JP2022015392A - Waste substance height information detection device and method - Google Patents

Abstract

To provide a waste substance height information detection device and waste substance height information detection method capable of correctly detecting height information of a whole waste substance.SOLUTION: A waste substance height information detection device D comprises: a plurality of point group data generation sections 1 (1-1, 1-2) for generating three-dimensional point group data of a part of a surface of a waste substance stored in a storage section with respect to the surface, so as to include parts of mutually different surfaces; a point group data processing section 22 for obtaining three-dimensional point group data of the whole surface based on respective pieces of three-dimensional point group data of the parts of the surfaces, which are respectively generated in the plurality of point group data generation sections 1; and a height information processing section 23 for obtaining height information related to the height of the waste substance based on the three-dimensional point group data of the whole surface. When there is no obstacle to shield a visual field in a space to the surface, the plurality of point group data generation sections 1 are arranged to allow an integration result obtained by integrating the respective parts of the surfaces in the plurality of point group data generation sections 1 to be the result of the whole surface.SELECTED DRAWING: Figure 1

Description

The present invention relates to a waste height information detection device for detecting height information related to the height of waste contained in a storage unit, and a waste height information detection method.

Waste that is determined by the owner to be worthless or unnecessary and discarded as garbage is generally burned in an incinerator and incinerated. In the combustion of this waste, the waste is agitated and equalized by a crane in order to realize stable combustion in the incinerator. In this stirring, automatic control of the crane is desired in order to save manpower and improve efficiency. In order to realize the automatic control, it is necessary to measure the height of the waste. Regarding the measurement of the height of this waste, for example, there is an information processing apparatus disclosed in Patent Document 1.

The information processing device disclosed in Patent Document 1 is an information processing device that estimates the height of garbage accumulated in the garbage pit, and is the wall surface and garbage of the garbage pit in the image taken in the garbage pit. The height at which the height of dust at the boundary is calculated from the positional relationship between the boundary specifying portion that specifies the boundary between the two, the reference line set on the wall surface in the image, and the boundary specified by the boundary specifying portion. The height calculation unit is provided with a calculation unit, and the height calculation unit calculates the height of the waste at the boundary between the wall surface and the waste on a plurality of wall surfaces of the waste pit, and also calculates the height of the waste in the region inside the boundary. , Calculated from the height of dust at the boundary by a weighted average according to the distance to the boundary.

Japanese Unexamined Patent Publication No. 2018-173248

By the way, in the information processing apparatus disclosed in Patent Document 1, the height of dust in the region inside the boundary is calculated from the height of dust at the boundary by a weighted average according to the distance to the boundary. It is not possible to determine the unevenness of the dust height in the inner region, and it is difficult to accurately measure the dust height in the inner region.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a waste height information detecting device and a waste height information detecting method capable of more accurately detecting the height information of the entire waste. To provide.

As a result of various studies, the present inventor has found that the above object can be achieved by the following invention. That is, the waste height information detection device according to one aspect of the present invention is a three-dimensional point of a part of the surface of the waste so as to include different parts of the surface with respect to the surface of the waste contained in the storage portion. Three-dimensional point group data of the entire surface based on each three-dimensional point group data of a part of the surface generated by each of the plurality of point group data generation units for generating group data and the plurality of point group data generation units. It is provided with a point group data processing unit for obtaining height information related to the height of the waste based on three-dimensional point group data of the entire surface of the waste, and a height information processing unit for obtaining height information related to the height of the waste. When there is no obstacle that obstructs the view up to the surface, the group data generation unit integrates each part of each of the plurality of point group data generation units on the surface so that the integrated result becomes the entire surface. , Are arranged. Preferably, in the above-mentioned waste height information detection device, the height information is a distance (length) from a predetermined reference plane to the surface of the waste. Preferably, the reference surface is the upper surface of the accommodating portion (the input surface for charging the waste). Preferably, the reference plane is a standby plane including a standby position where the crane has finished operating and is waiting. Preferably, in the above-mentioned waste height information detection device, the reference plane is the bottom surface of the accommodating portion, and the height information is the height of the waste itself.

In such a waste height information detection device, the plurality of point cloud data generation units are described in each of the plurality of point cloud data generation units when there is no obstacle obstructing the view up to the surface of the waste. Since the integration result of integrating each part of the surface is arranged so as to be the entire surface, the waste height information detection device can more accurately detect the height information of the entire waste.

In another aspect, in the above-mentioned waste height information detection device, the point cloud data processing unit is based on each three-dimensional point cloud data of a part of the surface generated by each of the plurality of point cloud data generation units. The 3D point cloud data of obstacles obstructing the view between the surface and the surface is removed, and the 3D point cloud data of the entire surface is obtained.

Such a waste height information detection device removes the three-dimensional point cloud data of obstacles that obstruct the view from the surface of the waste, and obtains the three-dimensional point cloud data of the entire surface. Even if there are obstacles, the height information of the entire waste can be detected more accurately. Therefore, the waste height information detection device can be retrofitted to the existing incineration facility, and the crane can be automated by retrofitting.

In another aspect, in the above-mentioned waste height information detection device, the point cloud data processing unit divides the entire surface into a plurality of sections, and for each of the plurality of sections, a three-dimensional point corresponding to the section. The removal is performed by selecting the lowest 3D point cloud data from the group data as the section 3D point cloud data of the section.

