A device and method for automatic estimation of the volume of a round timber

Abstract

A kind of automatic estimation device and method of circular wood volume, wherein the device includes transport device, power device, first laser distance sensor, second laser distance sensor, third laser distance sensor, industrial camera, inductive contact computing device and processor;Transport device is provided with transport channel for transporting wood;Power device is drivingly connected with several transport devices;Industrial camera and inductive contact computing device are respectively arranged at the first end and the end of mounting bracket;First laser distance sensor is arranged on the side of transport device, and is located between transport device and industrial camera;Second laser distance sensor and third laser distance sensor are respectively arranged on the two sides of industrial camera;Power device, first laser distance sensor, second laser distance sensor, third laser distance sensor, industrial camera, inductive contact computing device are electrically connected with processor respectively.The automatic measurement of wood volume is realized, and the efficiency of measurement is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of volume measurement, in particular to a circular wood volume automatic estimation device and method. BACKGROUND

[0002] With the continuous optimization and development of urban roads, the logistics industry has also developed rapidly. In the process of sending and receiving logistics, the volume of the object needs to be measured, and then the freight of the object is calculated. However, the volume measurement equipment of the logistics industry has a small working field (such as DWS full-automatic weighing equipment), which is only suitable for small workpieces and has certain limitations. When transporting large-volume goods such as wood, traditional scanning measurement cannot be realized. At this time, manual measurement is needed, which seriously wastes the time and energy of workers and reduces the efficiency of logistics volume measurement. SUMMARY

[0003] In view of the above defects, the purpose of the present application is to provide a circular wood volume automatic estimation device and method, which realizes the automatic measurement of wood volume and improves the measurement efficiency.

[0004] To achieve this purpose, the present application adopts the following technical scheme: a circular wood volume automatic estimation device, comprising a transportation device, a power device, a first laser distance sensor, a second laser distance sensor, a third laser distance sensor, an industrial camera, an inductive touch point calculation device and a processor.

[0005] The transportation device is provided with a transportation channel for transporting wood;

[0006] The power device is in driving connection with the plurality of transportation devices;

[0007] The industrial camera and the inductive touch point calculation device are respectively arranged at the first end and the last end of the mounting bracket;

[0008] The first laser distance sensor is arranged on one side of the transportation device and located between the transportation device and the industrial camera;

[0009] The second laser distance sensor and the third laser distance sensor are respectively arranged on both sides of the industrial camera;

[0010] The power device, the first laser distance sensor, the second laser distance sensor, the third laser distance sensor, the industrial camera and the inductive touch point calculation device are electrically connected to the processor.

[0011] A circular wood volume automatic estimation method using the wood volume automatic estimation device, comprising the following steps:

[0012] Step S1: after the wood is placed on the transport device, the power device is driven to transport the wood towards the industrial camera, and the first laser distance sensor detects the wood and sends a signal to the processor to stop the transport device;

[0013] Step S2: the processor sends a shooting instruction to the industrial camera, the industrial camera takes a picture of the wood cross section and sends it to the processor, and the processor obtains the cross-sectional area V of the wood from the picture;

[0014] Step S3: the processor sends a reverse motion instruction to the power device to move the wood towards the inductive touch point calculation device, the inductive touch point calculation device senses the start induction time t1 and the end induction time t2 of the wood, and sends the start induction time t1 and the end induction time t2 to the processor;

[0015] Step S4: the processor obtains the induction time difference t3 according to the start induction time t1 and the end induction time t2, and obtains the length H of the wood by combining the transport speed of the transport device and the induction time difference t3;

[0016] Step S5: the volume of the wood is calculated by the cross-sectional area V and the length H of the wood.

[0017] Preferably, the step of obtaining the cross-sectional area V in step S2 is as follows:

[0018] Step S21: the processor calls the interface of Optiview software, inputs the picture into Optiview software, and obtains the circle in the picture through the find circle function;

[0019] Step S22: obtain the first diameter of the circle in the picture, adjust the first diameter by the distance between the industrial camera and the wood to obtain the second diameter, and calculate the cross-sectional area V of the wood by the second diameter.

[0020] Preferably, in step S2, if the edge thickness of the circle in the picture is greater than a threshold value, the first diameter needs to be corrected, and the correction step is as follows:

[0021] The processor drives the second laser distance sensor and the third laser distance sensor to move to the left and right ends of the wood cross section, and obtains the straight line distance L1 between the wood and the second laser distance sensor and the straight line distance L2 between the wood and the third laser distance sensor, respectively;

[0022] Obtain the difference L3 between the straight line distance L1 and the straight line distance L2;

[0023] According to the difference L3, the first diameter is corrected to obtain the diameter correction value L4; wherein the correction formula is as follows: wherein L is the first diameter.

