JP7093668B2 - Volume measurement system for objects to be transported contained in a moving object - Google Patents

Description

The present invention relates to a volume measuring system for measuring the volume of an object to be transported contained in a moving body that moves relative to a measuring point.

The inventions described in the following patent documents are known as methods for measuring the amount of soil in construction works such as a shield method, a mountain method, a propulsion method, and earth works.
Patent Document 1 is a measuring device for measuring the volume of earth and sand excavated by a shield excavator, and has a weight measuring unit for measuring the weight of the earth and sand, a specific gravity measuring unit for measuring the specific gravity of the excavated earth and sand, and the measurement. A measuring device including a soil discharge amount management unit that calculates an excavated volume based on the weight and specific gravity is disclosed.
Patent Document 2 describes a laser measuring instrument that measures the scanning angle of a laser beam and the distance to the surface of the earth and sand by performing three-dimensional scanning with a laser beam on the earth and sand loaded in the earthen storehouse of a clay carrier. A method for measuring the amount of soil in a soil carrier, which is provided with a means for correcting a measurement error caused by the shaking of the soil carrier and a means for calculating the amount of soil in the earth and sand with respect to the value measured by the laser measuring device, is disclosed. There is.

Japanese Unexamined Patent Publication No. 09-125880 Japanese Unexamined Patent Publication No. 2001-304913

However, the device described in the above patent document still has the following problems.
(1) In the measuring device described in Patent Document 1, weight sensors must be provided in all the loading portions on which earth and sand are loaded, and maintenance and management of each sensor is difficult.
(2) When a weight sensor is provided in the loading section as in Patent Document 1, the loading section constantly vibrates due to the impact of the soil falling from the belt conveyor or the shaking work for uniformly loading the soil. , The measured value by the weight sensor is not stable. Therefore, in order to obtain a stable measured value, the work must be interrupted and the weight measurement must be performed with the loading unit stationary.
(3) The soil volume measuring device described in Patent Document 2 is not suitable for measuring a moving body because it requires a processing time for three-dimensional scanning by a laser measuring device.

Therefore, an object of the present invention is to provide a means for enabling highly accurate volume measurement for a moving object to be transported.

The first invention of the present application, which has been made to solve the above problems, is a volume measuring system for measuring the volume of an object to be transported contained in a moving object passing through a measurement point, with respect to the moving object and the object to be transported. A line laser that irradiates a laser beam from above, a digital camera that photographs the moving object and the object to be transported that have been irradiated with the laser beam from an angle different from the irradiation direction of the line laser, and the digital. The digital camera is drawn by the laser beam, comprising an analysis device that calculates the volume of the object to be transported using the photographed data of the camera and the shape data of the moving object registered in advance. The moving object continuously generates imaging data showing the contour lines of the moving object and the object to be transported, and the analysis device collates the apparent cross-sectional view generated from the imaging data with the shape data of the moving object to obtain the moving object. By detecting the front end and the rear end of, the start end and the end of the volume calculation section of the transported object are specified, and the volume of the transported object is determined by using the apparent cross-sectional view within the range of the volume calculation section. In the calculation , the area where the contour line of the object to be transported is above the boundary line when the moving body is full with respect to the volume of the moving body registered in the shape data in advance or obtained from the shape data. It is characterized in that it performs a process of adding a volume value and a process of subtracting a volume value of a region where the contour line of the object to be transported is below the boundary line .
Further, in the second invention of the present application, there are a plurality of the digital cameras so as to capture the contour line at a different angle from the irradiation direction of the line laser and from different places in the first invention. The analysis device is characterized in that the main image data is selected from the shooting data acquired from each of the plurality of digital cameras, and the contour line lacking in the main image data is complemented from the remaining image data. do.
Further, the third invention of the present application is characterized in that, in the first invention or the second invention , the transported object is excavated earth and sand.