When there is an obstacle before the waste, it can be inferred that the 3D point cloud data representing the surface of the waste is the lowest 3D point cloud data. Since the waste height information detection device selects the lowest 3D point cloud data from the 3D point cloud data corresponding to the section as the section 3D point cloud data of the section, the period up to the waste. Even if there are obstacles in the area, the height of the entire waste can be measured more accurately.

In another aspect, in the above-mentioned waste height information detection device, the point cloud data processing unit has two compartments three-dimensionally adjacent to each other for each of the plurality of compartments three-dimensional point cloud data in each of the plurality of compartments. By interpolating one or more three-dimensional point cloud data between the point cloud data, the three-dimensional point cloud data of the entire surface is obtained.

Such a waste height information detection device interpolates one or a plurality of 3D point cloud data between two compartment 3D point cloud data adjacent to each other, so that the spatial resolution in the waste height information can be obtained. Can be improved.

The waste height information detection method according to one aspect of the present invention is a three-dimensional point group data of a part of the surface of the waste so as to include different parts of the surface with respect to the surface of the waste contained in the storage portion. This is a waste height information detection method using a plurality of point group data generation units for generating data, and point group data for generating each three-dimensional point group data of a part of the surface by each of the plurality of point group data generation units. A point group data processing step for obtaining three-dimensional point group data for the entire surface based on each three-dimensional point group data of a part of the surface generated in the generation step and the point group data generation step, and the waste. The height information processing process for obtaining height information related to the height of the waste based on the three-dimensional point group data of the entire surface is provided, and the plurality of point group data generation units have a field of view up to the surface. When there is no obstacle that obstructs the surface, the integrated result of integrating each part of the surface of each of the plurality of point group data generation units is arranged so as to be the entire surface.

In such a waste height information detection method, the plurality of point cloud data generation units are described in each of the plurality of point cloud data generation units when there is no obstacle obstructing the view up to the surface of the waste. Since the integration result of integrating each part of the surface is arranged so as to be the entire surface, the waste height measuring method can more accurately detect the height information of the entire waste.

The waste height information detection device and the waste height information detection method according to the present invention can more accurately detect the height information of the entire waste.

It is a block diagram which shows the structure of the waste height information detection apparatus in embodiment. As an example, it is a schematic diagram of a garbage incinerator equipped with the waste height information detection device with a side view of the receiving pit. It is a flowchart which shows the operation of the waste height information detection apparatus. It is a schematic diagram for demonstrating the integration process for each 3D point cloud data generated by the 1st and 2nd point cloud data generation part in the case where there is no obstacle to the surface of waste. It is a figure which shows the state of the receiving pit for explaining the situation where there is an obstacle to the surface of a waste. It is a schematic diagram for demonstrating the integration process for each 3D point cloud data generated by the 1st and 2nd point cloud data generation part in the case where there is an obstacle to the surface of waste. It is a schematic diagram for demonstrating the removal processing with respect to the 3D point cloud group data after the integration processing. It is a schematic diagram for demonstrating the interpolation processing with respect to the 3D point cloud group data after the removal processing.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that the configurations with the same reference numerals in the respective drawings indicate the same configurations, and the description thereof will be omitted as appropriate. In the present specification, when they are generically referred to, they are indicated by reference numerals without subscripts, and when they refer to individual configurations, they are indicated by reference numerals with subscripts.

The waste height information detection device in the embodiment generates a plurality of three-dimensional point group data of a part of the surface of the waste so as to include different parts of the surface with respect to the surface of the waste contained in the storage portion. Point group data processing for obtaining 3D point group data of the entire surface based on each 3D point group data of a part of the surface generated by each of the point group data generation unit and the plurality of point group data generation units. It is provided with a unit and a height information processing unit that obtains height information related to the height of the waste based on three-dimensional point group data of the entire surface of the waste. Then, in the present embodiment, the plurality of point cloud data generation units integrate each part of the plurality of point cloud data generation units on the surface when there is no obstacle obstructing the field of view up to the surface. It is arranged so that the integrated result is the entire surface. Hereinafter, such a waste height information detection device will be described more specifically.

FIG. 1 is a block diagram showing a configuration of a waste height information detection device according to an embodiment. FIG. 2 is a schematic view of an incinerator equipped with the waste height information detection device, as an example, with a side view of the receiving pit.

The waste height information detection device D in the embodiment is for detecting, for example, the height information related to the height of the waste DS contained in the receiving pit PT for receiving the dust of the waste DS shown in FIG. Used. The receiving pit PT is, for example, a substantially rectangular parallelepiped vacant space (recess) provided in a garbage incinerator for incinerating waste DS garbage, whose bottom surface and wall surface are made of concrete and whose top surface is open. The receiving pit PT is provided with a crane CR supported by the crane garter CG and suspended from the crane garter CG. When the XYZ Cartesian coordinate system is set as shown in FIG. 2, the crane CR is configured to be movable along the Z direction (vertical direction on the paper) with respect to the crane garter CG, and is guided by the crane garter CG in the Y direction ( It is configured to be movable along the paper surface left-right direction), and the crane garter CG is configured to be movable along the X direction (paper surface front-back direction) guided by a runway rail extending in the X direction. As a result, the crane CR is configured to be movable in each of the three dimensions of the Z direction, the Y direction, and the X direction. An input hopper HP is provided adjacent to the receiving pit PT. The input hopper HP is connected to the incinerator shown in the figure, and the waste DS picked up by the crane CR from the receiving pit PT is input to the input hopper HP, so that the waste DS is introduced into the incinerator. Will be incinerated. A console (control console) CL for controlling the operation of such a crane CR is arranged in the operation room (operation room) OR. The receiving pit PT corresponds to an example of a storage unit for storing waste.

