Excavator bucket earthwork volume real-time measurement method and device based on structured light

Abstract

The invention discloses an excavator bucket earthwork volume real-time measurement method and device based on structured light. The method comprises the steps: projecting a color coded grating containing coded information to the surface of the earthwork to be measured by a structured light emitting projector; capturing the grating which is subjected to height modulation deformation on the surfaceof the earthwork to be measured through a camera, then decoding a grating image captured by the camera through a decoding program, calculating pixel point coordinates and obtaining a three-dimensionalpoint cloud picture on the surface of the earthwork to be measured; carrying out preprocessing and edge contour extraction on the point cloud picture; carrying out edge extraction by utilizing a canny algorithm and screening out the edge contour of the upper section of the maximum bucket of each cycle; and judging a full earthwork state or a non-full earthwork state, calculating the actual earthwork volume by using two different volume calculation methods according to the two different states, outputting earthwork volume data and storing the earthwork volume data. The excavator bucket earthwork can be measured in real time, the measurement precision is high, the engineering efficiency is improved and engineering progress arrangement is facilitated.

Description

technical field [0001] The invention relates to the field of optical engineering and engineering machinery, and mainly relates to a method and a device for real-time measuring the earth volume of excavator buckets by using structured light three-dimensional measurement technology. Background technique [0002] The rapid development of the economy has led to an increasing number of engineering infrastructure projects. In engineering projects, the real-time measurement of the volume of excavator bucket earthwork has also attracted increasing attention. The real-time and accurate measurement of earthwork volume has had an impact that cannot be ignored on the overall planning of the project, the estimation of the progress of the project, and the distribution of project labor funds. Traditional earthwork volume measurement, including manual measurement and instrument measurement. Manual measurement is time-consuming and laborious and has low measurement accuracy; instrument meas...

AI Technical Summary

Problems solved by technology

Manual measurement is time-consuming and laborious and has low measurement accuracy; instrument measurement is difficult to achieve real-time performance, and the cost of the instrument is high, which still cannot be separated from human operation

As far as the excavator is concerned, due to the harsh working environment, the irregular shape of the bucket, and the co-operation of the large and small arms during the working process, the working conditions are complicated. Difficult to achieve efficient, accurate and real-time measurement

[0003] In order to solve the problem of difficulty and low precision in the measurement of bucket earthwork volume under complex working conditions of excavators, the present invention measures the earthwork of excavator buckets in real time based on structured light three-dimensional Efficiency, the realization of accurate statistics of earthwork, and the convenience of project schedule provide necessary support

Images