Real-time shielding residue soil volume measurement method based on optical grating projection binocular-imaging technology

Abstract

The invention discloses a real-time shielding residue soil volume measurement method based on an optical grating projection binocular-imaging technology. A laser projector projects structured light having a certain code to comprehensively cover a soil bucket compartment of a residue soil vehicle, the shape of the structured light is as shown in a figure, two vidicons form an angle and can well acquire optical grating projection information of the soil bucket compartment of the residue soil vehicle and then project the acquired optical grating images into the soil bucket compartment of the residue soil vehicle, feature point matching is conducted on the obtained optical grating images through a computer, point cloud preprocessing and three-dimensional reconstruction are performed to simulate a three-dimensional shape of the soil bucket compartment of the residue soil vehicle, the size before loading of the soil bucket compartment of the residue soil vehicle is calculated through a rapid volume calculation method, the size after loading of the soil bucket compartment of the residue soil vehicle is calculated by repeating the steps, and the size difference is the shielding residue soil amount to be measured. The method makes measurement convenient and quick, and real-time measurement can be achieved.

Description

technical field [0001] The invention relates to a method for real-time measurement of shield muck volume based on grating projection binocular imaging technology, belonging to the fields of machine vision and construction machinery. Background technique [0002] The subway is increasingly becoming an indispensable means of transportation for people to travel, and its application area is becoming wider and wider. With the construction of the subway, the measurement of muck during the shield tunneling process is also becoming more and more important. The theoretical excavation amount of muck under normal shield tunneling conditions If there is a difference from the actual unearthed amount, it can be guessed that the shield has encountered a bad soil layer state, which is of great significance to construction safety. The traditional method of recording the amount of muck in the shield tunneling process mainly uses manual measurement, which has a large workload and cannot be dyn...

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Problems solved by technology

The traditional method of recording the amount of muck in the shield tunneling process mainly us

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