Bulk material volume measurement method based on image features and three-dimensional point cloud technology

Abstract

The invention discloses a bulk cargo volume measurement method based on image features and three-dimensional point clouds, and the method comprises the steps: fixedly arranging a three-dimensional laser radar and a digital camera on a forklift, and obtaining the full view information of a bucket and a loaded object thereof; point cloud data are collected and preprocessed, and the collected point cloud data are optimized through a filtering and clustering algorithm; fusing the image and the point cloud information, calibrating parameters between the laser radar and the digital camera, projecting the point cloud to a pixel plane, and fusing the linear features of the image and the point cloud information; acquiring a reference plane; triangularizing the point cloud on the surface of the bulk material, and dividing the point cloud after downsampling into triangular meshes through greedy triangularization; and calculating the volume: calculating the volume of the oblique triangular prism corresponding to each triangular mesh, and then performing accumulation to obtain the final bulk material volume. The method is high in calculation speed, simple in step and accurate in result; by collecting point cloud and image information of the bucket, real-time volume calculation is achieved, and the system is suitable for real-time monitoring in industrial and mining complex environments such as construction sites.

Description

technical field [0001] The invention belongs to the technical field of engineering measurement, and in particular relates to a bulk material volume measurement method based on image features and three-dimensional point cloud technology. Background technique [0002] At present, it is difficult to control the quality of vibrating piles with deep overburden on the project site, especially the depth of piles (35M), strong vibration (over 200KW of vibrators), and irregular holes, which make it difficult to accurately count the amount of random fillers on site. . Therefore, there is a need for a fast and accurate bulk material volume measurement method. By rotating and extracting the bulk material volume, on the one hand, it can improve the efficiency of project implementation, on the other hand, it can also avoid the problem of insufficient materials caused by human negligence, and improve the efficiency of project construction. quality and speed. [0003] In recent years, wit...

AI Technical Summary

Problems solved by technology

[0004] The problem to be solved by the present invention is to propose a volume measurement method based on image features and three-dimensional point cloud technology, which has fast calculation speed and accurate results, and can be adapted to Complex working environments such as construction sites

Images