The waste height information detection device D of the embodiment for detecting the height information of the waste in the receiving pit PT is, for example, as shown in FIG. 1, a plurality of point group data generation units 1 (1-1). It includes 1-2), a control processing unit 2, a storage unit 6, and in the example shown in FIG. 1, further includes an input unit 3, an output unit 4, and an interface unit (IF unit) 5.

The plurality of point cloud data generation units 1 are connected to the control processing unit 2, and are different from each other with respect to the surface of the waste DS housed in the storage unit (in this example, the receiving pit PT) under the control of the control processing unit 2. It is a device that generates three-dimensional point cloud data of a part of the surface so as to include the part of the surface. The plurality of point cloud data generation units 1 may be connected to the control processing unit 2 by wire or may be wirelessly connected. The number of the point cloud data generation units 1 may be arbitrary as long as it is plural, but in the present embodiment, the waste height information detection device D has two first and two point cloud data generation units 1 for the sake of simplicity of explanation. The second point cloud data generation units 1-1 and 1-2 are provided. The point cloud data is three-dimensional in the present embodiment, and is represented by, for example, coordinate values (x, y, z) in the local coordinate system (xyz orthogonal coordinate system, etc.) of the point cloud data generation unit 1. The plurality of point cloud data generation units 1 output the generated three-dimensional point cloud data to the control processing unit 2. The point cloud data generation unit 1 is, for example, a LiDAR (Light Detection and Ringing, three-dimensional laser scanner), a stereo camera type rangefinder, or the like, and can generate three-dimensional point cloud data representing each position (shape) of the object surface. Generate. LiDAR obtains the distance to the surface of an object by a so-called TOF (Time of Flight) method by transmitting and receiving measurement pulse waves such as light and ultrasonic waves while scanning. The stereo camera type rangefinder generally obtains parallax based on each pair of left and right images taken by a pair of left and right stereo cameras arranged so as to be parallel to each other by the optical axis. Based on this obtained parallax, the distance to the object surface is obtained based on the principle of so-called triangulation.

In the present embodiment, such a plurality of point cloud data generation units 1 have the surface of each of the plurality of point cloud data generation units 1 when there is no obstacle obstructing the view up to the surface of the waste DS. The result of the integration of each part of the above is arranged so as to be the entire surface of the waste DS contained in the storage unit (in this example, the receiving pit PT). Each part of the surface of each of the plurality of point cloud data generation units 1 may have a portion overlapping with each other, or may be continuous without a gap without having a portion overlapping with each other. For example, in the example shown in FIG. 2, the first and second point cloud data generation units 1-1 and 1-2 intersect the central axes (measurement directions) of the measurement range so as to cover each other's blind spots. Is arranged in. More specifically, the first point cloud data generation unit 1-1, as shown in FIG. 2, for example, is an upper end portion of one side wall of the receiving pit PT so as to take a bird's-eye view of the receiving pit PT from above to diagonally downward. The second point cloud data generation unit 1-2 views the receiving pit PT diagonally downward from above at a position facing the first point cloud data generation unit 1-1 via the receiving pit PT. As such, it is arranged at the upper end of the other side wall in the receiving pit PT. In the first point cloud data generation unit 1-1 arranged in this way, a part of the surface of the waste DS from a position separated from the one side wall by a predetermined distance to the other side wall is a measurement range (first). The measurement range), and the balance from the one side wall to the position separated by the predetermined distance is outside the measurement range (first blind spot). On the other hand, in the second point cloud data generation unit 1-2, a part of the surface of the waste DS from a position separated by a predetermined distance from the other side wall to the one side wall is a measurement range (second measurement range). The remaining portion from the other side wall to the position separated by the predetermined distance is out of the measurement range (second blind spot). The first blind spot of the first point cloud data generation unit 1-1 is within the second measurement range of the second point cloud data generation unit 1-2, and the second blind spot of the second point cloud data generation unit 1-2 is. , It is within the first measurement range of the first point cloud data generation unit 1-1. Therefore, the first and second point cloud data generation units 1-1 and 1-2 thus arranged cover each other's blind spots, and the first and second point cloud data generation units 1-1 and -2 The result of the integration of each part is the entire surface of the waste DS contained in the storage unit (in this example, the receiving pit PT).

The input unit 3 is connected to the control processing unit 2, and for example, various commands such as a command for instructing the start of measurement of height information and various data necessary for operating the waste height information detection device D. It is a device for inputting to the waste height information detection device D, and is, for example, a plurality of input switches, keyboards, mice, etc. to which predetermined functions are assigned. The output unit 4 is a device connected to the control processing unit 2 and outputs commands, data, pit images, height information of waste DS, etc. input from the input unit 3 according to the control of the control processing unit 2. For example, a display device such as a CRT display, a liquid crystal display and an organic EL display, a printing device such as a printer, and the like.