According to the present invention, the effects described below are obtained.
(1) Although it has a simple structure, it is possible to measure the volume of excavated soil during transportation with high accuracy.
Since the accommodation space (volume calculation section) of the object to be transported can be specified from the data taken by the digital camera, the volume can be measured at a higher speed than the measurement by the three-dimensional scan by the laser measuring device.
(2) No speed sensor is required.
In order to measure the volume of the object to be transported, it is not necessary to provide a sensor for detecting the moving speed of the moving object. Therefore, the cost required for the installation and maintenance of the sensor can be saved.
(3) The calculation of the volume value can be executed at high speed.
By configuring the volume value of the moving body that can be calculated from the shape data of the moving body registered in advance to be adjusted, the volume can be measured at a higher speed.
(4) The contour line can be complemented.
By photographing the contour lines with a plurality of digital cameras, it is possible to generate an apparent cross-sectional view that complements the contour lines.

The schematic block diagram of the volume measuring system which concerns on Example 1. FIG. An image diagram showing shape data of a moving body to be registered in advance. Image diagram when generating an apparent cross-sectional view. Image diagram (1) when specifying the volume calculation section. Image diagram (2) when specifying the volume calculation section. Image diagram (3) when specifying the volume calculation section. Image diagram (4) when specifying the volume calculation section. Image diagram when calculating the volume of the object to be transported. The schematic block diagram of the volume measuring system which concerns on Example 2.

Hereinafter, examples of the present invention will be described with reference to the drawings.

<1> Overall configuration (Fig. 1)
The volume measuring system according to the present invention includes at least a line laser 10, a digital camera 20, and an analysis device 30.
The volume measuring system according to the present invention has a function of being installed in the middle of the moving path of the moving body B and measuring the volume of the transported object A accommodated in the passing moving body B in almost real time.
The details of each element will be described below.

<2> Object to be transported (Fig. 1)
The object A to be transported is an element whose volume is to be measured in the present invention.
In this embodiment, excavated earth and sand generated in construction work such as shield method, mountain method, propulsion method, and earth work are assumed as the object to be transported A.

<3> Moving body (Fig. 1)
The moving body B is an element for accommodating and transporting the transported object A in the present invention.
As the moving body B of the present invention, a known device such as a scrap steel wheel, a dump truck, a truck, etc. used for accommodating and transporting the transported object A is assumed, and the shape, size, structure, etc. of the moving body B are particularly limited. do not do.
In this embodiment, a truck provided with a storage space B1 into which the transported object A can be loaded from above is used as the moving body B.

<4> Line laser (Fig. 1)
The line laser 10 irradiates the moving body B that moves relative to the line laser 10 with the laser beam 11 to contour the surface of the moving body B and the object to be transported A loaded on the moving body B. It is a device for drawing a line A1.
In this embodiment, the line laser 10 is provided above the moving path of the moving body B, and the laser light 11 emitted from the line laser 10 is arranged so as to face the moving body B below.
The laser light 11 may be always irradiated, or may be irradiated only at the time of photographing by the digital camera 20, which will be described later.

<4.1> Irradiation direction of laser light The irradiation direction θ1 of the laser light 11 shall be appropriately determined within the range of 0 ° <θ1 <180 ° when the moving direction of the moving body B is 0 ° (180 °). Can be done.
In this embodiment, the irradiation direction θ1 of the laser beam 11 is set to 90 °. This is because the head of the contour line A1 is remarkably shown between the moving body B and the gap between the moving bodies B, so that the accuracy of the collation work described later can be improved.

<5> Digital camera (Fig. 1)
The digital camera 20 is a device for photographing the contour line A1 drawn on the surface of the object A to be conveyed by the line laser 10.
The digital camera 20 in the present invention may be a device capable of acquiring a still image, and does not exclude a video camera.
Further, in the present invention, it is preferable that the larger the number of pixels of the digital camera 20, the higher the accuracy of image analysis, but the longer the analysis time, so that it may be determined within an appropriate range.

<5.1> Shooting method The digital camera 20 repeatedly shoots at the same position with respect to the moving moving body B, and continuously generates shooting data 21 in which the contour line A1 drawn on the moving body B and the transported object A is shot. do.

