CN107024174A - Powdery material pile volume measuring apparatus and method based on three-dimensional laser scanning technique - Google Patents
Powdery material pile volume measuring apparatus and method based on three-dimensional laser scanning technique Download PDFInfo
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- CN107024174A CN107024174A CN201710352621.XA CN201710352621A CN107024174A CN 107024174 A CN107024174 A CN 107024174A CN 201710352621 A CN201710352621 A CN 201710352621A CN 107024174 A CN107024174 A CN 107024174A
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- 238000007781 pre-processing Methods 0.000 claims abstract description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
Powdery material pile volume measuring apparatus and method based on three-dimensional laser scanning technique, method specific implementation step of the invention is：Three-dimensional laser scanning technique scheme is formulated, cloud data is gathered, data preprocessing builds the three-dimensional space model of windrow, model is divided into several small cylinders and cumulative summation using Integral Thought, windrow volume is calculated.The spherical target of the present invention uses magnetic force bearing, and target ball changes station moving operation conveniently, using Wifi remote controls scanning range and scanning accuracy.The present invention can effectively reduce testing cost, reduce manpower and materials consumption, shorten time of measuring, measurement accuracy is improved, with certain social and economic benefit.
Description
Technical field
The present invention relates to powdery windrow volume measurement techniques field, more particularly to the powdery based on three-dimensional laser scanning technique
Material pile volume measuring apparatus and method.
Background technology
, it is necessary to which the volume to live a large amount of powdery windrows is measured in detection work.Under normal circumstances, scene is detected
Powdery windrow it is in irregular shape, volume is larger, and the detection job requirement time is short, and precision is high.
The conventional direct method of measurement and the indirect method of measurement, which is difficult to meet, to be required.The direct method of measurement, is exactly that testing staff uses
Tape measure or Hand-hold Distance Finder measure and calculated powdery windrow volume.This method is needed powdery heap manually or mechanically
Stockpile is into regular volume, and testing staff can not carry out detection work directly on windrow the characteristics of because of powdery windrow, need to set up pin
Hand cradle, expends substantial amounts of human and material resources, time-consuming, and the dust pollution of powdery windrow is serious, and measurement accuracy is low, can not meet scene
The need for detection.The indirect method of measurement, is exactly the density for measuring powdery windrow first, then according to the live powdery heap weighed
The gross mass of material, calculates the volume of powdery windrow.This method needs Transport Machinery, large-scale platform scale, also needs to expend substantial amounts of
Material dust pollution is more serious during human and material resources, dress, fortune, while producing the loss of bulk cargo, measurement accuracy is also low, also full
Foot is not the need for Site Detection.
For the windrow of fixed-site such as mining site, measurement typically is scanned using multiple laser measuring heads, is needed simultaneously
The measurement apparatus of fixed laser camera is set up, if used in in-site measurement, costly, time-consuming, be not suitable for Site Detection.
Because present measurement powdery windrow volume is present, costly, time-consuming, the low problem of measurement accuracy is, it is necessary to invent one
Plant simple and fast, the detection measuring method that cost is low, precision is high.
The content of the invention
It is an object of the invention to provide a kind of powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique and side
Method, will solve measurement powdery windrow volume and there is the technical problem that costly, time-consuming and measurement accuracy is low.
To achieve the above object, the present invention is adopted the following technical scheme that：
Powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique, including three-dimensional laser scanner, its feature
It is：Also include tripod, computer, target ball and target support, the target ball-collecting rack is located on target support and forms target
Device, the three-dimensional laser scanner is erected on tripod, and wireless connection is carried out by wifi and computer, described three-dimensional sharp
Photoscanner is made up of generating laser, prism, the receiver synchronous with prism, main frame and pedestal.
It is located at it is further preferred that every three target devices constitute three target balls in a target group, target group
Different level position, each target ball is mutually at an acute angle to be distributed in each two scanning movement centre position.
Further, the three-dimensional laser scanner, tripod and computer composition scanning movement.
In addition, two targets assemble standby scanning movement formation scanning platform.
It is further preferred that the target support is provided with magnetic base, the target ball is on magnetic base, and magnetic force is opened
Markers target ball is fixed on magnetic base, and target ball is moved when magnetic force is closed.