A so-called touch panel may be configured from the input unit 3 and the output unit 4. In the case of configuring this touch panel, the input unit 3 is a position input device that detects and inputs an operation position such as a resistance film method or a capacitance method, and the output unit 4 is a display device. In this touch panel, the position input device is provided on the display surface of the display device, candidates for one or a plurality of input contents that can be input to the display device are displayed, and the user displays the input contents that he / she wants to input. When the position is touched, the position is detected by the position input device, and the display content displayed at the detected position is input to the waste height information detection device D as the operation input content of the user. With such a touch panel, since the user can intuitively understand the input operation, the waste height information detection device D that is easy for the user to handle is provided.

The IF unit 5 is a circuit that is connected to the control processing unit 2 and inputs / outputs data to / from an external device according to the control of the control processing unit 2, for example, an interface circuit of RS-232C which is a serial communication method. , An interface circuit using the Bluetooth (registered trademark) standard, an interface circuit for performing infrared communication such as the IrDA (Infrared Data Association) standard, and an interface circuit using the USB (Universal Serial Bus) standard. Further, the IF unit 5 is a circuit that communicates with an external device, and may be, for example, a data communication card, a communication interface circuit according to the IEEE802.11 standard, or the like.

The storage unit 6 is a circuit connected to the control processing unit 2 and stores various predetermined programs and various predetermined data according to the control of the control processing unit 2. The various predetermined programs include, for example, a control processing program, and the control processing program controls each part 1, 3 to 6 of the waste height information detection device D according to the function of each part. The 3D point group data of the entire surface of the waste DS is obtained based on the control program to be performed and the 3D point group data of a part of the surface of the waste DS generated by each of the plurality of point group data generation units 1. It includes a point group data processing program, a height information processing program that obtains height information related to the height of the waste DS based on three-dimensional point group data of the entire surface of the waste DS, and the like. The various predetermined data include data necessary for executing each of these programs, such as a world coordinate system and a reference plane described later. Such a storage unit 6 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element, and the like. The storage unit 6 includes a RAM (Random Access Memory) or the like that serves as a working memory of the so-called control processing unit 2 that stores data or the like generated during the execution of the predetermined program. The storage unit 6 may be provided with a hard disk device capable of storing a large capacity in order to store learning data having a relatively large capacity.

The control processing unit 2 is a circuit for detecting the height information of the waste DS by controlling each unit 1, 3 to 6 of the waste height information detection device D according to the function of each unit. The control processing unit 2 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. The control processing unit 2 is functionally configured with the control unit 21, the point cloud data processing unit 22, and the height information processing unit 23 by executing the control processing program.

The control unit 21 controls each unit 1, 3 to 6 of the waste height information detection device D according to the function of each unit, and controls the entire waste height information detection device D.

The point cloud data processing unit 22 is based on each three-dimensional point cloud data of a part of the surface of the waste DS generated by each of the plurality of point cloud data generation units 1, and the point cloud data processing unit 22 is a three-dimensional point cloud of the entire surface of the waste DS. It asks for data. In the present embodiment, the point cloud data processing unit 22 has a view from each three-dimensional point cloud data of a part of the surface of the waste DS generated by each of the plurality of point cloud data generation units 1 to the surface. The 3D point cloud data of the obstacle that obstructs the waste DS is removed, and the 3D point cloud data of the entire surface of the waste DS is obtained. More specifically, the point cloud data processing unit 22 divides the entire surface into a plurality of sections, and for each of the plurality of sections, the lowest 3D point cloud data among the 3D point cloud data corresponding to the section is selected. The removal is performed by selecting the section as the section 3D point cloud data of the section. Then, the point cloud data processing unit 22 interpolates one or a plurality of point cloud data between the two compartment 3D point cloud data adjacent to each other for each of the plurality of compartment 3D point cloud data in each of the plurality of compartments. By doing so, the three-dimensional point cloud data of the entire surface is obtained.

More specifically, the point cloud data processing unit 22 functionally includes an integration unit 221, a removal unit 222, and an interpolation unit 223.

The integration unit 221 integrates each three-dimensional point cloud data of a part of the surface of the waste DS generated by each of the plurality of point cloud data generation units 1 into one set of three-dimensional point cloud data. More specifically, an appropriate world coordinate system (XYZ orthogonal coordinate system, etc.) is set in advance, and the integration unit 221 generates each three-dimensional point cloud data (local coordinates) generated by each of the plurality of point cloud data generation units 1. (Coordinate values in the system) are converted into three-dimensional point cloud data in the world coordinate system based on each arrangement position of each of the plurality of point cloud data generation units 1 in the world coordinate system, and a plurality of points are converted. Each 3D point cloud data (coordinate values in the world coordinate system) of a part on the surface of the waste DS generated and converted by each point cloud data generation unit 1 is combined into one 3D point cloud data that overlaps with each other. By summarizing, it is integrated into one set of three-dimensional point cloud data. It should be noted that the duplication may include not only the case of perfect matching but also the case of matching within a predetermined range set appropriately in advance (that is, the neighboring three-dimensional point cloud data is also combined into one). May be good).