[0024] Preferably, in step S2, if the edge thickness of the picture circle is greater than a threshold value, the length H of the wood also needs to be corrected;

[0025] wherein the correction formula is as follows:

[0026] wherein H' is the length correction value, L is the first diameter, and L3 is the difference between the straight-line distance L1 and the straight-line distance L2.

[0027] One of the above technical solutions has the following advantages or beneficial effects: the distance between the industrial camera and the wood is kept within a certain value range, and there is a stable proportional relationship between the diameter in the picture and the cross-sectional area of the wood. The cross-sectional area V of the wood can be obtained by calculating the proportional relationship and the diameter of the picture circle. After the cross-sectional area V is calculated, the processor controls the power device to move in reverse. At this time, the wood moves to the end of the transportation device, and in the process of moving, the two ends of the wood pass through the induction contact calculation device respectively, and the induction contact calculation device obtains the time when the two ends of the wood pass through respectively, and obtains the induction time difference t3. The running speed of the transportation device is known, and the length H of the wood can be calculated by the induction time difference t3 and the running speed of the transportation device. The induction contact mechanism is located at the end of the transportation device. Since the wood may trigger the induction contact mechanism when it enters the transportation device, resulting in a measurement error of the volume, the induction contact mechanism is arranged at the end of the second frame body, which can effectively avoid the above situation and improve the measurement accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is a structural schematic diagram of an embodiment of the present application;

[0029] Fig. 2 is a program schematic diagram of the circle finding software of an embodiment of the present application.

[0030] Fig. 3 is a flowchart of an embodiment of the present application.

[0031] wherein: the transportation device 1, the power device 2, the first laser distance sensor 3, the second laser distance sensor 4, the third laser distance sensor 5, the industrial camera 6, the induction contact calculation device 7. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described below in the accompanying drawings, in which like or similar designations denote like or similar elements or components throughout the various figures. The embodiments described below are exemplary and are not intended to be limiting in terms of the scope of the application. It will be readily understood that the components of the present application, as generally described and illustrated in the Figures herein, could be arranged and designed in a wide variety of different configurations.

[0033] In the description of the embodiments of the present application, the terms "first", "second", and the like are used only to describe the elements as they occur in the description of the embodiments of the present application, and are not otherwise intended to refer to relative importance or one of the technical features indicated. Thus, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0034] In addition, the terms "first", "second", and the like are used only for descriptive purposes, and are not intended to indicate or imply relative importance or to implicitly indicate the number of technical features indicated. Thus, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more. The specific meaning of the above terms in the present application can be understood in specific cases by those of ordinary skill in the art.

[0035] As shown in Figs. 1-3 A circular wood volume automatic estimation device, comprising a conveying device 1, a power device 2, a first laser distance sensor 3, a second laser distance sensor 4, a third laser distance sensor 5, an industrial camera 6, an inductive touch computing device 7 and a processor;

[0036] The conveying device 1 is provided with a conveying channel for conveying wood;

[0037] The power device 2 is drivingly connected with a plurality of conveying devices 1;

[0038] The industrial camera 6 and the inductive touch computing device 7 are respectively arranged at the first end and the end of the mounting bracket;

[0039] The first laser distance sensor 3 is arranged on one side of the conveying device 1 and located between the conveying device 1 and the industrial camera 6;

[0040] The second laser distance sensor 4 and the third laser distance sensor 5 are respectively arranged on both sides of the industrial camera 6;

[0041] The power device 2, the first laser distance sensor 3, the second laser distance sensor 4, the third laser distance sensor 5, the industrial camera 6, and the inductive touch computing device 7 are respectively electrically connected to the processor.

[0042] A method for automatically estimating the volume of a round wood body using the wood volume automatic estimation device, comprising the following steps:

[0043] Step S1: After the wood is placed on the transport device, the power device is driven to transport the wood towards the direction of the industrial camera. When the first laser distance sensor detects the presence of wood, it sends a signal to the processor to stop the transport device.

[0044] Step S2: The processor sends a shooting instruction to the industrial camera. The industrial camera takes a picture of the cross-section of the wood and sends it to the processor. The processor obtains the cross-sectional area V of the wood from the picture.

