CN104006743A - Piled stock measurement system and method based on digital photo three-dimensional reconstructed stock pile model - Google Patents
Piled stock measurement system and method based on digital photo three-dimensional reconstructed stock pile model Download PDFInfo
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- CN104006743A CN104006743A CN201410241966.4A CN201410241966A CN104006743A CN 104006743 A CN104006743 A CN 104006743A CN 201410241966 A CN201410241966 A CN 201410241966A CN 104006743 A CN104006743 A CN 104006743A
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- 238000005259 measurement Methods 0.000 title abstract description 11
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- 241000208340 Araliaceae Species 0.000 claims description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 4
- 235000008434 ginseng Nutrition 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 3
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- 239000000463 material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
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- 241000196324 Embryophyta Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
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- 239000007858 starting material Substances 0.000 description 1
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Abstract
The invention provides a piled stock measurement system and method based on a digital photo three-dimensional reconstruction stock pile model. The system comprises an aircraft, a digital camera and a processor. The aircraft is provided with a GPS positioning device, a radar altimeter, an electronic compass and the digital camera, a controller controls the aircraft and receives data shot by the digital camera, the controller inputs the data shot by the digital camera into the processor, and the processor calculates the volume of shot piled stocks. The system is accurate in measurement, simple to operate and low in cost, has the advantages of universality and innovation, and does not need to be operated by a specially-assigned person. Field staff can use the system according to instructions through several times of field actual operation. The measurement system is safe, environmentally friendly, free of noise, free of radiation pollution, low in price and easy to popularize and promote. The measurement system can arrive at positions where operators cannot arrive usually for measurement, and large equipment does not need to be used as a carrier for assisting measurement.
Description
Technical field
The present invention relates to the cubing of large material stack body, especially a kind of windrow measuring system and measuring method based on digital photograph three-dimensionalreconstruction stockpile model.
Background technology
Follow the level of the productive forces and requirements for automatic control to improve constantly, commercial production progresses into low margin age, control (being that material stockpile carries out volume, quality evaluation) to consumptive material in production just becomes the key link of enterprise operation, but starting material storage huge, of a great variety be all inevitable objective factor, the earthwork such as producing when capital construction, the stockpile of steel plant, the raw coal accumulating heap in coal colliery, ore deposit heap, the port and pier etc. of mining.The windrow of these stockpiles and feeding major part are to be completed by bucket-wheel stacker reclaimer, aircraft-type stacker-reclaimer, planer-type stacker-reclaimer etc.Because bulk material deposition surface is irregular, stacked area is large, the difficulty of its volume of Measurement accuracy just apparent.Under this background, many similar Stocktaking modes have just been facilitated in the active demand that enterprise accurately measures for material stack volume.Wherein, the most traditional is hand gauging mensuration, in practice, find not only time-consuming, effort (need to by artificial stockpile smooth one-tenth rule body) of the method, and subjectivity is strong, is difficult to the storage condition of objective and accurate reflection material to reach the object of production control cost.Along with technical development, widespread use now be laser measuring technique.Relatively science, accurately of the method, objectively progressive to some extent, but still be subject to measuring complex operation, expensive, precision does not reach many defects such as industrial requirements, be therefore difficult to popularize.
Summary of the invention
The object of the invention is to for above-mentioned existing problems, propose a kind of windrow measuring system accurate, simple to operation, with low cost of measuring.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, comprise: aircraft, digital camera and processor, wherein, described aircraft is provided with GPS locating device, radar altimeter, electronic compass and digital camera, this system also comprises the controller of controlling aircraft and receiving the captured data of digital camera, the data input processor that controller is taken digital camera, described processor is by digital simulation go out the to be taken volume of windrow.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein said aircraft is civilian aircraft.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein said aircraft is the civilian aircraft of AR.Drone2.0 type.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein said aircraft also comprises accelerometer and gyroscope.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, the data that wherein digital camera is taken are the view data that comprise three-dimensional coordinate.
A kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein processor comprises digital camera calibration module, view data input interface, images match module, image is joined matrix computations module outward, three-dimensional data computing module, 3-D view fitting module and volume computing module.
A kind of windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, comprises the steps:
1) demarcate digital camera inner parameter according to matrix;
2) control digital camera and be placed in the tested windrow photo of aircraft photographs;
3) take serial number by captured photo input processor by presetting;
4) solve the outer ginseng matrix of inputted view data;
5) utilize triangulation to obtain three-dimensional data, preserve described three-dimensional data;
6) generate dump three-dimensional model;
7) coordinate engine, according to known model multiple spot relative coordinate, calculates three-dimensional model volume scalar;
8) by volume calculated mathematical formulae, calculate dump three-dimensional model volume, show coal pile volume, save data.