The removal unit 222 removes the 3D point cloud data of obstacles between the surface and the surface from each of the 3D point cloud data of a part of the surface of the waste DS generated by each of the plurality of point cloud data generation units 1. Then, the three-dimensional point cloud data of the entire surface of the waste DS is obtained. More specifically, the removing unit 222 divides the entire surface into a plurality of sections, and for each of the plurality of sections, the lowest three-dimensional point cloud data among the three-dimensional point cloud data integrated by the integrated section 221 corresponding to the section. The removal is performed by selecting the point cloud data as the section 3D point cloud data of the section. The size of the section is appropriately set in advance. The size of the section is preferably equal to or larger than the size of the bucket of the crane CR. This prevents the generation of a section to which only the three-dimensional point cloud data corresponding to the surface of the bucket belongs, and makes it possible to detect the height information of the waste DS.

The interpolation unit 223 interpolates one or a plurality of 3D point cloud data between two adjacent 2D 3D point cloud data for each of the plurality of 3D point cloud data in each of the plurality of sections. The three-dimensional point cloud data of the entire surface is obtained. For the interpolation, for example, an appropriate method such as linear interpolation interpolation, nearest neighbor interpolation, or spline interpolation is used. It should be noted that the interpolation may be executed when necessary, such as when the spatial resolution is insufficient from the viewpoint of the purpose of use of the height information by executing the removal.

The height information processing unit 23 obtains height information related to the height of the waste based on the three-dimensional point cloud data of the entire surface of the waste DS. The height information is a distance (length) from a predetermined reference plane to the surface of the waste DS. For example, in the stirring of the waste DS, the waste DS forming the convex portion may be moved to the portion forming the concave portion by the crane CR, so that the height of the waste DS does not necessarily have to be high. If the distance from the reference surface to the surface of the waste DS is known, the unevenness of the surface of the waste DS can be recognized. For example, the reference surface may be the upper surface (injection surface for charging the waste DS) of the accommodating portion (in this embodiment, the receiving pit PT). In this case, the depth to the surface of the waste DS in the receiving pit PT is known, and the deep part is a concave part and the shallow part is a convex part. The height information is represented by this depth. Alternatively, for example, the reference surface may be a standby surface including a standby position in which the crane CR has finished operating and is on standby. In this case, the distance from the standby position of the crane CR to the surface of the waste DS is known, and the far part is a concave part and the near part is a convex part. The height information is represented by the distance. Alternatively, for example, the reference plane may be the bottom surface of the accommodating portion (in this embodiment, the receiving pit PT). In this case, the height of the waste DS itself can be known, and the low portion is a concave portion and the high portion is a convex portion.

Here, by matching the reference plane with the XY plane of the world coordinate system (the reference plane = XY plane), the height information processing unit 23 can also be used as the integration unit 221 and is three-dimensional in the local coordinate system. Converting the point cloud data into three-dimensional point cloud data in the world coordinate system corresponds to the calculation of the height information.

The control processing unit 2, the input unit 3, the output unit 4, the IF unit 5, and the storage unit 6 can be configured by, for example, a computer such as a desktop type or a notebook type. The computers constituting each of these parts 2 to 6 may be arranged in the operation room OR, and may be incorporated in the console CL (also used as the console CL), or may be separate from the console CL.

Next, the operation of this embodiment will be described. FIG. 3 is a flowchart showing the operation of the waste height information detection device. FIG. 4 is a diagram for explaining an integration process for each three-dimensional point cloud data generated by the first and second point cloud data generation units when there is no obstacle up to the surface of the waste. FIG. 4A shows an example of the three-dimensional point cloud data generated by the first point cloud data generation unit 1-1, and FIG. 4B shows the three-dimensional point cloud data generated by the second point cloud data generation unit 1-2. As an example, FIG. 4C shows the three-dimensional point cloud data generated by the first point cloud data generation unit 1-1 shown in FIG. 4A and the second point cloud data generation unit 1-2 generated by FIG. 4B 3 The point cloud data of the integration result which integrated with the dimensional point cloud data is shown. FIG. 5 is a diagram showing a state of a receiving pit for explaining a situation where there is an obstacle up to the surface of the waste. FIG. 6 is a diagram for explaining an integrated process for each three-dimensional point cloud data generated by the first and second point cloud data generation units when there is an obstacle up to the surface of the waste. FIG. 6A shows an example of the three-dimensional point cloud data generated by the first point cloud data generation unit 1-1, and FIG. 6B shows the three-dimensional point cloud data generated by the second point cloud data generation unit 1-2. As an example, FIG. 6C shows the point cloud data generated by the first point cloud data generation unit 1-1 shown in FIG. 6A and the three-dimensional points generated by the second point cloud data generation unit 1-2 shown in FIG. 6B. The three-dimensional point cloud data of the integration result which integrated with the group data is shown. FIG. 7 is a diagram for explaining a removal process for the three-dimensional point cloud data after the integrated process. FIG. 8 is a diagram for explaining an interpolation process for the three-dimensional point cloud data after the removal process.

When the power of the waste height information detection device D having such a configuration is turned on, the necessary initialization of each part is executed and the operation of the waste height information detection device D is started. The control processing unit 2 is functionally configured with a control unit 21, a point cloud data processing unit 22 and a height information processing unit 23 by executing the control processing program, and the point cloud data processing unit 22 has an integrated unit. The 221 and the removing unit 222 and the interpolating unit 223 are functionally configured.