<5.2> Shooting direction The shooting direction (θ2) of the digital camera 20 is 0 ° <θ2 when the moving direction of the moving body B is 0 ° (180 °), as in the irradiation direction θ1 of the previous laser beam. It is in the range of <180 ° and has an angle different from that of θ1.
By making the angles of the two different, an apparent cross-sectional view 22 in a state of being cut in the 90 ° direction at the irradiation position of the laser beam 11 is calculated from the photographed data 21 of the digital camera 20 by the analysis device 30 described later. Can be obtained by.

<6> Analytical device (Fig. 1)
The analysis device 30 is a device for measuring the volume of the transported object A.
The analysis device 30 calculates the volume of the object to be transported A based on the photographing data 21 photographed by the digital camera 20 and the shape data of the moving body B registered in advance.
In the present invention, the analysis device 30 can use an information processing device such as a PC.
In this embodiment, the analysis device 30 is configured to have at least three means of registration means 31, optical cutting means 32, and calculation means 33. Each means can be realized by appropriately combining software and hardware.
Hereinafter, the details of each means will be described.

<6.1> Registration means (Fig. 1)
The registration means 31 is at least a means for registering the shape data of the moving body B in advance.
The shape data of the moving body B includes the length, width, and height of the outer shape of the moving body B and the accommodation space B1, the position of the accommodation space B1 with respect to the moving body B, the volume, and the like.
In addition, data such as the specific gravity of the transported object A may be registered in the registration means 31 as needed.

<6.2> Optical cutting means (Fig. 1)
The optical cutting means 32 is a means for generating an apparent cross-sectional view 22 from at least the shooting data 21 acquired from the digital camera 20.
The light cutting means 32 calculates the imaging data 21 of the contour line A1 by the digital camera 20 by using the irradiation direction θ1 of the line laser 10 and the imaging direction θ2 of the digital camera 20. It is possible to generate an apparent cross-sectional view 22 in a state of being cut in the 90 ° direction at the irradiation position.

<6.3> Arithmetic means (Fig. 1)
The calculation means 33 is a means for calculating the volume of the transported object A by using the apparent cross-sectional view 22 acquired from the optical cutting means 32 and the shape data of the moving body B acquired from the registration means 31.
Various methods can be adopted for the method of calculating the volume of the object to be transported A by the calculation means 33, and some of them will be described in the column of measurement examples described later.

<7> Measurement example An example of the measurement method will be described below with reference to FIGS. 2 to 4.

<7.1> Registration of shape data (Fig. 2)
First, the registration means 31 pre-registers the shape data of the moving body B to be measured.
For example, as shown in FIG. 2, when the outer shape of the moving body B and the accommodation space B1 are both rectangular, the registration means 31 uses the outer shape of the moving body B and the outer shape of the moving body B as the shape data of the moving body B. The length (L ₁ , L ₂ ), depth (D ₁ , D ₂ ), height (H ₁ , H ₂ ) of the accommodation space B 1, and the thickness of the tilt of the moving body B (T ₁ , T ₂ ), The volume of the accommodation space B1 (V = L ₂ × D ₂ × H ₂ ) and the like may be registered.

<7.2> Processing to generate an apparent cross-sectional view (Fig. 3)
Next, the optical cutting means 32 generates an apparent cross-sectional view 22 in which the object A to be transported is cut from the photographing data 21 sent from the digital camera 20.
The photographing data 21 shown in FIG. 3A is an image obtained by photographing the contour line A1 of the conveyed object A drawn by the laser beam from the line laser 10 with the digital camera 20.
The captured data 21 is appropriately subjected to image processing based on the angle of the line laser 10 and the angle of the digital camera 20 with respect to the vertical direction to generate an apparent cross-sectional view 22 shown in FIG. 3 (b).

<7.3> Specification of volume calculation section (FIGS. 4A to 4D)
Next, the calculation means 33 collates each apparent cross-sectional view 22 with the shape data of the moving body B, and specifies a section (volume calculation section) used for volume calculation of the transported object A.
In this embodiment, the volume calculation section is specified by first detecting the front end position and the rear end position of the moving body B.
As a method for detecting the moving body B, a method of detecting whether or not the contour line A1 is displayed in the apparent cross-sectional view 22 and a method of detecting a stage where the height of the contour line A1 is extremely changed can be considered.
Hereinafter, an example of a moving object detection method will be described with reference to FIGS. 4A to 4D.

