Automatic measuring device for volume of grain pile and measuring method thereof

An automatic measurement and grain pile technology, which is applied in the field of automatic volume measurement devices and grain pile volume measurement devices, can solve the problems of increasing the complexity of the measurement device, and achieve the effects of simple structure, high measurement accuracy and low price.

Inactive Publication Date: 2013-09-18

INST OF REMOTE SENSING & DIGITAL EARTH CHINESE ACADEMY OF SCI

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Problems solved by technology

Due to the large number of coordinates on the surface of the grain pile, the use of ...

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Method used

S200 light strip image processing: control and data processing module 5 first carry out filtering and binarization processing to light strip image, remove noises such as shot particles in the image, increase signal-to-noise ratio, obtain binarization image; Next , extract the center of the sub-pixel light bar from the line laser bar; finally extract the coordinates (x, y, z) of each point from the center of the light bar according to the mathematical model of the camera and the system.

S300 point cloud data processing: co...

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Abstract

The invention relates to an automatic measuring device for volume of a grain pile and a measuring method thereof. The measuring device consists of a line laser, a camera, a stepping motor, a motor driver, a control and data processing module, a power adapter, a case and a connector. The line laser is used as a light source to project line laser, and when the line laser is intersected with the surface of the grain pile, a bright bar is generated on the surface of the grain pile. The measuring method comprises the following steps: inputting shot bright bar images to the data processing module by the camera; processing all bright bar images by the data processing module to reconstruct shape of the grain pile; and calculating the volume of the grain pile by combining a known granary structure. According to the invention, the volume of the grain pile can be precisely measured in real time online, and the measurement is simple, low in cost and large in field of view, so that the metering safety of national grain reserves is ensured.

Application Domain

Using optical means

Technology Topic

PhysicsElectric machinery +6

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Examples

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Example Embodiment

[0039] Attached below Figure 1-4 , to describe in detail the specific embodiments of the present invention.

[0040] In the device for automatically measuring the volume of grain piles, the line laser 1 is composed of a laser and a cylindrical mirror, such as figure 2 As shown, it is connected to the stepper motor 3 through a connector 8, and connected to the power conversion board 6 through wires. The line laser 1 is used as a light source to project a line laser, and when it intersects with the surface of the grain pile, a bright light strip is generated on the surface of the grain pile, which is controlled by the control and data processing module 5 .

[0041] The camera 2 is composed of a lens, a COMS photosensitive chip, and an analog-to-digital conversion chip. The lens extends out of the chassis, such as figure 1As shown, the control and data processing module 5 is connected through the bus, such as figure 2 As shown, the power conversion board 6 is connected by wires. The light strip images captured by the camera 2 are processed by the control and data processing module 5 .

[0042] The stepper motor 3 is composed of a stator, a rotor and a rotating shaft. The rotating shaft extends out of the case and is connected to the line laser 1 through a connecting piece 8 . like figure 1 As shown, the stepper motor is connected to the control and data processing module 5 through the motor driver 4, and the control and data processing module 5 controls the stepping angle and speed to drive the line laser 1 to rotate.

[0043] The control and data processing module 5 includes an embedded processor, a memory, a camera bus interface, a power control interface, a motor drive interface and a network communication interface. Control and receive the light strip image taken by the camera 2 through the camera bus interface, and store it in the memory of the module 5 . Control the switch of the line laser through the power control interface. The pulse signal is sent to the stepper motor 3 through the motor drive interface to control the angle and speed of the stepper motor 3 . The measurement data is transmitted to the monitoring network through the network communication interface.

[0044] The power conversion board 6 converts the external power supply into multiple output power supplies, and supplies power to the line laser 1 , the camera 2 , the motor controller 4 and the control and data processing module 5 at the same time.

[0045] A handle 9 and a fixed ring 10 are installed on the top plate of the cabinet 7, which is convenient for the operator to hold, or be fixed in the granary by a support. A power plug 11 is installed on the left side panel of the chassis 7, and is connected to the power supply and the power conversion board 6 by wires. The camera 2, the stepping motor 3, the motor driver 4, the control and data processing module 5, and the power conversion board 6 are fixed on the bottom plate of the chassis 7, keeping their relative positions unchanged. Four rubber foot pads 12 are installed under the chassis 7 to support the chassis.

