CN204881572U - Measure equipment of object size - Google Patents
Measure equipment of object size Download PDFInfo
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- CN204881572U CN204881572U CN201520188368.5U CN201520188368U CN204881572U CN 204881572 U CN204881572 U CN 204881572U CN 201520188368 U CN201520188368 U CN 201520188368U CN 204881572 U CN204881572 U CN 204881572U
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- computing machine
- depth transducer
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- object disposing
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Abstract
The utility model provides a measure equipment of object size helps the high efficiency, accurately calculates the size of object. The utility model discloses a measure equipment of object size, including depth transducer, sensor frame, platform and computer, wherein: the depth transducer is arranged in on the sensor frame, and lie in in the space of platform top, the computer with the depth transducer is connected.
Description
Technical field
The utility model relates to a kind of equipment measuring dimension of object.
Background technology
When goods warehousing as needed measurement volumes, current usual mode manually measures, and efficiency and the accuracy of this mode are lower, and particularly for goods in irregular shape, the accuracy of manual measurement is lower.
Utility model content
In view of this, the utility model provides a kind of equipment measuring dimension of object, contributes to the size calculating object efficiently and accurately.
For achieving the above object, the utility model provides a kind of equipment measuring dimension of object.
The equipment of measurement dimension of object of the present utility model, comprises depth transducer, sensor frame, object disposing platform and computing machine, wherein: described depth transducer is placed on described sensor frame, and is arranged in the space above described object disposing platform; Described computing machine is connected with described depth transducer.
Alternatively, also comprise correction auxiliary device, this correction auxiliary device is the plane object with preselected pattern, is layered on described object disposing platform, for the auxiliary correction carried out depth transducer plane.
Alternatively, described correction auxiliary device comprises yarn fabric or the printed matter of black and white chessboard texture, and comprises transparent plate; Described yarn fabric or printed matter are layered on described object disposing platform, and described transparent plate is pressed in described yarn fabric or printed matter.
Alternatively, described transparent plate is armourplate glass or poly (methyl methacrylate) plate.
Alternatively, described sensor frame is connected with described object disposing platform.
Alternatively, described sensor frame is by be connected to each other and rectangular montant and cross bar form; Described depth transducer is fixed near the free end of described cross bar; Described computing machine is fixed on described montant; Described montant is fixed on described object disposing platform.
Alternatively, the Handheld bar code scanner be connected with described computing machine is also comprised.
Alternatively, described object disposing platform has four legs, and there is wheel the end of every bar leg; Described equipment also comprises handle, and this handle is connected with described object disposing platform.
Alternatively, described depth transducer is connected by USB interface with described computing machine; Described Handheld bar code scanner is connected by USB interface with described computing machine.
Alternatively, described computing machine is notebook computer or panel computer.
According to the technical solution of the utility model, carry out depth survey under testee being placed in depth transducer, then machine process as calculated, can obtain its height and long and wide, this mode carries out manual measurement without the need to personnel, improves efficiency; And it is more accurate than manual measurement.
Accompanying drawing explanation
Accompanying drawing is used for understanding the utility model better, does not form improper restriction of the present utility model.Wherein:
Fig. 1 is a kind of schematic diagram measuring the equipment of dimension of object according to the utility model embodiment;
Fig. 2 is the schematic diagram of the key step of the method for measurement dimension of object according to the utility model embodiment;
Fig. 3 is the schematic diagram of the main modular of the device of measurement dimension of object according to the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing, one exemplary embodiment of the present utility model is explained, comprising the various details of the utility model embodiment to help understanding, they should be thought it is only exemplary.Therefore, those of ordinary skill in the art will be appreciated that, can make various change and amendment, and can not deviate from scope and spirit of the present utility model to the embodiments described herein.Equally, for clarity and conciseness, the description to known function and structure is eliminated in following description.
