentation, obtains the zone of every log correspondence in log end view drawing picture, and sends it to image outline extraction subelement.
Pretreated end view drawing is looked like to carry out image segmentation, obtain the zone of different logs correspondence in the end view drawing picture, image segmentation subelement in the present embodiment comprises: the Hough transformation subelement, obtaining subelement with image pre-service subelement with matching degree respectively is connected, log end view drawing after handling is looked like to carry out Hough transformation, Hough according to every log end region correspondence changes peak value, determines the center of every log end region; Matching degree is obtained subelement, is connected with the profile subelement, and the center that is used to set with every log end region is the circular shuttering in the center of circle, obtain circular shuttering under different-diameter with the matching degree of every log end region; Subelement is determined in the zone, extracting subelement with image outline is connected, be used for obtaining matching degree that subelement obtains greater than stopping coupling under the setting threshold in matching degree, the circular shuttering of determining the matching degree maximum is a matching template, and the zone that falls in the matching template is that log is in the corresponding zone of end view drawing picture.
In one width of cloth log end view drawing picture up to a hundred log end faces are often arranged, to analyze these end faces, at first will cut apart them, utilize the result of cutting apart that end face is further analyzed then, promptly the multi-target detection problem is converted into detection problem to a plurality of single goals to one, thereby makes follow-up graphical analysis become possibility.Like this, the image segmentation of log just has following two purposes, and the one, log end face and background separation in the image are opened, the 2nd, make it to separate thereby give specific markers with other end faces of image to each end face.It is accurate as far as possible to cut apart the feature description that should make each end face, makes the situation of many inspections, omission few as far as possible again.
Log end face image segmentation is to set up a kind of description to the image end face, and this description can reflect the approximate region at each log end face place in the image, and promptly different end faces is corresponding corresponding zone in image.Because the log end face overwhelming majority is the similar round shape, therefore the result who describes image segmentation with circle (coordinate and the radius of a circle that comprise the center of circle) is effectively, and the cluster that the essence of log end face image segmentation is just justified the class of each log end face correspondence in the image.
End view drawing after cutting apart is looked like to carry out profile to be extracted, obtain the profile of different logs corresponding region in the end view drawing picture, according to distinguish credible point and insincere point based on the rim detection that wavelet transformation carried out, remove the insincere point at edge, the credible point at edge is carried out interpolation recover edge contour, obtain the profile of different logs corresponding region in the end view drawing picture.
Image outline in the present embodiment extracts subelement, be connected with the area of section acquiring unit, be used for that the log end view drawing after cutting apart is looked like to carry out profile and extract, obtain the profile of every log corresponding region in log end view drawing picture, and send it to the connection of area of section acquiring unit.
(4) area of section acquiring unit
According to the profile of different logs corresponding region in the end view drawing picture, determine the line of apsides and the center of different log end faces, obtain the cross-sectional area of stockyard log or loading log.
Behind the profile that has obtained the log end face, need carry out the calculating of footpath level.Calculate the footpath level and will meet request of national standard.At first need to determine the center of log end face.Yet in the national standard, regulation is not determined the method at log end face center.During hand gauging, the center of log end face is to determine according to culler's experience.After test of many times and research, we are defined as the center of log end face in the center of circle of the maximum inscribed circle of log profile.
After obtaining the end face center, the length that can determine the log end face according to the profile and the center thereof of end face, minor axis.Its algorithm is: straight line is made at the center of crossing end face, the length of the line segment between two intersection points of record straight line and profile, and in all these line segments, the shortest line segment of length is the minor axis of end face.After obtaining the minor axis of end face, the straight line vertical with minor axis made at the center of crossing, and the line segment between two intersection points of this straight line and end profile is major diameter.So just obtained the line of apsides of end face, can follow national standard then and calculate the footpath level of end face and try to achieve the log area of section.