[0046] image 3 It is the connector 8 between the line laser 1 and the stepping motor 3, the line laser connecting hole 14 is set on the line laser 1, the stepping motor connecting hole 13 is set on the shaft of the stepping motor 3, and fixed with screws respectively.

[0047] The power conversion board 6 is composed of a power conversion chip, an electrolytic capacitor, a current limiting resistor, a light-emitting diode and various plug-ins. The motor 3, the motor driver 4 and the control and data processing module 5 supply power.

[0048] like Figure 4 Shown, a kind of measuring method that utilizes the above-mentioned device to automatically measure grain pile volume specifically comprises the following steps:

[0049] S100 light bar image acquisition: through the camera 1, respectively collect the light bar and no light bar images, and transmit them to the control and data processing module through the bus.

[0050] S200 light strip image processing: the control and data processing module 5 first performs filtering and binarization processing on the light strip image, removes noise such as shot particles in the image, increases the signal-to-noise ratio, and obtains a binary image; secondly, from the line The laser bar extracts the center of the light bar of its sub-pixels; finally, the coordinates (x, y, z) of each point are extracted from the center of the light bar according to the mathematical model of the camera and the system.

[0051] In the S200 light strip image processing step, the determination of the geometric position relationship between the image point and the corresponding point on the surface of the space object involves the parameters in the camera model and the system model. The camera model parameters should include the focal length of the camera, the principal point and the distortion coefficient. The system model The parameters should include the position and direction of the camera relative to the line laser. The values of these parameters need to be input into the control and data processing module 5 before step s100.

[0052] S300 point cloud data processing: the control and data processing module 5 controls the stepping motor 3, the stepping motor 3 drives the line laser 1 to rotate, records the angle and direction of rotation, repeats steps 1 and 2, and obtains the point cloud data on the grain pile surface; Coordinate transformation of point cloud data measured in different coordinate systems; extract points reflecting surface features in point cloud data, remove redundant data; pair contour points, and then interpolate through these paired points to make the data The dot density is basically uniform.

[0053] S400 Grain Heap Surface Reconstruction: Using the granary structure data pre-stored in the control and data processing module 5, the control and data processing module 5 cuts the point cloud data at equal intervals according to the z-axis direction of the measurement coordinate system as the normal direction of the slice. The points near the slice are projected onto the slice to form a closed area on the slice, and the interval between slices is d 1.

[0054] S500 volume calculation: the control and data processing module 5 takes scan lines at equal intervals in the closed area surrounded by the point cloud data on the slice. The present invention adopts the x-axis direction of the measurement coordinate system as the direction of the scan line, and takes the scan line spacing as d 2 , assuming that there are m scan lines in total, the distance between the scan line and the two intersection points of the point cloud data on the jth slice is l ji (i=1,,2,...,m); Suppose there are n slices in total, then the area S of the closed area on the slice j (j=1,,2,...,n):

[0055] S j = Σ i = 1 m l ji * d 2

[0056] Then the volume V of point cloud data:

[0057] V = Σ j = 1 n S j * d 1

[0058] The control and data processing module (5) outputs the volume of the grain pile to the data output device.

[0059] The preferred embodiments of the invention are provided only to help illustrate the invention. Obviously, many modifications and variations can be made based on the contents of this specification. For example, according to the same principle, point heights can also be measured using a bottom view and a point light source; the present invention can measure the volume of solid accumulations other than grain piles, and even can measure the volume of general solid objects in combination with views from other angles.

[0060] The present invention is not limited to the above-mentioned embodiments. Without departing from the essence of the present invention, any deformation, improvement, and replacement conceivable by those skilled in the art fall within the scope of the present invention.

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Description & Claims & Application Information

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Classification and recommendation of technical efficacy words

Simple structure
High measurement accuracy

Automatic measuring device for volume of grain pile and measuring method thereof

AI-Extracted Technical Summary

Problems solved by technology

Method used

Abstract

Image

Examples

Example Embodiment

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Description & Claims & Application Information

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