The equipment of the measurement dimension of object in the utility model embodiment mainly comprises depth transducer, sensor frame, object disposing platform and computing machine, and wherein depth transducer is placed on sensor frame, and is arranged in the space above object disposing platform; Computing machine is connected with depth transducer.A kind of preferred structure of this equipment is shown in Figure 1, and Fig. 1 is a kind of schematic diagram measuring the equipment of dimension of object according to the utility model embodiment.As shown in Figure 1, the equipment measuring dimension of object mainly comprises sensor frame 1, depth transducer 2, computing machine 3, object disposing platform 4, correction auxiliary device 5, handle 6 of pulling a cart, wheel 7 (having 4 wheels, by visible 3 of visual angle in figure).Wheel is arranged on one end of the leg of object disposing platform, adds handle 6 of pulling a cart, and makes whole device have little loading transportation function of pulling a cart.Sensor frame 1, by be connected to each other and rectangular montant and cross bar form, is connected with object disposing platform 4.Depth transducer 2 shown in figure be positioned at this cross bar free end near.Depth transducer uses infrared distance measurement principle, to ultrared reflection, obtains the distance of this point to sensor place plane by catching certain point in the visual field.Depth transducer sends many parallel infrared rays, depth transducer plane and these infrared rays perpendicular.Computing machine 3 is fixed on montant, and is positioned at the side towards object disposing platform 4 of this montant, also can be positioned at the opposite side of this montant in addition.
Correction auxiliary device 5 is used to correct depth transducer 2.Because depth transducer plane is difficult to completely and object disposing platform place plane parallel when mounted, so preferably once correct.Correction auxiliary device is formed primarily of the yarn fabric of black and white chessboard texture or printed matter and transparent plate, first the yarn fabric of black and white chessboard texture or printed matter (such as Polypropylence Sheet or paper) are layered on object disposing platform 4, again transparent plate is forced up, make yarn fabric or printed matter smooth.Here black and white chessboard texture classes is similar to the chessboard of chess, and each row and column are the square (not shown) that black and white replaces.Transparent plate can select armourplate glass or poly (methyl methacrylate) plate.Measured object 9 is placed on transparent plate.
For the commodity in ecommerce, usually with bar code.A Handheld bar code scanner (not shown) can be connected on computing machine 3, the bar code on tested article 8 can be scanned like this.Computing machine 3 can adopt usually said notebook computer or panel computer, is connected respectively with depth transducer 2 and this barcode scanner by USB interface.
Fig. 2 is the schematic diagram of the key step of the method for measurement dimension of object according to the utility model embodiment.The method realizes based on the equipment of the measurement dimension of object in Fig. 1.
Step S21: the photo of depth transducer shooting correction auxiliary device, and the volume coordinate of measurement update servicing unit upper surface.
Step S22: computing machine, according to photo and volume coordinate, determines the distance of correction auxiliary device to depth transducer.
Step S23: after testee is placed on correction auxiliary device, depth transducer sends to computing machine by detecting the depth map obtained.
Step S24: computing machine calculates according to the data received, obtains the length, width and height data of testee.In this step, computing machine calculates the height H of testee according to H=D-d-h, and wherein D represents the distance of correction auxiliary device to depth transducer, and d represents the minimum depth value in the depth map after correction, and h represents the thickness of transparent plate; And all degree of depth are greater than d and are less than the boundary rectangle of the pixel of D-h in computing machine determination depth map, using the length of this boundary rectangle and the wide length as testee and wide.For the casing of the rectangular shape of rule, the length being rectangular parallelepiped obtained and wide; For irregular article, the length being the space of the rectangular shape that it takies obtained and wide.The length, width and height data Sequential output by size that computing machine can obtain in this step, can be used for a yard goods personnel reference like this.
Below again above-mentioned steps is described further.According to national forest park in Xiaokeng, in real world, coordinate is that pixel q in the some Q of [X, Y, Z] and photo meets following relation:
Q=MQ wherein
Wherein x is the horizontal ordinate of pixel, and y is the ordinate of pixel, and w is the degree of depth that sensor records, and M is camera internal reference matrix.According to above-mentioned formula, any point in photo can be mapped in real world.Again according to the range formula of point-to-point transmission, the distance of specifying point-to-point transmission can be tried to achieve in photo.