In FIG. 3, first, the waste height information detection device D generates and acquires each three-dimensional point cloud data of each part on the surface of the waste DS by the plurality of point cloud data generation units 1 (S1). .. In the present embodiment, the first point cloud data generation unit 1-1 generates the three-dimensional point cloud data of the first measurement range and outputs it to the control processing unit 2, and the second point cloud data generation unit 1-2 , Generates 3D point cloud data in the second measurement range and outputs it to the control processing unit 2.

Next, the waste height information detection device D is a part 3 on the surface of the waste DS generated by each of the plurality of point cloud data generation units 1 in the processing S1 by the integration unit 221 of the point cloud data processing unit 22. The 3D point cloud data is integrated into one set of 3D point cloud data (S2, integration process).

Next, the waste height information detection device D is a three-dimensional point group of a part on the surface of the waste DS generated by each of the plurality of point group data generation units 1 by the removal unit 222 of the point group data processing unit 22. From the data, here, from the set of 3D point group data obtained in the process S2, the 3D point group data of obstacles between the surface of the waste DS is removed, and the entire surface of the waste DS is removed. Obtain 3D point group data (S3, removal processing).

Next, the waste height information detection device D obtains the three-dimensional point cloud data of the entire surface of the waste DS by interpolating the three-dimensional point cloud data by the interpolation unit 223 of the point cloud data processing unit 22. (S4, interpolation processing).

Next, the waste height information detection device D obtains the height information of the waste DS based on the three-dimensional point cloud data of the entire surface of the waste DS by the height information processing unit 23 (S5, height). Information processing).

Then, the waste height information detection device D outputs the height information of the waste DS obtained in this process S5 to the output unit 4 (S6), and ends this process. If necessary, the height information may be output from the IF unit 5 to an external device.

For example, the reference plane is set on the bottom surface of the receiving pit PT and is set as the XY plane in the world coordinate system. Therefore, the height information is the height of the waste DS itself, the height information processing unit 23 is also used as the integrated unit 221 and the height information processing S5 is also used as the integrated process S2. .. When there is no obstacle up to the surface of the waste DS, the first point cloud data generation unit 1-1 generates the three-dimensional point cloud data in the first measurement range by the processing S1, and the control processing unit 2 The second point cloud data generation unit 1-2 generates the three-dimensional point cloud data of the second measurement range and outputs it to the control processing unit 2.

Subsequently, by the process S2 that also serves as the process S5, the integration unit 221 converts the three-dimensional point cloud data (coordinate values in the local coordinate system) generated by the first point cloud data generation unit 1-1 into the world coordinates. Based on the arrangement position of the first point cloud data generation unit 1-1 in the system, it is converted into the three-dimensional point cloud data in the world coordinate system. As a result, for example, the three-dimensional point cloud data DA-1 shown in FIG. 4A is obtained. There is no 3D point cloud data for the partial BA-1 corresponding to the first blind spot. The integration unit 221 converts the three-dimensional point cloud data (coordinate values in the local coordinate system) generated by the second point cloud data generation unit 1-2 into the second point cloud data generation unit 1 in the world coordinate system. Based on the arrangement position of -2, it is converted into the three-dimensional point cloud data in the world coordinate system. As a result, for example, the three-dimensional point cloud data DA-2 shown in FIG. 4B is obtained. There is no 3D point cloud data for the partial BA-2 corresponding to the second blind spot. The 3D point cloud data includes data along the X direction, but in FIG. 4, the 3D point cloud data in one cross section parallel to the YZ plane is shown for the sake of simplicity of explanation. .. The same applies to FIGS. 6 to 8. Then, the integrated unit 221 is a part of each three-dimensional point cloud data (coordinates in the world coordinate system) on the surface of the waste DS generated and converted by the first and second point cloud data generation units 1-1 and -2, respectively. The value) is integrated into one set of three-dimensional point cloud data by combining the point cloud data that overlap with each other into one. As a result, in FIG. 4A, as the three-dimensional point cloud data of the portion BA-1 corresponding to the first blind spot, the three-dimensional point cloud data generated and converted by the second point cloud data generation unit 1-2 is used. In FIG. 4B, as the three-dimensional point cloud data of the portion BA-2 corresponding to the second blind spot, the three-dimensional point cloud data generated and converted by the first point cloud data generation unit 1-1 is used, and FIG. 4A and FIG. In FIG. 4B, the three-dimensional point cloud data that overlaps with each other in each of the three-dimensional point cloud data generated and converted by the first and second point cloud data generation units 1-1 and 1-2 are combined into one. The 3D point cloud data CDa of the integrated result shown in FIG. 4C is obtained.

Subsequently, in each of the processes of the process S3 and the process S4, since there is no obstacle in this example, the substantial process is not executed, and in the process S6, the height information of the waste DS, that is, the waste DS in this example. The height itself, that is, the data of each three-dimensional point cloud on the entire surface of the waste DS is output to the output unit 4. As a result, the three-dimensional point cloud data CDa of the integration result shown in FIG. 4C is output to the output unit 4.

On the other hand, for example, the reference plane is set on the bottom surface of the receiving pit PT and is set as the XY plane in the world coordinate system. When there is an obstacle, for example, a ridgeline portion ED for the crane CR or the recess BT of the waste DS as shown in FIG. 5, the first point cloud data generation unit 1 is subjected to the process S1. -1 generates 3D point cloud data in the 1st measurement range and outputs it to the control processing unit 2, and 2nd point cloud data generation unit 1-2 generates 3D point cloud data in the 2nd measurement range. Then, it is output to the control processing unit 2.