A kind of windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein in above-mentioned steps 3) after also comprise multiple images of input carried out to many figure images match, and preserve the step of exact matching data.
A kind of windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein in above-mentioned steps 6) after also comprise and utilize default scale data to finely tune three-dimensional model dimension scale, generate the step of the dump three-dimensional model of accurate-size.
The invention has the beneficial effects as follows: measure accurate, simple to operation, with low cost, there is the advantages such as the general people, innovation, without special messenger's operation, field staff, according to operation instruction, just can use through on-the-spot practical operation several times, measuring system safety and environmental protection, noiselessness, radiation pollution, can arrive the daily position that cannot arrive of operator and measure, and measures without working as carrier by main equipment, cheap, easily penetration and promotion.It will substitute the also progressively developing trend diversification of traditional measurement system, multifunction as new and high technology yield-power, thereby better for instruct production and operation, promote industry become more meticulous produce the first-hand means of production are reliably provided, therefore it has good market potential and immeasurable marketable value.
Brief description of the drawings:
Fig. 1 is the schematic diagram that the present invention is based on the overall coal embodiment of the windrow Department of Survey aircraft of digital photograph three-dimensionalreconstruction stockpile model;
Fig. 2 is the schematic diagram that the present invention is based on the overall coal embodiment of the windrow Department of Survey dump of digital photograph three-dimensionalreconstruction stockpile model;
Fig. 3 is the schematic diagram that the present invention is based on the overall coal embodiment of the windrow Department of Survey controller of digital photograph three-dimensionalreconstruction stockpile model;
Fig. 4 is the schematic diagram that the present invention is based on the overall coal embodiment of the windrow Department of Survey processor of digital photograph three-dimensionalreconstruction stockpile model.
Fig. 5 is the process flow diagram that the present invention is based on the windrow measuring method dish coal embodiment of digital photograph three-dimensionalreconstruction stockpile model.
Embodiment
Fig. 1-4 the present invention is based on the schematic diagram of the overall coal embodiment of windrow Department of Survey of digital photograph three-dimensionalreconstruction stockpile model.In Fig. 1-4, measured windrow is coal-fired heap, and described windrow measuring system, comprises aircraft 1, digital camera 2, and the windrow that measure is coal-fired heap 3, controller 4 and processor 5.Wherein, described aircraft 1 is provided with GPS locating device, radar altimeter, electronic compass and digital camera 2, this system also comprises the controller 4 of controlling aircraft 1 and receiving digital camera 2 captured data, controller 4 is controlled aircraft 1 and is flown by predetermined paths, digital camera 2 intrinsic parameters immobilize, after arriving default camera site, hovering is taken, then flies to the next position, and picture is directly kept at access on controller 4.The data input processor 5 that controller 4 is taken digital camera 2, dump three-dimensional model reconfiguration is that multiple dump photos are imported to processor 5, processor 5, through picture matching treatment module, three-dimensional reconstruction process resume module, shows stockpile three-dimensional model.After finely tuning according to stockpile three-dimensional model, preset reference scale, calculate the accurate volume of stockpile.
Aircraft described in the present embodiment is the civilian aircraft of AR.Drone2.0 type.In described aircraft 1, also comprise accelerometer and gyroscope.The data that digital camera 2 is taken are the view data that comprise three-dimensional coordinate.Wherein processor comprises for the digital camera of the preliminary parameter calibration of digital camera is calibrated to module, the view data input interface of the view data input processor that above-mentioned digital camera is taken, inputted image is carried out to the images match module of images match, for computed image I not the image of parameter join matrix computations module outward, for utilizing triangulation method to calculate the three-dimensional data computing module of three-dimensional data, carry out 3-D view fitting module and the volume computing module of dump models fitting according to the three-dimensional data obtaining, for calculate the volume of actual tested material according to the 3-D view model simulating, and this result is preserved in demonstration.