In step S22, specifically according to coordinate and the volume coordinate of the default mark point in photo, solve PnP problem and draw the distance of correction auxiliary device to depth transducer.That is, time on the equipment measuring dimension of object without article to be measured, shooting correction auxiliary device.Difference between the surving coordinate recorded by true coordinate and the camera of each point above correction auxiliary device, solve a PnP problem, the distance D of dolly desktop to depth transducer and the angle theta of depth transducer plane and correction auxiliary device place plane can be obtained.PnP problem is the basic problem of camera calibration, and its details can with reference to pertinent literature of the prior art.The input parameter of the present embodiment PnP problem is the coordinate of the mark point on N number of correction auxiliary device, 5 × 7=35 is such as adopted to mark point, output quantity is θ angle, three orthogonal angles components can be had, only use horizontal and vertical two horizontal components in the present embodiment, the angle component rotated along the longitudinal axis does not use.Use this θ angle, get final product the data that correction depth sensor obtains, in the present embodiment, correct above-mentioned D and d by the solution of PnP problem.
Fig. 3 is the schematic diagram of the main modular of the device of measurement dimension of object according to the utility model embodiment.This device, as software, can be arranged in above-mentioned computing machine, is used for the method for the measurement dimension of object realized in the present embodiment.As shown in Figure 3, the device 30 measuring dimension of object mainly comprises the first receiver module 31, first computing module 32, second receiver module 33, second computing module 34 and the 3rd computing module 35.
First receiver module 31 is for receiving the photo of the correction auxiliary device of depth transducer shooting, and the volume coordinate of the correction auxiliary device upper surface of depth transducer measurement; First computing module 32, for according to described photo and described volume coordinate, determines the distance of correction auxiliary device to depth transducer; Second receiver module 33 detects for receiving depth transducer the depth map obtained after testee is placed on correction auxiliary device; Second computing module 34 is for calculating the height H of testee according to H=D-d-h, wherein D represents the distance of correction auxiliary device to depth transducer, and d represents the minimum depth value in the depth map after correction, and h represents the thickness of transparent plate; 3rd computing module 35 for determining that in depth map, all degree of depth are greater than d and are less than the boundary rectangle of the pixel of D-h, using the length of this boundary rectangle and the wide length as testee and wide.
First computing module 32 also can be used for: according to coordinate and the described volume coordinate of the default mark point in photo, solve PnP problem and draw the distance of correction auxiliary device to depth transducer.
Measure the device 30 of dimension of object and can also comprise output module, for by the height of testee, length and wide Sequential output by size.
According to the technical scheme of the utility model embodiment, carry out depth survey under testee being placed in depth transducer, then machine process as calculated, can obtain its height and long and wide, this mode carries out manual measurement without the need to personnel, improves efficiency; And it is more accurate than manual measurement.
Below describe ultimate principle of the present utility model in conjunction with specific embodiments, in apparatus and method of the present utility model, obviously, each parts or each step can decompose and/or reconfigure.These decompose and/or reconfigure and should be considered as equivalents of the present utility model.Further, the step performing above-mentioned series of processes can order naturally following the instructions perform in chronological order, but does not need necessarily to perform according to time sequencing.Some step can walk abreast or perform independently of one another.
Above-mentioned embodiment, does not form the restriction to the utility model protection domain.It is to be understood that depend on designing requirement and other factors, various amendment, combination, sub-portfolio can be there is and substitute in those skilled in the art.Any do within spirit of the present utility model and principle amendment, equivalent to replace and improvement etc., all should be included within the utility model protection domain.
Above-mentioned embodiment, does not form the restriction to the utility model protection domain.It is to be understood that depend on designing requirement and other factors, various amendment, combination, sub-portfolio can be there is and substitute in those skilled in the art.Any do within spirit of the present utility model and principle amendment, equivalent to replace and improvement etc., all should be included within the utility model protection domain.
