Warehouse material volume measurement system, method, host computer and storage medium

Abstract

The embodiment of the application provides a kind of warehousing material volume measurement system, method, host computer and storage medium, it is related to warehousing measurement technical field.The system includes ball machine, single line laser radar, wireless communication module, host computer and control unit, ball machine is set in silo and is located above the material to be measured, ball machine includes support frame and stepper motor holder, support frame is fixed in silo, stepper motor holder is connected with support frame, single line laser radar is installed on stepper motor holder, control unit is set in stepper motor holder, wireless communication module is connected with host computer, control unit communication, control unit is electrically connected with stepper motor holder, single line laser radar.The embodiment of the application realizes the reduction of overall cost, avoids the problem that the cable is exposed outside the motor body in the mode that traditional warehousing volume measurement scheme uses cable to connect laser radar and motor, which can easily affect the rotation accuracy of motor, and the cable is easily damaged.

Description

Technical Field

[0001] This invention relates to the field of warehouse measurement technology, and more specifically, to a warehouse material volume measurement system, method, host computer, and storage medium. Background Technology

[0002] Traditional warehouse volume measurement solutions typically use a combination of 2D LiDAR and a tracked vehicle. Structurally, cables connect the LiDAR and motor, and radar data is generally transmitted via network cables. This approach has the following drawbacks: First, the exposed cables connecting the LiDAR and motor can affect the motor's rotational accuracy and are prone to damage. Second, installation requires the simultaneous laying of communication cables, resulting in high installation costs. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a storage material volume measurement system, method, host computer and storage medium, so as to reduce the overall cost while avoiding the problems of traditional storage volume measurement schemes that use cables to connect the lidar and the motor, which expose the cables outside the motor body and easily affect the rotational accuracy of the motor, as well as the problem of the cables being easily damaged.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In a first aspect, embodiments of the present invention provide a storage material volume measurement system, including a PTZ camera, a single-line lidar, a wireless communication module, a host computer, and a control unit;

[0006] The PTZ camera is installed inside the hopper and positioned above the material to be tested. The PTZ camera includes a support frame and a stepper motor gimbal. The support frame is fixed inside the hopper, and the stepper motor gimbal is connected to the support frame. The single-line laser radar is installed on the stepper motor gimbal, and the control unit is located inside the stepper motor gimbal. The wireless communication module is communicatively connected to the host computer and the control unit, and the control unit is electrically connected to the stepper motor gimbal and the single-line laser radar.

[0007] The host computer is used to send a volume measurement command to the control unit through the wireless communication module, obtain parameter information uploaded by the control unit through the wireless communication module, and obtain the volume of the material to be measured based on the parameter information;

[0008] The control unit is used to respond to the volume measurement command sent by the host computer through the wireless communication module, control the stepper motor gimbal and the single-line lidar to obtain parameter information, and upload the parameter information to the host computer through the wireless communication module so that the host computer can obtain the volume of the material to be measured based on the parameter information.

[0009] In an optional implementation, the host computer is further configured to acquire point cloud data of the material to be tested scanned by the single-line lidar and display the point cloud data.

[0010] In an optional implementation, the parameter information includes angle information and distance information, and the host computer is used to obtain the volume of the material to be measured based on the parameter information through the following steps:

[0011] The angle and distance information uploaded by the control unit are obtained through the wireless communication module.

[0012] The bottom area of ​​the material to be tested is obtained based on the angle information.

[0013] The volume of the material to be tested at the current angle is obtained by the PTZ camera based on the bottom area of ​​the material to be tested and the distance information.

[0014] The volume of the material to be tested is obtained by summing the volume of the material under test at all angles using the PTZ camera.

[0015] In an optional implementation, the control unit is used to control the stepper motor gimbal and the single-line lidar to obtain parameter information through the following steps:

[0016] Control the stepper motor gimbal to rotate and collect the current angle of the PTZ camera to obtain angle information;

[0017] The single-line lidar is controlled to measure the height of the material to be measured at the current angle of the PTZ camera to obtain distance information.

[0018] In an optional implementation, the PTZ camera may be one or more units.

[0019] In an optional implementation, the single-line lidar is a 1D single-line lidar.

[0020] In an optional implementation, the wireless communication module is disposed inside the stepper motor gimbal or outside the PTZ camera.

[0021] In a second aspect, embodiments of the present invention provide a method for measuring the volume of stored materials, applied to a host computer as described in the first aspect embodiment above, the method comprising:

[0022] The volume measurement command is sent to the control unit via the wireless communication module;

[0023] The parameter information uploaded by the control unit is obtained through the wireless communication module, wherein the parameter information includes angle information and distance information;

[0024] The bottom area of ​​the material to be tested is obtained based on the angle information.