The course of work of the present invention is: controller 4 remotely-piloted vehicles 1, fly to default camera site, application digital camera 2 is taken pictures, pass the photo of shooting back in controller 4, after aircraft 1 flight finishes, by captured multiple pictures by wireless or wire transmission, be sent to processor 5, in the present embodiment, processor 5 is portable computers, and described data importing three-dimensional reconstruction process module generates stockpile three-dimensional model; In processor 5, preset the reference scale parameter of dump 3, can precisely obtain height, X-axis, the Y-axis data of this scale, so pixel interval coordinate accounting in three-dimensional model according to this scale, can whole stockpile three-dimensional model dimension scale be revised, be finely tuned, draw accurate-size three-dimensional model; Had accurate three-dimensional stockpile model, coordinate engine, according to known model multiple spot relative coordinate, calculates volume scalar, by volume calculated mathematical formulae, calculates material stack volume, shows accurate coal pile volume, realization dish coal function.Technical scheme of the present invention, with coiling cheaply coal equipment, realizes and is greater than 3% high-precision large-scale coal pile volume measurement function.
This windrow measuring system utilizes civilian unmanned remote sensing aircraft to gather high definition view data and three-dimensional coordinate accurately, present 3-D view by digital simulation and also can provide by this consumable quantity in real surplus amount and the certain hour of raw material, for commercial production provides operation control data accurately.Improve management level and the economic benefit of enterprise.Native system utilization take photo by plane radar altimeter, the electronic compass of device.GPS realizes precise orbit determination and hovering is taken, and has replaced loaded down with trivial details fixing hoisting apparatus, has significantly reduced the complexity of cost of investment and system, has improved the portability of system.Replace manual operation with robotization control, on the basis of improving flying power, realized default robotization, taken photo by plane and give aircraft mistake rail self-checking function to control, improved guide precision.Meanwhile, system can be used microwave frequency modulation radar instead, further improves measuring accuracy.
The process flow diagram that the present invention is based on the windrow measuring method dish coal embodiment of digital photograph three-dimensionalreconstruction stockpile model as shown in Figure 5.A kind of windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, comprises the steps:
1) demarcate digital camera inner parameter according to matrix;
2) digital camera is placed in to the tested windrow photo of aircraft photographs;
3) take serial number by captured photo input processor by presetting;
4) solve the outer ginseng matrix of inputted view data;
5) utilize triangulation to ask three-dimensional data, preserve three-dimensional data;
6) generate dump three-dimensional model;
7) coordinate engine, according to known model multiple spot relative coordinate, calculates three-dimensional model volume scalar;
8) by volume calculated mathematical formulae, calculate dump three-dimensional model volume, show coal pile volume, save data.
The photo that in the present embodiment, digital camera is taken is that fixing model focuses the photo that slr camera is taken, and camera inner parameter immobilizes substantially, and the photo that uses same camera to take, and only needs to demarcate an internal reference, needn't repeat this step later.Once internal reference matrix and outer ginseng matrix are described
Wherein in above-mentioned steps 3) after also comprise multiple images of input carried out to many figure images match, and preserve the step of exact matching data, after exact matching, can also carry out manual correction.In above-mentioned steps 6) after also comprise and utilize default scale data to finely tune three-dimensional model dimension scale, generate the step of the dump three-dimensional model of accurate-size.
Above-described embodiment is only for principle and effect thereof of the present invention are described, and unrestricted the present invention, and windrow measuring system of the present invention can also be used for the measurement of large material stack widely; Therefore, practise in the personage of this technology and above-described embodiment is modified and change the spirit that does not still take off this worry.This worry has possessed usability in industry, novelty and progressive, and meets patent of invention important document, and application is mentioned in whence in accordance with the law.
Claims (9)
1. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model, comprise: aircraft, digital camera and processor, it is characterized in that described aircraft is provided with GPS locating device, radar altimeter, electronic compass and digital camera, this system also comprises the controller of controlling aircraft and receiving the captured data of digital camera, the data input processor that controller is taken digital camera, described processor is by digital simulation go out the to be taken volume of windrow.
2. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model according to claim 1, is characterized in that described aircraft is civilian aircraft.
3. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model according to claim 3, is characterized in that described aircraft is the civilian aircraft of AR.Drone2.0 type.
4. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model according to claim 1 and 2, is characterized in that described aircraft also comprises accelerometer and gyroscope.
5. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model according to claim 1 and 2, is characterized in that the data that digital camera is taken are the view data that comprise three-dimensional coordinate.
6. the windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model according to claim 1, it is characterized in that a kind of windrow measuring system based on digital photograph three-dimensionalreconstruction stockpile model of the present invention, wherein processor comprises digital camera calibration module, view data input interface, images match module, image is joined matrix computations module outward, three-dimensional data computing module, 3-D view fitting module and volume computing module.