Claims (10)
1. measure an equipment for dimension of object, it is characterized in that, comprise depth transducer, sensor frame, object disposing platform and computing machine, wherein:
Described depth transducer is placed on described sensor frame, and is arranged in the space above described object disposing platform;
Described computing machine is connected with described depth transducer.
2. equipment according to claim 1, is characterized in that, also comprises correction auxiliary device, and this correction auxiliary device is the plane object with preselected pattern, is layered on described object disposing platform, for the auxiliary correction carried out depth transducer plane.
3. equipment according to claim 2, is characterized in that,
Described correction auxiliary device comprises yarn fabric or the printed matter of black and white chessboard texture, and comprises transparent plate;
Described yarn fabric or printed matter are layered on described object disposing platform, and described transparent plate is pressed in described yarn fabric or printed matter.
4. equipment according to claim 3, is characterized in that, described transparent plate is armourplate glass or poly (methyl methacrylate) plate.
5. equipment according to any one of claim 1 to 4, is characterized in that, described sensor frame is connected with described object disposing platform.
6. equipment according to any one of claim 1 to 4, is characterized in that,
Described sensor frame is by be connected to each other and rectangular montant and cross bar form;
Described depth transducer is fixed near the free end of described cross bar;
Described computing machine is fixed on described montant;
Described montant is fixed on described object disposing platform.
7. equipment according to any one of claim 1 to 4, is characterized in that, also comprises the Handheld bar code scanner be connected with described computing machine.
8. equipment according to any one of claim 1 to 4, is characterized in that,
Described object disposing platform has four legs, and there is wheel the end of every bar leg;
Described equipment also comprises handle, and this handle is connected with described object disposing platform.
9. equipment according to claim 7, is characterized in that,
Described depth transducer is connected by USB interface with described computing machine;
Described Handheld bar code scanner is connected by USB interface with described computing machine.
10. equipment according to any one of claim 1 to 4, is characterized in that, described computing machine is notebook computer or panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520188368.5U CN204881572U (en) | 2015-03-31 | 2015-03-31 | Measure equipment of object size |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520188368.5U CN204881572U (en) | 2015-03-31 | 2015-03-31 | Measure equipment of object size |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016155585A1 (en) * | 2015-03-31 | 2016-10-06 | 北京京东尚科信息技术有限公司 | Device, method and apparatus for measuring size of object |
| CN106441104A (en) * | 2016-12-26 | 2017-02-22 | 中国科学院长春光学精密机械与物理研究所 | Size measurement system |
| WO2017197988A1 (en) * | 2016-05-16 | 2017-11-23 | 杭州海康机器人技术有限公司 | Method and apparatus for determining volume of object |
-
2015
- 2015-03-31 CN CN201520188368.5U patent/CN204881572U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016155585A1 (en) * | 2015-03-31 | 2016-10-06 | 北京京东尚科信息技术有限公司 | Device, method and apparatus for measuring size of object |
| US10466033B2 (en) | 2015-03-31 | 2019-11-05 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Device, method and apparatus for measuring size of object |
| WO2017197988A1 (en) * | 2016-05-16 | 2017-11-23 | 杭州海康机器人技术有限公司 | Method and apparatus for determining volume of object |
| CN107388960A (en) * | 2016-05-16 | 2017-11-24 | 杭州海康机器人技术有限公司 | A kind of method and device for determining object volume |
| CN107388960B (en) * | 2016-05-16 | 2019-10-22 | 杭州海康机器人技术有限公司 | A kind of method and device of determining object volume |
| US10922834B2 (en) | 2016-05-16 | 2021-02-16 | Hangzhou Hikrobot Technology, Co., LTD | Method and apparatus for determining volume of object |
| CN106441104A (en) * | 2016-12-26 | 2017-02-22 | 中国科学院长春光学精密机械与物理研究所 | Size measurement system |
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