[0025] The volume of the material to be tested at the current angle of the PTZ camera is obtained based on the bottom area of ​​the material to be tested and the distance information.

[0026] The volume of the material to be tested is obtained by summing the volume of the material under all the angles of the PTZ cameras.

[0027] Thirdly, embodiments of this application provide a host computer, including a memory and a processor;

[0028] The memory is used to store computer programs;

[0029] The processor is used to execute the computer program to implement the storage volume measurement method as provided in the second aspect embodiment above.

[0030] Fourthly, embodiments of this application provide a computer-readable storage medium, wherein the computer program, when executed by a processor, implements the storage volume measurement method as described in the second aspect of the embodiments above.

[0031] The beneficial effects of the embodiments of the present invention include, for example:

[0032] The storage material volume measurement system, method, host computer, and storage medium provided in this invention use the stepper motor gimbal of a PTZ camera as the rotating base of a single-line LiDAR. Even though the single-line LiDAR and the PTZ camera are integrated, this structure allows the cable to be retracted inside the PTZ camera. This avoids the problems of traditional storage volume measurement schemes that use cables to connect the LiDAR and the motor, where the exposed cables can affect the rotational accuracy of the motor and make the cables prone to damage.

[0033] Furthermore, the aforementioned warehouse material volume measurement system uses wireless communication to transmit single-line lidar data to the data center (host computer), reducing the installation cost of laying communication cables and lowering the overall cost.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 An exemplary structural diagram of a storage material volume measurement system provided in an embodiment of the present invention is shown;

[0037] Figure 2 This is a second exemplary structural diagram of a storage material volume measurement system provided in an embodiment of the present invention;

[0038] Figure 3 This is a third exemplary structural diagram of a storage material volume measurement system provided in an embodiment of the present invention;

[0039] Figure 4 A schematic flowchart of a method for measuring the volume of stored materials provided in an embodiment of the present invention is shown;

[0040] Figure 5 An exemplary structural block diagram of a host computer provided by an embodiment of the present invention is shown.

[0041] Icons: 100-Storage material volume measurement system; 101-PTZ camera; 1011-Support frame; 1012-Stepper motor gimbal; 102-Single-line lidar; 103-Wireless communication module; 104-Host computer; 1041-Memory; 1042-Processor; 1043-Communication interface. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0045] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0046] Please refer to the following: Figures 1 to 3 , Figure 1 An exemplary structural diagram of a warehouse material volume measurement system 100 provided in an embodiment of the present invention is shown. Figure 2 This is a second exemplary structural diagram of a warehouse material volume measurement system 100 provided in an embodiment of the present invention. Figure 3 This is shown as a third exemplary structural diagram of a storage material volume measurement system 100 provided in an embodiment of the present invention.

[0047] The storage material volume measurement system 100 includes a PTZ camera 101, a single-line lidar 102, a wireless communication module 103, a host computer 104, and a control unit (not shown in the figure).

[0048] In this embodiment of the invention, the PTZ camera 101 is disposed in a hopper (not shown in the figure) and located above the material to be tested (not shown in the figure). The PTZ camera 101 includes a support frame 1011 and a stepper motor gimbal 1012. The support frame 1011 is fixed in the hopper and is used to support the stepper motor gimbal 1012. The stepper motor gimbal 1012 is connected to the support frame 1011. A single-line laser radar 102 is mounted on the stepper motor gimbal 1012. A control unit is disposed in the stepper motor gimbal 1012. A wireless communication module 103 is communicatively connected to the host computer 104 and the control unit. The control unit is electrically connected to the stepper motor gimbal 1012 and the single-line laser radar 102.

[0049] The stepper motor gimbal 1012 can rotate up, down, left, and right under the control of the control unit, so that the single-line lidar 102 can measure the distance to the material to be measured at different angles of the PTZ camera 101, and then calculate the volume of the material to be measured based on the obtained distance measurement data.

[0050] The wireless communication module 103 can be installed inside the stepper motor gimbal 1012 or outside the PTZ camera 101. The wireless communication module 103 enables data transmission. For example, the host computer 104 can send corresponding commands to the control unit through the wireless communication module 103, causing the control unit to control the operation of the stepper motor gimbal 1012 and the single-line LiDAR 102. Alternatively, the control unit can upload data such as the angle of the PTZ camera 101 and the distance measured by the single-line LiDAR 102 to the host computer 104 through the wireless communication module 103, allowing the host computer 104 to perform corresponding calculations based on this data.