[0045] Step S3: The processor sends a reverse motion instruction to the power device to move the wood towards the inductive touch point calculation device. The inductive touch point calculation device senses the start sensing time t1 and the end sensing time t2 of the wood and sends them to the processor.

[0046] Step S4: The processor calculates the sensing time difference t3 based on the start sensing time t1 and the end sensing time t2. The length H of the wood is obtained by combining the transport speed of the transport device and the sensing time difference t3.

[0047] Step S5: The volume of the wood is calculated based on the cross-sectional area V and the length H.

[0048] As Fig. 1As shown, when the wood is put into the conveying device, the cross section of the wood is towards the industrial camera, and then the wood is conveyed by the conveying device to a shooting position close to the industrial camera. Since the first laser distance sensor is arranged, the industrial camera can be controlled to keep a stable distance with the wood during each shooting of the wood, so as to determine the accuracy of the measurement. Then the industrial camera shoots the wood to obtain a picture, and then the processor processes the picture, for example, uses the existing round finding vision technology to find the round cross section of the wood in the picture, and then calculates the diameter of the round in the picture. Since the distance between the industrial camera and the wood is kept in a fixed range, there is a stable proportional relationship between the diameter in the picture and the cross-sectional area of the wood, and the cross-sectional area V of the wood can be obtained through the proportional relationship and the diameter of the round in the picture. After the cross-sectional area V is calculated, the processor controls the power device to move reversely. At this time, the wood moves to the end of the conveying device, and during the movement, the two ends of the wood pass through the induction contact calculation device respectively, the induction contact calculation device obtains the time when the two ends of the wood pass through respectively, and obtains the induction time difference t3. Since the running speed of the conveying device is known, the length H of the wood can be calculated through the induction time difference t3 and the running speed of the conveying device. The induction contact mechanism is located at the end of the conveying device. Since the wood may trigger the induction contact mechanism when entering the conveying device, resulting in the failure of volume measurement, the induction contact mechanism arranged at the end of the second frame body can effectively avoid the above situation and improve the measurement accuracy.

[0049] Preferably, the step of obtaining the cross-sectional area V in the step S2 is as follows:

[0050] Step S21: The processor calls the interface of the Optiview vision software, inputs the picture into the Optiview vision software, and obtains the round in the picture through the round finding function.

[0051] Step S22: Obtain the first diameter of the round in the picture, adjust the first diameter through the distance between the industrial camera and the wood to obtain the second diameter, and obtain the cross-sectional area V of the wood through the second diameter.

[0052] In the present application, when the industrial camera shoots the picture of the wood, the picture is sent to the processor, and the interface of the Optiview vision software in the processor is connected. When the picture is input, the Optiview vision software is called to find the round in the picture. It is worth mentioning that during the round finding process, if multiple rounds are found, the round with the largest diameter is retained as the cross-sectional area corresponding to the wood. Because the distance between the industrial camera and the wood is shortened by the conveying device in the present application, and the cross-sectional area of the wood is relatively large, the round presented in the picture is the largest.

[0053] Once a circle is captured, its inner diameter is used as the first diameter. However, the calculation of this first diameter directly uses the circle in the image, not its actual size. By controlling the weighing position of the wood using the first laser distance sensor, the distance between the industrial camera and the wood is kept within a fixed range. A stable proportional relationship exists between the diameter in the image and the cross-sectional area of ​​the wood. Therefore, the first diameter can be adjusted by changing the distance between the industrial camera and the wood to obtain a second diameter that approximates the actual cross-sectional area of ​​the wood.

[0054] Preferably, in step S2, if the edge thickness of the circle in the image is greater than a threshold, the first diameter needs to be corrected, wherein the correction steps are as follows:

[0055] The processor drives the second laser distance sensor and the third laser distance sensor to move to the left and right ends of the wood cross-section, and respectively obtains the straight distance L1 between the wood and the second laser distance sensor and the straight distance L2 between the wood and the third laser distance sensor.

[0056] Obtain the difference L3 between the straight-line distance L1 and the straight-line distance L2;

[0057] The first diameter is corrected based on the difference L3 to obtain the diameter correction value L4; wherein the correction formula is as follows: Where L is the first diameter.