Subsequently, by the process S2 that also serves as the process S5, the integration unit 221 generates the first point cloud data in the world coordinate system from the three-dimensional point cloud data generated by the first point cloud data generation unit 1-1. Based on the arrangement position of the part 1-1, it is converted into the three-dimensional point cloud data in the world coordinate system. As a result, for example, the three-dimensional point cloud data DA-3 shown in FIG. 6A is obtained. The 3D point cloud data DA-3 shown in FIG. 6A not only includes the 3D point cloud data DA-3a corresponding to the surface of the waste DS, but also corresponds to the surface of the crane CR of the obstacle 3 Dimension point cloud data DA-3b is included. There is no 3D point cloud data of the part BA-1 corresponding to the first blind spot, and there is no 3D point cloud data of the part BA-3 corresponding to the part where the view is blocked by the ridgeline part ED of the waste DS. .. The integration unit 221 uses the three-dimensional point cloud data generated by the second point cloud data generation unit 1-2 based on the arrangement position of the second point cloud data generation unit 1-2 in the world coordinate system. It is converted into 3D point cloud data in the world coordinate system. As a result, for example, the three-dimensional point cloud data DA-4 shown in FIG. 6B is obtained. The 3D point cloud data DA-4 shown in FIG. 6B not only includes the 3D point cloud data DA-4a corresponding to the surface of the waste DS, but also corresponds to the surface of the crane CR of the obstacle 3 Dimension point cloud data DA-4b is included. There is no 3D point cloud data of the part BA-2 corresponding to the second blind spot, and there is no 3D point cloud data of the part BA-4 corresponding to the part where the view is obstructed by the crane CR of the obstacle. Then, the integration unit 221 overlaps each of the three-dimensional point cloud data of a part on the surface of the waste DS generated and converted by the first and second point cloud data generation units 1-1 and -2 with each other in three dimensions. By combining the point cloud data into one, it is integrated into one set of three-dimensional point cloud data. As a result, in FIG. 6A, as the three-dimensional point cloud data of the portion BA-1 corresponding to the first blind spot, the three-dimensional point cloud data generated and converted by the second point cloud data generation unit 1-2 is used. In FIG. 6B, as the three-dimensional point cloud data of the portion BA-2 corresponding to the second blind spot, the three-dimensional point cloud data generated and converted by the first point cloud data generation unit 1-1 is used, and FIG. 6A and FIG. In FIG. 6B, the three-dimensional point cloud data that overlaps with each other in each of the three-dimensional point cloud data generated and converted by the first and second point cloud data generation units 1-1 and 1-2 are combined into one. The three-dimensional point cloud data CDb of the integration result shown in FIG. 6C is obtained.

Subsequently, by the process S3, the removal unit 222 divides the entire surface of the waste DS into a plurality of sections, and for each of the plurality of sections, the three-dimensional point cloud data integrated by the integrated section 221 corresponding to the section. The lowest 3D point cloud data is selected as the section 3D point cloud data of the section. For example, the 3D point cloud data CDb of the integration result shown in FIG. 6C is divided into 6 sections in the Y-axis direction, and for each of these 6 sections, the 3D point cloud data of the integration result corresponding to the section is obtained. From the CDb, the lowest 3D point cloud data is selected as the section 3D point cloud data of the section. As a result, the three-dimensional point cloud data DA-3b and DA-4b corresponding to the surface of the obstacle, in this example, the surface of the crane CR are removed, and the removed three-dimensional point cloud data DD shown in FIG. 7 is obtained. ..

Subsequently, by the process S4, the interpolation unit 223 performs, for example, linear interpolation between the two compartment 3D point cloud data adjacent to each other for each of the six compartment 3D point cloud data in each of the six compartments. The 3D point cloud data is interpolated to obtain the 3D point cloud data of the entire surface as height information. For example, in the removed 3D point cloud data DD shown in FIG. 7, one or two interpolations indicated by broken circles are performed by linear interpolation for each of two adjacent partition 3D point cloud data. Three-dimensional point cloud data is generated respectively, and the three-dimensional point cloud data of the entire surface of the waste DS after interpolation shown in FIG. 8 is obtained. As a result, three-dimensional point cloud data of the entire surface of the waste DS is generated with a desired spatial resolution, and in particular, the point cloud data generation unit 1-1, by the ridgeline portion ED for the recess BT of the crane CR and the waste DS, The three-dimensional point cloud data of the partial BA-3 that could not be generated in 1-2 is generated by interpolation.

Then, the processing S6 outputs the height information of the waste DS, in this example, the three-dimensional point cloud data DA of the entire surface of the waste DS shown in FIG. 8 to the output unit 4.

As described above, in the waste height information detection device D and the waste height information detection method implemented therein, the plurality of point group data generation units 1 are connected to the surface of the waste DS. When there is no obstacle that obstructs the view, the integrated result of integrating each part of the surface of each of the plurality of point group data generation units 1 is arranged so as to be the entire surface. The physical height information detection device D and the waste height information detection method can more accurately detect the height information of the entire waste.

The waste height information detection device D and the waste height information detection method remove three-dimensional point group data of obstacles obstructing the view between the surface of the waste DS and 3 of the entire surface. Since the 3D point group data is obtained, the height information of the entire waste can be detected more accurately even if there is the obstacle. Therefore, the waste height information detection device D can be retrofitted to the existing incineration facility, and the crane can be automated by retrofitting.