As Fig. 8 is the Wood automatic monitoring system of present embodiment, the train that wherein travels is a train, X-1, X, the compartment that the X+1 representative is different, be mounted with timber in this compartment, diverse location is separately installed with four video cameras above the train vibration influence track, video camera C1, C3 is used to take the end view drawing picture of timber in the compartment, C1, C3 is positioned at the track top, after the certain angle that tilts is respectively taken, the front end face image, video camera C2, C4 be positioned at both sides, track top be used for taking continuously the compartment by the time picture, be used to obtain car length, video camera C1, C2, C3, C4 is connected with image collecting device 1 respectively, image collecting device 1 is connected with control computer 2, image collecting device 1 is used for the image that video camera is taken is carried out data acquisition and sends to control computer 2, software in control is calculated is used to obtain car length, specifically can obtain the length in compartment by the method described in the embodiment 1, laser scanning instrument C5, C6 is used to scan the outline of timber in the compartment, be positioned at the left and right sides, track top, laser scanning instrument C5, C6 is connected back Access Control computing machine 2 with converter 3, converter 3 is used for that the distance value that laser scanner obtains is converted to coordinate figure and obtains timber outline data, the outline data are sent to control computer 2, also be used to obtain the timber area of section by the software in the control computer 2, specifically can calculate the timber cross-sectional area by embodiment 1 described method, control computer 2 can also be judged the signal that the compartment enters and leaves according to the outline data that receive simultaneously, thus control video camera C2, the startup of C4 and static.Control computer 2 can comprise each data of above-mentioned acquisition: compartment end face view data, car length data, compartment cross-sectional data, timber measurement data of calculating etc. send to by switch 4 preserves on the data server 5, and managerial personnel login this server can get access to each data.In the present embodiment because the translational speed of train of travelling is very fast, so the end view drawing picture by timber in the compartment of video camera C1, C3 shooting is not very accurate, so loading timber is that the situation of log is without this picture but obtain the log cross-sectional area by the method for embodiment 2, perhaps directly the timber area of section that obtains be multiply by coefficient 0.96～0.98, the image of taking is sent to file in the data server 5 by control computer 2, access the kind that above-mentioned picture obtains timber by managerial personnel, as the supplemental characteristic of management timber.
Above embodiment only is used to illustrate the utility model; and be not to restriction of the present utility model; the those of ordinary skill in relevant technologies field; under the situation that does not break away from spirit and scope of the present utility model; can also make various variations and modification; therefore all technical schemes that are equal to also belong to category of the present utility model, and scope of patent protection of the present utility model should be defined by the claims.
Claims (10)
1, a kind of Wood automatic monitoring system is used for the timber that the train that travels loads is supervised, and it is characterized in that this system comprises:
Laser scanner is connected with control module, is used for scanning the railway car that travels, and obtains the outer contour data of timber in the compartment, and sends it to control module;
Control module, be connected with timber cross section acquiring unit with video camera respectively, the outer contour data that are used for receiving send to timber cross section acquiring unit, and obtain the splitting signal that train enters or leaves according to the outer contour data that receive, thereby control starting or stoping of video camera;
Video camera, be used for taking continuously railway car by the time picture, and picture shot sent to the car length acquiring unit;
Timber cross section acquiring unit is connected with the timber measurement administrative unit, is used for obtaining the timber area of section according to the outer contour data that receive, and sends it to the timber measurement administrative unit;
The car length acquiring unit is connected with the timber measurement administrative unit, is used for obtaining car length according to the compartment displacement that receives picture, and sends it to the timber measurement administrative unit;
The timber measurement administrative unit is used for obtaining the timber measurement that train loads according to timber area of section that receives and car length, supervises.
2, Wood automatic monitoring as claimed in claim 1 system, it is characterized in that, described laser scanner is the two dimensional laser scanning instrument, be installed in the gantry frame of top, compartment or the both sides of support, described gantry frame is striden track and is set up, described support is at track two side positions, and described two dimensional laser scanning instrument adopts the diffuse reflection laser scanner, and the distance of timber outline each point in the diffuse reflection laser scanner of scanning and the compartment is sent to control module.
3, Wood automatic monitoring as claimed in claim 2 system is characterized in that described timber cross section acquiring unit comprises:
Coordinate transform subelement: be connected with the cross section accumulative total subelement of suing for peace, distance to timber outline each point in described diffuse reflection laser scanner and the compartment is carried out coordinate transform, obtain each point coordinate of outer contour of timber, and send it to cross section accumulation summation subelement;
Described cross section accumulation summation subelement is connected with described timber measurement administrative unit, is used for each point coordinate of outer contour according to timber, obtains the area of section that loads timber by the accumulation summation.