7. the windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model, comprises the steps:
1) demarcate digital camera inner parameter according to matrix;
2) digital camera is placed in to the tested windrow photo of aircraft photographs;
3) take serial number by captured photo input processor by presetting;
4) solve the outer ginseng matrix of inputted view data;
5) utilize triangulation to obtain three-dimensional data, preserve three-dimensional data;
6) generate dump three-dimensional model;
7) coordinate engine, according to known model multiple spot relative coordinate, calculates three-dimensional model volume scalar;
8) by volume calculated mathematical formulae, calculate dump three-dimensional model volume, show coal pile volume, save data.
8. the windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model according to claim 7, is characterized in that in above-mentioned steps 3) after also comprise multiple images of input carried out to many figure images match, and preserve the step of exact matching data.
9. according to the windrow measuring method based on digital photograph three-dimensionalreconstruction stockpile model described in claim 7 and 8, it is characterized in that in above-mentioned steps 6) after also comprise and utilize default scale data to finely tune three-dimensional model dimension scale, generate the step of the dump three-dimensional model of accurate-size.
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| CN201410241966.4A CN104006743A (en) | 2014-05-30 | 2014-05-30 | Piled stock measurement system and method based on digital photo three-dimensional reconstructed stock pile model |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| CN105352438A (en) * | 2015-11-18 | 2016-02-24 | 长沙开元仪器股份有限公司 | Coal inventory system and data collection apparatus |
| US20160237640A1 (en) * | 2015-02-13 | 2016-08-18 | Esco Corporation | Monitoring ground-engaging products for earth working equipment |
| WO2016150918A1 (en) * | 2015-03-20 | 2016-09-29 | Hauk & Sasko Ingenieurgesellschaft Mbh | System and method for operating a stockpile |
| CN106528592A (en) * | 2016-09-21 | 2017-03-22 | 塞壬智能科技（北京）有限公司 | Mine field inventory method and system |
| EP3282231A1 (en) * | 2016-08-08 | 2018-02-14 | VEGA Grieshaber KG | Fill level meter for material heaps |
| CN107958420A (en) * | 2017-12-05 | 2018-04-24 | 北京捷思锐科技股份有限公司 | The dangerous subject matter of one kind cultivation investigates loss assessment system and its application method on the spot |
| CN109870105A (en) * | 2017-12-05 | 2019-06-11 | 湖南三德科技股份有限公司 | A kind of biscuit method and biscuit system |
| DE102023135902A1 (en) * | 2023-12-20 | 2025-06-26 | Endress+Hauser SE+Co. KG | Drone-based filling material determination |
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2014
- 2014-05-30 CN CN201410241966.4A patent/CN104006743A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| CN104279955B (en) * | 2014-09-26 | 2017-02-15 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| US20160237640A1 (en) * | 2015-02-13 | 2016-08-18 | Esco Corporation | Monitoring ground-engaging products for earth working equipment |
| CN111188381A (en) * | 2015-02-13 | 2020-05-22 | 爱斯科集团有限责任公司 | Monitoring system for monitoring earth working equipment |
| US12104359B2 (en) * | 2015-02-13 | 2024-10-01 | Esco Group Llc | Monitoring ground-engaging products for earth working equipment |
| WO2016150918A1 (en) * | 2015-03-20 | 2016-09-29 | Hauk & Sasko Ingenieurgesellschaft Mbh | System and method for operating a stockpile |
| CN105352438A (en) * | 2015-11-18 | 2016-02-24 | 长沙开元仪器股份有限公司 | Coal inventory system and data collection apparatus |
| EP3282231A1 (en) * | 2016-08-08 | 2018-02-14 | VEGA Grieshaber KG | Fill level meter for material heaps |
| CN106528592A (en) * | 2016-09-21 | 2017-03-22 | 塞壬智能科技（北京）有限公司 | Mine field inventory method and system |
| CN107958420A (en) * | 2017-12-05 | 2018-04-24 | 北京捷思锐科技股份有限公司 | The dangerous subject matter of one kind cultivation investigates loss assessment system and its application method on the spot |
| CN109870105A (en) * | 2017-12-05 | 2019-06-11 | 湖南三德科技股份有限公司 | A kind of biscuit method and biscuit system |
| DE102023135902A1 (en) * | 2023-12-20 | 2025-06-26 | Endress+Hauser SE+Co. KG | Drone-based filling material determination |
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