When there is an obstacle before the waste DS, it can be inferred that the 3D point cloud data representing the surface of the waste DS is the lowest 3D point cloud data. In the waste height information detection device D and the waste height information detection method, the lowest 3D point group data among the 3D point group data corresponding to the section is used as the section 3D point group data of the section. Since it is selected, the height of the entire waste can be measured more accurately even if there is an obstacle before the waste DS.

Since the waste height information detection device D and the waste height information detection method interpolate one or more three-dimensional point cloud data between two compartments three-dimensional point cloud data adjacent to each other, waste. Spatial resolution in height information can be improved.

In the above-described embodiment, the removal process is executed by selecting the lowest point cloud data from the point cloud data in the section as the section 3D point cloud data of the section, but the removal is performed. The processing is not limited to this. For example, the position of the crane CR may be specified from, for example, the operation information of the console CL, and the removal process may be executed by removing the point cloud data belonging to the peripheral region of the specified position.

Further, in the above-described embodiment, the waste height information detection device D determines whether or not there is an obstacle before the waste DS, and executes the removal process S3 and the interpolation process S4 according to the determination result. You may. That is, as a result of the determination, if there is an obstacle before the waste DS, each of the removal processing S3 and the interpolation processing S4 is sequentially executed, and as a result of the determination, before the waste DS. If there are no obstacles, each process of the removal process S3 and the interpolation process S4 is skipped and is not executed. The presence or absence of the obstacle is determined, for example, by dividing the XY plane into a two-dimensional matrix according to the spatial resolution in the X direction and the spatial resolution in the Y direction in the point group data generation unit 1. The XY plane is divided into a plurality of sections so that only one 3D point group data can belong to the Z direction, and for each of the plurality of sections, the number of 3D point group data corresponding to the section is It can be executed by determining whether or not there are multiple. As a result of the above determination, if there are a plurality of 3D point cloud data in one or a plurality of sections, it is determined that there is an obstacle up to the waste DS, and as a result of the above determination, the 3D points in all the sections. If the group data is 1 or 0, it is determined that there are no obstacles up to the waste DS.

In order to express the present invention, the present invention has been appropriately and sufficiently described through embodiments with reference to the drawings above, but those skilled in the art can easily modify and / or improve the above embodiments. It should be recognized that it is possible. Therefore, unless the modified or improved form implemented by a person skilled in the art is at a level that deviates from the scope of rights of the claims stated in the claims, the modified form or the improved form is the scope of rights of the claims. It is interpreted to be included in.

D Waste height information detection device 1 point cloud data generation unit 1-1 1st point cloud data generation unit 1-2 2nd point cloud data generation unit 2 control processing unit 22 point cloud data processing unit 23 height information processing unit 221 Integration part 222 Removal part 223 Intersection part

Claims (5)

A plurality of point cloud data generation units that generate three-dimensional point cloud data of a part of the surface so as to include different surface portions of the waste surface contained in the storage unit.
A point cloud data processing unit that obtains 3D point cloud data for the entire surface based on each 3D point cloud data of a part of the surface generated by each of the plurality of point cloud data generation units.
It is equipped with a height information processing unit that obtains height information related to the height of the waste based on the three-dimensional point cloud data of the entire surface of the waste.
When there is no obstacle that obstructs the field of view up to the surface of the plurality of point cloud data generation units, the integrated result of integrating each part of the surface of each of the plurality of point cloud data generation units is the entire surface. It is arranged so that
Waste height information detection device. The point cloud data processing unit is a three-dimensional point cloud of an obstacle between the three-dimensional point cloud data of a part of the surface generated by each of the plurality of point cloud data generation units and the surface. The group data is removed, and the three-dimensional point cloud data of the entire surface is obtained.
The waste height information detection device according to claim 1. The point cloud data processing unit divides the entire surface into a plurality of sections, and for each of the plurality of sections, the lowest 3D point cloud data among the 3D point cloud data corresponding to the section is divided into the sections of the section. The removal is performed by selecting it as 3D point cloud data.
The waste height information detection device according to claim 2. The point cloud data processing unit interpolates one or a plurality of three-dimensional point cloud data between two adjacent partition point cloud data for each of the plurality of section three-dimensional point cloud data in each of the plurality of sections. , Obtain the 3D point cloud data of the entire surface,
The waste height information detection device according to claim 3. Waste height using a plurality of point cloud data generation units that generate three-dimensional point cloud data of a part of the surface so as to include different surface portions of the waste surface contained in the storage unit. This is an information detection method.
A point cloud data generation step of generating each three-dimensional point cloud data of a part of the surface by each of the plurality of point cloud data generation units.
A point cloud data processing step for obtaining 3D point cloud data for the entire surface based on each 3D point cloud data of a part of the surface generated in the point cloud data generation step.
It is provided with a height information processing process for obtaining height information related to the height of the waste based on the three-dimensional point cloud data of the entire surface of the waste.
When there is no obstacle that obstructs the field of view up to the surface of the plurality of point cloud data generation units, the integrated result of integrating each part of the surface of each of the plurality of point cloud data generation units is the entire surface. Arranged so as to be,
Waste height information detection method.

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