[0051] For example, when the wireless communication module 103 is disposed within the stepper motor gimbal 1012, the exemplary structural diagram of the aforementioned warehouse material volume measurement system 100 can be as follows: Figure 1 As shown, at this time, the control unit of the PTZ camera 101 can directly interact with the host computer 104 via the wireless communication module 103. When the wireless communication module 103 is located outside the PTZ camera 101, the exemplary structural diagram of the aforementioned storage material volume measurement system 100 can be as follows: Figure 2 As shown, at this time, the control unit of the PTZ camera 101 can be connected to the wireless communication module 103 via an externally provided communication connection line, and interact with the host computer 104 through the wireless communication module 103.

[0052] It should be noted that there can be multiple PTZ cameras 101 in the aforementioned warehouse material volume measurement system 100. When multiple PTZ cameras 101 are installed, the exemplary structural diagram of the warehouse material volume measurement system 100 can be as follows: Figure 3 As shown, at this time, the host computer 104 can interact with the control units in multiple PTZ cameras 101 via the wireless communication module 103. The wireless communication module 103 can be configured as follows: Figure 1 or Figure 2 Any one of them, but the embodiments of the present invention are not limited to this.

[0053] Furthermore, the host computer 104 is used to send volume measurement commands to the control unit through the wireless communication module 103. The host computer 104 is also used to obtain parameter information uploaded by the control unit through the wireless communication module 103, and obtain the volume of the material to be measured based on the parameter information.

[0054] The control unit is used to respond to the volume measurement command sent by the host computer 104 through the wireless communication module 103, and control the stepper motor gimbal 1012 and the single-line lidar 102 to obtain parameter information. The control unit is also used to upload the parameter information to the host computer 104 through the wireless communication module 103 so that the host computer 104 can obtain the volume of the material to be measured based on the parameter information.

[0055] The storage material volume measurement system 100 provided in this embodiment of the invention uses the stepper motor gimbal 1012 of the PTZ camera 101 as the rotating base of the single-line lidar 102. Even though the single-line lidar 102 and the PTZ camera 101 are integrated, this structure allows the cable to be retracted inside the PTZ camera 101. This avoids the problem of the traditional storage volume measurement scheme using cables to connect the lidar and the motor, which exposes the cable outside the motor body, easily affecting the rotational accuracy of the motor and making the cable easily damaged.

[0056] Furthermore, the aforementioned warehouse material volume measurement system 100 uses wireless communication to transmit the data of the single-line lidar 102 to the data center (host computer 104), reducing the installation cost of laying communication cables and lowering the overall cost.

[0057] Optionally, the host computer 104 is also used to acquire point cloud data of the material to be tested scanned by the single-line lidar 102 and display the point cloud data.

[0058] In this embodiment of the invention, the point cloud data can be the point cloud model data of the material to be tested. After the single-line lidar 102 finishes scanning the material to be tested, it will generate high-density point cloud data for the control unit to collect. The host computer 104 will obtain the point cloud data sent by the control unit through the wireless communication module 103, perform online point cloud fitting, and restore and display the real three-dimensional point cloud model of the material to be tested.

[0059] Optionally, please refer to the following: Figures 1 to 3 The parameter information includes angle information and distance information. The host computer 104 is used to obtain the volume of the material to be measured based on the parameter information through the following steps:

[0060] Step 1: Obtain the angle and distance information uploaded by the control unit through the wireless communication module 103.

[0061] Step 2: Obtain the bottom area of ​​the material to be measured based on the angle information.

[0062] Step 3: Based on the bottom area and distance information of the material to be measured, obtain the volume of the material to be measured by the PTZ camera 101 at the current angle.

[0063] Step 4: The volume of the material to be tested is accumulated at all angles by the ball machine 101 to obtain the volume of the material to be tested.

[0064] In this embodiment of the invention, the discrete integration method is used to calculate the volume of the material to be tested. The angle information can be obtained by the control unit acquiring the current angle of the PTZ camera 101. The distance information can be obtained by the single-line lidar 102 measuring the distance of the material to be tested, specifically the height of the material to be tested at the current angle of the PTZ camera 101 measured by the single-line lidar 102.