[0058] Some timber is not placed neatly when it enters the transportation facility, and there may be deviations in its position, which can lead to issues during the rounding process. Fig. 2 As shown, the thickness of the right edge of the circle is greater than that of the left edge. Due to the displacement of the wood's position, the first diameter cannot effectively reflect the proportion of the wood's diameter. Therefore, this invention includes a second laser distance sensor and a third laser distance sensor, both mounted on either side of an industrial camera via sliding rails. When the processor detects that the edge thickness of a certain edge of the circle exceeds a threshold, it drives the second and third laser distance sensors to track the left and right ends of the wood's cross-section, respectively, and obtains the straight-line distances L1 and L2. Then, the difference L3 between the two straight-line distances L1 and L2 is obtained. Since the first diameter L, the true diameter, and the difference L3 have a trigonometric function relationship, the first diameter is directly corrected using trigonometric functions to obtain the correction value L4.

[0059] Preferably, in step S2, if the edge thickness of the circle in the image is greater than a threshold, the length H of the wood also needs to be corrected.

[0060] The modified formula is as follows:

[0061] Wherein H' is the length correction value, L is the first diameter, and L3 is the difference between the straight-line distance L1 and the straight-line distance L2.

[0062] When the wood has a pose offset, the end sensing time t2 of the wood passing through the sensing contact computing device will be longer, eventually resulting in a larger sensing time difference t3, and the length H of the wood will also be larger, which does not conform to the predicted value of the time. Therefore, the length H of the wood needs to be corrected, and through the corrected second diameter L2 and the length correction value H', the predicted value of the volume of the round wood can be obtained.

[0063] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0064] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A device for automatically estimating the volume of a round piece of wood, characterized by The device comprises a transport device (1), a power device (2), a first laser distance sensor (3), a second laser distance sensor (4), a third laser distance sensor (5), an industrial camera (6), an inductive touch point calculation device (7), and a processor. The transport device (1) is provided with a transport channel for transporting wood; The power device (2) is in driving connection with a plurality of transport devices (1); The industrial camera (6) and the inductive touch point calculation device (7) are respectively arranged at the first end and the last end of the mounting bracket; The first laser distance sensor (3) is arranged on one side of the transport device (1) and located between the transport device (1) and the industrial camera (6); The second laser distance sensor (4) and the third laser distance sensor (5) are respectively arranged on the left and right sides of the industrial camera (6); The power device (2), the first laser distance sensor (3), the second laser distance sensor (4), the third laser distance sensor (5), the industrial camera (6), and the inductive touch point calculation device (7) are respectively electrically connected to the processor; The device further performs the following steps: Step S1: After the wood is placed on the transport device, the power device is driven to transport the wood towards the industrial camera, and the first laser distance sensor detects the wood and sends a command to the processor to stop the transport device; Step S2: The processor sends a shooting instruction to the industrial camera, and the industrial camera takes a picture containing the cross section of the wood and sends it to the processor, and the processor obtains the cross-sectional area V of the wood through the picture; Step S3: The processor sends a reverse motion instruction to the power device to move the wood towards the inductive touch point calculation device, and the inductive touch point calculation device senses the start sensing time t1 and the end sensing time t2 of the wood and sends them to the processor; Step S4: The processor obtains the sensing time difference t3 according to the start sensing time t1 and the end sensing time t2, and obtains the length H of the wood by combining the transport speed of the transport device and the sensing time difference t3; Step S5: The volume of the wood is calculated by the cross-sectional area V and the length H; the step S2 of obtaining the cross-sectional area V is as follows: Step S21: The processor calls the interface of the Optex vision software, inputs the picture into the Optex vision software, and obtains the circle in the picture through the find circle function; Step S22: The first diameter of the circle in the picture is obtained, the first diameter is adjusted through the distance between the industrial camera and the wood to obtain the second diameter, and the cross-sectional area V of the wood is obtained through the second diameter; If the edge thickness of the circle in the picture is greater than a threshold value in step S2, the first diameter needs to be corrected, and the correction steps are as follows: The processor drives the second laser distance sensor and the third laser distance sensor to move to the left and right ends of the cross section of the wood, and respectively obtains the straight line distance L1 between the wood and the second laser distance sensor and the straight line distance L2 between the wood and the third laser distance sensor; obtaining a difference L3 between the straight line distance L1 and the straight line distance L2; According to the difference L3, the first diameter is corrected to obtain a diameter correction value L4; wherein the correction formula is as follows: wherein L is the first diameter; In step S2, if the edge thickness of the picture circle is greater than a threshold value, the length H of the wood also needs to be corrected. The modified formula is as follows: ; wherein is a length correction value, L is the first diameter, is the difference between the straight line distance L1 and the straight line distance L2.

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