Irregular object volume measurement method and system based on point cloud data

Abstract

The invention provides an irregular object volume measurement method and system based on point cloud data, and the method comprises the steps: projecting the information of the point cloud data of a measured irregular object to a Z axis of a space system, determining a probability density function on the Z axis, determining a curvature function on the Z-axis projection, and calculating the curvature of each point on the Z-axis projection through the curvature function; according to the curvature of each point, the set reference spacing, the reference curvature and the relative spacing coefficient, determining a list of optimal lengths of spacing between adjacent slices on the z axis; slicing the point cloud according to the list to sequentially obtain a z-axis direction point holder body; carrying out boundary detection on the cross section of each slice, and calculating the cross section area of each point cloud slice; and determining the volume of each table body according to the cross section area of each point cloud slice and the height of each table body, and adding all table bodies to obtain the final volume of the measured irregular object. The method and system are simple in measuring process, reliable in result, efficient and controllable in precision.

Description

technical field [0001] The invention relates to the technical field of volume calculation, in particular to a volume calculation algorithm and system for irregular objects such as solid waste based on point cloud data. Background technique [0002] Solid waste refers to the solid or muddy substances discarded by human beings in production and living activities, which is a major source of environmental pollution. In the field of construction, due to the acceleration of urbanization in recent years, more and more buildings have been demolished, and a large amount of construction waste, such as plastic, wood, plasterboard, red brick, concrete block, tile stone, woven Because of the large volume and variety of construction waste, manual sorting alone is difficult and expensive. In order to avoid waste of resources and environmental pollution, intelligent robot sorting systems have been studied at home and abroad. The grasping angle determines whether it can stably deliver the c...

AI Technical Summary

Problems solved by technology

However, the traditional point cloud-based volume calculation method, such as the slice method, slices continuously and uniformly according to a certain step length. This method does not take into account the probability density distribution of the point cloud on the z-axis, which leads to loss in the calculation process. A certain accuracy, similarly, in its volume calculation module, according to the cylinder volume calculation method, the area difference between the upper and lower cross sections is not considered, which further reduces the accuracy of the point cloud volume calculation

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