[0065] It should be noted that since the stepper motor gimbal 1012 can rotate up, down, left, and right under the control of the control unit, and the rotation angle of the PTZ camera 101 is consistent, the bottom area of ​​the material to be measured at each angle of the PTZ camera 101 can be considered the same. When calculating the volume of the material to be measured, the bottom area of ​​the material to be measured at the current angle of the PTZ camera 101 (i.e., the bottom area of ​​the material to be measured obtained from the degree information) can be multiplied by the height of the material to be measured at the current angle of the PTZ camera 101 measured by the single-line lidar 102 to obtain the volume of the material to be measured at the current angle of the PTZ camera 101 (i.e., the volume of the material to be measured at the current angle of the PTZ camera 101 obtained from the bottom area and distance information of the material to be measured).

[0066] Furthermore, after obtaining the volume of the material to be tested corresponding to each angle of the PTZ camera 101, the volumes of the material to be tested at all angles of the PTZ camera 101 can be summed to finally obtain the volume of the material to be tested.

[0067] Optionally, please refer to the following: Figures 1 to 3 The control unit is used to control the stepper motor gimbal 1012 and the single-line lidar 102 through the following steps to obtain parameter information:

[0068] Step 1: Control the stepper motor gimbal 1012 to rotate and collect the current angle of the PTZ camera 101 to obtain angle information.

[0069] Step 2: Control the single-line lidar 102 to measure the height of the material to be measured at the current angle of the PTZ camera 101 to obtain distance information.

[0070] In this embodiment of the invention, after obtaining the aforementioned angle information and distance information, the control unit will upload the angle information and distance information to the host computer 104 through the wireless communication module 103, so that the host computer 104 can calculate the volume of the material to be measured based on the angle information and distance information.

[0071] Optionally, please refer to the following: Figures 1 to 3 There may be one or more PTZ cameras 101.

[0072] In this embodiment of the invention, the host computer 104 can communicate with multiple PTZ cameras 101 through the wireless communication module 103 to more accurately measure the volume of the material to be measured.

[0073] Optionally, the single-line lidar 102 is a 1D single-line lidar.

[0074] In this embodiment of the invention, setting the single-line lidar 102 as a 1D single-line lidar reduces the cost of volume measurement equipment compared to traditional 2D lidar.

[0075] Optionally, please refer to the following: Figure 1 and Figure 2 The wireless communication module 103 is located inside the stepper motor gimbal 1012 or outside the PTZ camera 101.

[0076] In this embodiment of the invention, when the wireless communication module 103 is disposed within the stepper motor gimbal 1012, the exemplary structural diagram of the aforementioned warehouse material volume measurement system 100 can be as follows: Figure 1 As shown, at this time, the control unit of the PTZ camera 101 can directly interact with the host computer 104 via the wireless communication module 103. When the wireless communication module 103 is located outside the PTZ camera, the exemplary structural diagram of the above-mentioned storage material volume measurement system can be as follows: Figure 2 As shown, at this time, the control unit of the PTZ camera 101 can be connected to the wireless communication module 103 via an externally provided communication connection line, and interact with the host computer 104 through the wireless communication module 103.

[0077] Based on the aforementioned storage material volume measurement system 100, this embodiment of the invention also provides a storage material volume measurement method. This method uses the host computer 104 of the storage material volume measurement system 100 as the executing entity. (See also...) Figure 4 , Figure 4 A flowchart illustrating a method for measuring the volume of stored materials according to an embodiment of the present invention is shown. This method is applied to the host computer 104 in a stored material volume measurement system 100.

[0078] The method includes:

[0079] S200 sends volume measurement commands to the control unit via a wireless communication module.

[0080] S210 acquires parameter information uploaded by the control unit through the wireless communication module, including angle information and distance information.

[0081] S220, obtain the bottom area of ​​the material to be measured based on the angle information.

[0082] S230: Based on the bottom area and distance information of the material to be measured, the volume of the material to be measured at the current angle is obtained by the PTZ camera.

[0083] S240, the volume of the material to be tested is accumulated at all angles by the ball machine to obtain the volume of the material to be tested.

[0084] The above-mentioned method for measuring the volume of stored materials uses wireless communication to obtain parameter information uploaded by the control unit, which reduces the installation cost of laying communication cables and lowers the overall cost.

[0085] Based on the aforementioned warehouse material volume measurement system 100, this embodiment of the invention also provides a host computer 104. Please refer to [link to relevant documentation]. Figure 5 , Figure 5 An exemplary structural block diagram of a host computer 104 provided in an embodiment of the present invention is shown, as follows: Figure 5 As shown, the host computer 104 includes a memory 1041, a processor 1042, and a communication interface 1043. The memory 1041, processor 1042, and communication interface 1043 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0086] The memory 1041 can be used to store software programs and modules. The processor 1042 executes the software programs and modules stored in the memory 1041 to perform various functional applications and data processing. The communication interface 1043 can be used to communicate with other node devices for signaling or data.