4, Wood automatic monitoring as claimed in claim 2 system is characterized in that described timber cross section acquiring unit also comprises:
Log slit area is removed subelement, be connected with described cross section accumulation summation subelement, be used for when the timber that train loads is log, the area of section of the loading timber that accumulation summation back is obtained and numerical range are 0.96～0.98 coefficient product, be used to remove the area that the log space takies, obtain the area of section of described log.
5, Wood automatic monitoring as claimed in claim 1 system is characterized in that described video camera is numeral or analog video camera, and described video camera is installed on portal frame or the support, is taking from the train top, makes the visual field of video camera can cover track.
6, as each described Wood automatic monitoring system of claim 1～5, it is characterized in that described car length acquiring unit comprises:
Subelement is obtained in the compartment displacement, is connected with the car length computation subunit, be used for obtaining the compartment enter leave with the compartment during the displacement of the picture characteristic area of clapping, obtain the pixel that described displacement occupies and send it to the car length computation subunit;
Unit picture element is demarcated subelement, is connected with the car length computation subunit, is used for calibrating camera and claps the pairing actual range of picture unit picture element;
The car length computation subunit is connected with described timber measurement administrative unit, is used for pixel and the unit picture element pairing actual range shared according to described displacement, obtains the actual displacement in compartment, obtains car length.
7, a kind of Wood automatic monitoring system is used for the loading log of stockyard log or stationary vehicle is supervised, and it is characterized in that this system comprises:
Video camera is connected with graphics processing unit, is used to take log end view drawing picture, and the log end view drawing of taking is looked like to send to graphics processing unit;
Rule is used to measure the length of log;
Described graphics processing unit is connected with the area of section acquiring unit, is used for the log end view drawing that receives is looked like to handle, and obtains every log The corresponding area in described log end view drawing picture, and sends it to the area of section acquiring unit;
Described area of section acquiring unit, be connected with the log volume administrative unit, be used for according to every log determining the line of apsides and the center of each log end face in described log end view drawing picture The corresponding area, obtain described log area of section, and send to the log volume administrative unit;
Described log volume administrative unit is used for obtaining log volume according to log area of section that receives and the log length that records, and supervises.
8, Wood automatic monitoring as claimed in claim 7 system is characterized in that described graphics processing unit comprises:
Image pre-service subelement is connected with the image segmentation subelement, is used for removing the background of log end view drawing picture, and the log end view drawing after will handling looks like to send to the image segmentation subelement;
The image segmentation subelement extracts subelement with image outline and is connected, and is used for the log end view drawing after handling is looked like to carry out image segmentation, obtains the zone of every log correspondence in log end view drawing picture, and sends it to image outline extraction subelement;
Image outline extracts subelement, is connected with the area of section acquiring unit, is used for that the log end view drawing after cutting apart is looked like to carry out profile and extracts, and obtains the profile of every log corresponding region in log end view drawing picture, and sends it to the connection of area of section acquiring unit.
9, Wood automatic monitoring as claimed in claim 8 system is characterized in that described image segmentation subelement comprises:
The Hough transformation subelement, obtaining subelement with image pre-service subelement with matching degree respectively is connected, log end view drawing after handling is looked like to carry out Hough transformation,, determine the center of every log end region according to the Hough variation peak value of every log end region correspondence;
Matching degree is obtained subelement, is connected with the profile subelement, and the center that is used to set with described every log end region is the circular shuttering in the center of circle, obtain described circular shuttering under different-diameter with the matching degree of every log end region;
Subelement is determined in the zone, extracting subelement with image outline is connected, be used for obtaining matching degree that subelement obtains greater than stopping coupling under the setting threshold in matching degree, the circular shuttering of determining the matching degree maximum is a matching template, and the zone that falls in the described matching template is that log is in the corresponding zone of end view drawing picture.
10, Wood automatic monitoring as claimed in claim 7 system is characterized in that described video camera is numeral or analog video camera.
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| CNU2008201095418U CN201233223Y (en) | 2008-07-30 | 2008-07-30 | Lumber automatic monitor system |
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| CNU2008201095418U CN201233223Y (en) | 2008-07-30 | 2008-07-30 | Lumber automatic monitor system |
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| CN103900970A (en) * | 2014-03-25 | 2014-07-02 | 中华人民共和国常熟出入境检验检疫局 | Method for automatically identifying end face of log |
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