Visual measuring method of stockpile in large-scale stock ground

Abstract

The invention relates to a non-contact measuring method, in particular to visual measuring method of a stockpile in a large-scale stock ground. The method comprises the following steps of: (1) constructing a visual measuring system of stock ground; (2) mounting a binocular vision subsystem; (3) establishing a geometric model of a CCD (Charge Coupled Device) camera; (4) calibrating the parameters of the CCD camera; (5) collecting images; (6) processing the images; (7) searching and matching angular points; (8) confirming the three-dimensional coordinate values of an object point; and (9) interpolating a curve and establishing a height map in a world coordinate system; and (10) measuring the volume. The visual measuring method of the invention automatically eliminates the image distortion caused by a wide-angle lens, can automatically and accurately match the angular points of a left view and a right view, automatically generates the three-dimensional space coordinates of the object point by utilizing an image data conversion relation, optimizes the three-dimensional angular point distribution and constructs the height map of the world coordinate system so that the volume a geometrical irregular stockpile can be simply, intuitively and accurately calculate.

Description

technical field [0001] The invention relates to a non-contact measurement method, in particular to a visual measurement method for a large-scale stockyard stockpile. Background technique [0002] So far, the stacking and reclaiming operations and planning of incoming and outgoing materials in large-scale raw material yards owned by enterprises such as steel, chemical, and power plants have basically relied on manual operation-based management and construction models, which has greatly affected these enterprises. The improvement of the overall automation and information technology level. [0003] Since the raw materials stacked in this kind of stockyard are all bulk materials, such as iron ore, coke, lime, etc., their volume is always in a state of dynamic change during the production process. Inventory measurement and dynamic management rely on manual measurement, which is inefficient, and it is necessary to shut down for manual measurement at regular intervals, affecting t...

AI Technical Summary

Problems solved by technology

To be sure, the technical method of this invention is effective in realizing the computer automatic measurement process of the stockyard. However, this technology relies too much on "the layout of the CCD camera, which can be used as a high-level visual collection point to collect the panoramic image of the stockpile" to carry out the image information of the stockyard. At the same time, the invention does not yet have the ability to automatically eliminate image distortion and other influencing factors

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