[0087] The memory 1041 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0088] The processor 1042 can be an integrated circuit chip with signal processing capabilities. The processor 1042 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0089] It should be noted that the host computer 104 can be a smart terminal such as a tablet computer or PC. The host computer 104 can interact with the control unit in the PTZ camera 101 in this embodiment of the invention through wireless communication (for example, using communication protocols such as HTTP, HTPS, and MQTT).

[0090] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by processor 1042, implements the storage volume measurement method provided in the above embodiments.

[0091] The steps executed by the aforementioned computer program during runtime will not be described in detail here, but can be found in the explanation of the storage volume measurement method above.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative; for example, the flowcharts in the accompanying drawings show the architecture, functionality, and operation of possible implementations of the methods and computer program products according to the present invention. In this regard, each block of the flowchart may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowchart, and combinations of blocks in the flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0093] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A system for measuring the volume of stored materials, characterized in that, Includes a PTZ camera, a single-line lidar, a wireless communication module, a host computer, and a control unit; The PTZ camera is installed inside the hopper and positioned above the material to be tested. The PTZ camera includes a support frame and a stepper motor gimbal. The support frame is fixed inside the hopper, and the stepper motor gimbal is connected to the support frame. The single-line laser radar is installed on the stepper motor gimbal, and the control unit is located inside the stepper motor gimbal. The wireless communication module is communicatively connected to the host computer and the control unit, and the control unit is electrically connected to the stepper motor gimbal and the single-line laser radar. The host computer is used to send a volume measurement command to the control unit through the wireless communication module, obtain parameter information uploaded by the control unit through the wireless communication module, and obtain the volume of the material to be measured based on the parameter information; The control unit is used to respond to the volume measurement command sent by the host computer through the wireless communication module, control the stepper motor gimbal and the single-line lidar to obtain parameter information, and upload the parameter information to the host computer through the wireless communication module so that the host computer can obtain the volume of the material to be measured based on the parameter information; The parameter information includes angle information and distance information. The angle information includes the rotation angle of the stepper motor gimbal, and the rotation angle corresponds one-to-one with the bottom area of ​​the material to be measured. The host computer is used to obtain the volume of the material to be measured based on the parameter information through the following steps: The angle and distance information uploaded by the control unit are obtained through the wireless communication module. The bottom area of ​​the material to be tested is obtained based on the rotation angle in the angle information. The volume of the material to be tested at the current rotation angle is obtained by multiplying the bottom area of ​​the material under test at the current rotation angle with the distance information. The volume of the material to be tested is obtained by summing the volume of the material under test at all the rotation angles of the PTZ camera.

2. The storage material volume measurement system according to claim 1, characterized in that, The host computer is also used to acquire point cloud data of the material to be tested scanned by the single-line lidar, and to display the point cloud data.

3. The storage material volume measurement system according to claim 1, characterized in that, The control unit is used to control the stepper motor gimbal and the single-line lidar through the following steps to obtain parameter information: Control the stepper motor gimbal to rotate and collect the current angle of the PTZ camera to obtain angle information; The single-line lidar is controlled to measure the height of the material to be measured at the current angle of the PTZ camera to obtain distance information.

4. The storage material volume measurement system according to claim 1, characterized in that, The PTZ camera may be one or more units.

5. The storage material volume measurement system according to claim 1, characterized in that, The single-line lidar is a 1D single-line lidar.

6. The storage material volume measurement system according to claim 1, characterized in that, The wireless communication module is located inside the stepper motor gimbal or outside the PTZ camera.

7. A method for measuring the volume of stored materials, characterized in that, Applied to the host computer as described in claim 1, the method includes: The volume measurement command is sent to the control unit via the wireless communication module; The wireless communication module acquires parameter information uploaded by the control unit, including angle information and distance information; the angle information includes the rotation angle of the stepper motor gimbal, and the rotation angle corresponds one-to-one with the bottom area of ​​the material to be measured. The bottom area of ​​the material to be tested is obtained based on the rotation angle in the angle information. The volume of the material to be tested at the current rotation angle is obtained by multiplying the bottom area of ​​the material under test at the current rotation angle with the distance information. The volume of the material to be tested is obtained by summing the volume of the material under test at all the rotation angles of the PTZ camera.

8. A host computer, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the storage material volume measurement method as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for measuring the volume of stored materials as described in claim 7.

Images