<7.3.1> The stage where the laser beam is irradiated to other than the moving body (Fig. 4A).
In FIG. 4A (a), the laser beam 11 of the line laser 10 irradiates the connecting portion connecting the moving bodies B to each other, and the digital camera 20 cannot capture the contour line A1 because the moving body B becomes a shadow. .. Therefore, in the apparent cross-sectional view 22 shown in FIG. 4A (b), the contour line A1 due to the laser beam 11 is not displayed.
As described above, in the state where the contour line A1 is not displayed in the apparent cross-sectional view 22, it is assumed that the moving body B is not passing, and the detection process of the start of the front end position B2 of the moving body B is continued.

<7.3.2.> The stage where the front end of the moving body is irradiated with laser light (FIG. 4B).
In FIG. 4B (a), the laser beam 11 irradiates the front end position B2 of the moving body B. At this time, in the apparent cross-sectional view 22 shown in FIG. 4B (b), the contour line A1 is displayed in a straight line at the height of the front end position B2 of the moving body B.
When the position of the contour line A1 drawn in the apparent cross-sectional view 22 matches the height of the shape data of the moving body B registered in advance in the registration means 31, the laser beam 11 is the front end of the moving body B. It can be determined that the position B2 is irradiated.

<7.3.3> The stage where the object to be transported is irradiated with laser light (Fig. 4C).
In FIG. 4C (a), the laser beam 11 irradiates the transported object B loaded on the moving body B. At this time, in the apparent cross-sectional view 22 shown in FIG. 4C (b), the contour line A1 drawn on the surface of the object to be transported B is displayed. (In FIG. 4C (b), the height of the transported object B in the width direction is constant.)
The larger the number of images taken in the state where the laser beam 11 is irradiating the transported object B, the higher the accuracy of the volume measurement of the transported object A, which will be described later.
Further, if the moving speed of the moving body B is constant in this section, the accuracy of the volume measurement of the transported object A becomes higher.

<7.3.4> The stage where the rear end of the moving body is irradiated with laser light (Fig. 4D).
In FIG. 4D (a), the laser beam 11 irradiates the rear end position B3 of the moving body B. At this time, in the apparent cross-sectional view 22 shown in FIG. 4D (b), the contour line A1 is displayed in a straight line at the height of the rear end position B3 of the moving body B.
When the position of the contour line A1 drawn in the apparent cross-sectional view 22 matches the height of the shape data of the moving body B registered in advance in the registration means 31, the laser beam 11 is after the moving body B. It can be estimated that the end position B3 was irradiated.

<7.3.5> The stage where the laser beam is irradiated to other than the moving body (Fig. 4A).
When the movement of the moving body B progresses and the contour line A1 by the laser beam 11 shown in FIG. 4A is not displayed again, it is detected that the moving body B has passed, and after the above [4]. The estimation of the end position B3 may be confirmed.

<7.3.6> Summary As described above, the calculation means 33 repeats the detection operations [1] to [5] above to detect the front end position B2 and the rear end position B3 of each moving body B. The positions of the start and end of the volume calculation section in the accommodation space B1 of the moving body B can be determined.

<7.3.7> Other Specific Examples In FIGS. 4B and 4D, the shooting timing by the digital camera 20 overlaps with the time when the laser beam 11 irradiates the front end position B2 and the rear end position B3. The present invention is not limited to the above timing, and the state in which the presence / absence of the display of the contour line A1 is switched in the apparent cross-sectional view 22 may be simply specified as the start or end of the volume calculation section.
Further, the calculation means 33 may detect the front end position B2 and the rear end position B3 in real time, or may specify the volume calculation section at the stage where a certain number of shooting data by the digital camera 20 are accumulated.

<7.4> Volume calculation process (Fig. 5)
Finally, the calculation means 33 calculates the volume of the transported object A by using the apparent cross-sectional view 22 within the range of the volume calculation section of the transported object A.
FIG. 5A is an image diagram of the three-dimensional data 23 generated from the apparent cross-sectional view 22.
The three-dimensional data 23 is a state in which the tilted portion of the moving body B and the outer surface of the transported object A are drawn by the contour line A1.
In this state, the contour line A1 of the transported object A in the volume calculation section B11 moves with respect to the shape data registered in the analysis device 30 in advance or the volume V of the moving body B obtained from the shape data. The volume value addition process (FIG. 5 (b)) of the region above the boundary line when the body B is full and the contour line A1 of the transported object A are below the boundary line. By performing both the subtraction process (FIG. 5 (c)) of the volume value of the region (subtraction region V2), the volume value V'(V + V1-V2) of the object to be transported A can be calculated.

<8> Others As described above, in the present invention, the volume of the transported object A can be calculated without requiring a sensor for detecting the moving speed of the moving body B.
This is because the positions of the moving body B and the transported object A can be specified by collating the apparent cross-sectional view 22 with the shape data of the moving body B.
Therefore, the number of apparent cross-sectional views 22 of the section between the start position and the end position of the object to be transported A varies depending on the moving speed of the moving body B, which changes the accuracy of the volume calculation process. It's just that.
Further, although the moving speed of the moving body B does not necessarily require a constant speed, the closer to the constant speed, the better the volume calculation accuracy.

The volume measuring system according to the second embodiment of the present invention will be described with reference to FIG.
The volume measuring system according to the present invention may be provided with at least two or more digital cameras 20.
As shown in FIG. 6, in this embodiment, two digital cameras 20 are provided, and the shooting direction of each digital camera 20 is set at a position different from the irradiation direction of the line laser 10 and at a different angle from other digital cameras 20. It is configured to shoot from.
This is done by the other digital camera 20 when the contour line A1 cannot be photographed due to the presence of the blind spot region C generated by the large gravel a contained in the transported object A in the image data 21 taken by one of the digital cameras 20. This is because the shooting data 21 is used for complementation.

10: Line laser 11: Laser light 20: Digital camera 21: Photographed data 22: Apparent cross-sectional view 23: Three-dimensional data 30: Analytical device 31: Registration means 32: Optical cutting means 33: Calculation means A: Object to be transported a : Gravel A1: Contour line B: Moving body B1: Containment space B2: Front end position B3: Rear end position C: Blind spot area V1: Addition area V2: Subtraction area

Claims (3)

A volume measurement system that measures the volume of an object to be transported contained in a moving object passing through a measurement point.
A line laser that irradiates the moving object and the object to be transported with a laser beam from above,
A digital camera that photographs the moving object and the object to be transported irradiated with the laser beam from an angle different from the irradiation direction of the line laser.
It is provided with an analysis device that calculates the volume of the object to be transported using the photographed data of the digital camera and the shape data of the moving object registered in advance.
The digital camera continuously generates shooting data in which contour lines of the moving object and the object to be transported are reflected, which are drawn by the laser beam.
The analyzer is
By detecting the front end and the rear end of the moving body by collating the apparent cross-sectional view generated from the shooting data with the shape data of the moving body, the start and end of the volume calculation section of the transported object can be specified. ,
In calculating the volume of the object to be transported by using the apparent cross-sectional view within the range of the volume calculation section, the volume of the moving body is registered in the shape data in advance or obtained from the shape data. The process of adding the volume value of the region where the contour line of the transported object is above the boundary line when the moving object is full, and the region where the contour line of the transported object is below the boundary line. It is characterized by performing a process of subtracting a volume value .
Volume measurement system. A plurality of the digital cameras are provided so that the contour line is photographed at a different angle from the irradiation direction of the line laser and from different places.
The analysis device is characterized in that a main image data is selected from shooting data acquired from each of the plurality of digital cameras, and a contour line lacking in the main image data is complemented from the remaining image data.
The volume measuring system according to claim 1 . The volume measuring system according to claim 1 or 2 , wherein the transported object is excavated earth and sand.

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