The measuring method of powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique, it is characterised in that including
Following steps：
Step 1: formulating three-dimensional laser scanning technique scheme：Reconnaissance trip is carried out to windrow and draws field scan plan grass
Figure, according to the shape of windrow, height, distribution and periphery situation, mark should arrange scanning platform in scan plan sketch
Scanning website, and determine the scanning movement of scanning platform and scan position, scanning distance, scanning angle and the scanning room of target ball
Away from control data acquisition quality；
Step 2: collection cloud data：Gathered using scanning platform and obtain windrow three dimensional point cloud；
Step 3: data preprocessing：By Point Cloud Processing software by cloud data carry out cloud data registration,
Coordinate system conversion, noise reduction are with vacuating and feature information extraction；
Step 4: building the three-dimensional space model of windrow：According to the three dimensional space coordinate letter on windrow surface in cloud data
Breath, sets up the three-dimensional space model of windrow；
Step 5: measuring and calculating windrow volume：According to three-dimensional space model in step 4, heap shots cloud is sat using Integral Thought
Mark data be divided into several small square bodies along short transverse, calculate each small square body volume and summation after calculate windrow
Cumulative volume, computation model such as formula；
In formula：V is the cumulative volume of powdery windrow, Δ viThe volume of small square body in windrow threedimensional model.
It is further preferred that the step 2 comprises the following steps：
A. scanning platform is laid：According to the mark in scan plan sketch in step one, scanning platform is laid；
B. scan：Instrument state is adjusted, and by wifi by computer (3) remote control three-dimensional laser scanner (1), it is determined that sweeping
Scope is retouched, according to the actual conditions and measurement accuracy on windrow (6) periphery, scanning resolution and scanning element cloud quality are set, carried out
Scanning；
C. spot scan is mended：Carrying out independent frame to target ball selects essence to sweep, while site inspection scan data, carries out benefit point and sweep
Retouch；
D. move instrument and carry out next scanning：Instrument is closed, next scanning platform is laid, laying repeats above-mentioned b- after finishing
Step c, completes the scanning of this scanning platform, then moves to the target ball of scanning platform between two scanning websites of scanning platform
Public domain in, scan again, complete scanning platform between public domain scanning；
E. sequential scanning：The b-d that repeats the above steps is sequentially completed the scanning of each station data, and carries out data summarization and obtain heap
Expect (6) three dimensional point cloud.
It is further preferred that Points cloud Fitting is calculated scanning by the Point Cloud Processing software in the step 3
The centre coordinate of public domain internal standard target ball scan data between website, is obtained each scanning platform by these coordinate basis points
The cloud data obtained carries out spliced whole together in the same coordinate system.
Compared with prior art the invention has the characteristics that：
The invention provides the powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique and method, this method can
On the premise of project required precision is ensured, the quick obtaining of powdery windrow cloud data is realized, three are set up using data software
Dimension space model, is realized to powdery windrow volume high-acruracy survey.The spherical target of the present invention uses magnetic force bearing, and target ball changes station
Moving operation is convenient, using Wifi remote controls scanning range and scanning accuracy.The application of the present invention, can effectively reduce testing cost,
Manpower and materials consumption is reduced, shortens time of measuring, measurement accuracy is improved, with certain social and economic benefit.
Brief description of the drawings
Fig. 1 is the structural representation of scanning platform of the present invention；
Fig. 2 is the working state figure of scanning platform of the present invention；
Fig. 3 is the flow chart of the powdery windrow volume measuring method of the invention based on three-dimensional laser scanning technique；
Fig. 4 is the point cloud schematic diagram of the windrow one measured using the inventive method；
Fig. 5 is the point cloud schematic diagram of the windrow two measured using the inventive method；
Fig. 6 is the point cloud schematic diagram of the windrow three measured using the inventive method.
Reference：1- three-dimensional laser scanners；2- tripods；3- computers；4- target balls；5- target supports；5.1-
Magnetic base；6- windrows；6.1- windrows one；6.2- windrows two；6.3- windrows three.
Embodiment
To be easy to understand technological means, character of innovation, reached purpose and effect of the invention realized, below to this
Invention is further illustrated.
The embodiment recorded herein is the specific embodiment of the present invention, the design for illustrating the present invention,
It is explanatory and exemplary, should not be construed as the limitation to embodiment of the present invention and the scope of the invention.Except what is recorded herein
Implement exception, those skilled in the art can also be based on the application claims and specification disclosure of that using aobvious
The other technologies scheme being clear to, these technical schemes include any obvious using making for the embodiment to recording herein
The technical scheme of substitutions and modifications.
Powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique, as shown in figure 1, including 3 D laser scanning
Instrument 1, in addition to tripod 2, computer 3, target ball 4 and target support 5, target ball 4, which is erected on target support 5, relies on magnetic force
The frame of base 5.1 formation target device, target ball 4 is on the magnetic base 5.1 on target support, and the two combines to form target dress
Put.Magnetic force is opened markers target ball 4 and is fixed on magnetic base 5.1, movement target ball 4 when magnetic force is closed.The instrument of 3 D laser scanning 1 is set up
On tripod 2, by wifi and the wireless connection of computer 3, three-dimensional laser scanner 1 is by generating laser, prism and prism
Synchronous receiver, main frame and pedestal composition.As shown in Fig. 2 every three targets constitute three marks in a target group, target group
Target ball 4 is located at different level position, and each target ball 4 is mutually at an acute angle to be distributed near two adjacent scanning movements centres, two institutes
State target and assemble standby scanning movement formation scanning platform, scanning movement is by 3 groups of three-dimensional laser scanner 1, tripod 2 and computer
Into.
Because of field work, target paper is laid without suitable place, is located to be formed on target support using target ball-collecting rack and marks
Target, is used as the public control point of Point-clouds Registration between two adjacent scanning movements.By public control point obtain two it is adjacent
Cloud data rotation parameter between scanning movement Translation parameters (Δ X, Δ Y, Δ Z) and zooming parameter (λ).Because using phase
Conversion between same scanner and equipment, data is rigid body translation, zooming parameter λ=1.Consider data adjustment, enter one
Preferably, using every three targets constitute three target balls in a target group, target group is located at different level position to step,
Each target ball is mutually at an acute angle to be distributed in windrow periphery.
The measuring method of powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique, as shown in figure 3, specifically
Comprise the following steps：
Step 1: formulating three-dimensional laser scanning technique scheme：Reconnaissance trip is carried out to windrow 6 and draws field scan plan grass
Figure, according to the shape of windrow 6, height, distribution and periphery situation, according to the required precision of measurement, it is determined that scanning website cloth
If mode, selection correct position sets suitable scanning website, is determined to scan the quantity of website according to intervisibility situation, it is ensured that different
Scan the data splicing of website so that the three dimensional point cloud of windrow 6 can be obtained completely.Target ball 4 is used as two scanning websites
The benchmark of cloud data splicing, its modes of emplacement and position are extremely important, and the splicing precision influence on windrow cloud data is larger.
Mark should arrange the scanning website of scanning platform in scan plan sketch, and determine the scanning website and target ball 4 of scanning platform
Scan position, scanning distance, scanning angle and sweep span with control data acquisition quality, one of target group is one
Individual scanning website, two scanning websites are a scanning movement；
Step 2: collection cloud data：Gathered using scanning platform and obtain windrow three dimensional point cloud, specifically included
Following steps：
A. scanning platform is laid：According to the mark that website is scanned in scan plan sketch in step one, one of them is chosen
Scan website and lay scanning platform, as shown in Figure 2；
B. scan：Instrument state is adjusted, scanning range is determined, by Wifi by computer remote control three-dimensional laser scanner 1,
According to the actual conditions and measurement accuracy on the periphery of windrow 6, scanning resolution and scanning element cloud quality are set, are scanned；
C. spot scan is mended：Carrying out independent frame to target ball selects essence to sweep, while site inspection scan data, carries out benefit point and sweep
Retouch；
D. next scanning website is scanned：Instrument is closed, scanning platform is moved into next scanning website, moving method such as Fig. 2
It is shown, first of the last scanning platform target group for scanning website is moved to the next scanning for having predetermined that good position
The position of second scanning website of website, the target group of original second scanning website is motionless, that is, forms next scanning website
First scanning website, it is mobile after last scanning platform first scanning website and the last scanning platform that does not move
Second scanning website constitutes second scanning platform, and laying repeats above-mentioned b-c steps after finishing, completes present scan platform
Scanning, then the target of scanning platform is moved in the public domain between two scanning websites of scanning platform, scan again, complete
Into the scanning of public domain between scanning website；
E. sequential scanning：The b-d that repeats the above steps is sequentially completed the scanning of each station data, and carries out data summarization and obtain heap
Expect 6 three dimensional point clouds.
Step 3: data preprocessing：By Point Cloud Processing software by cloud data carry out cloud data registration,
Coordinate system conversion, noise reduction are with vacuating and feature information extraction, and Points cloud Fitting is calculated scanning by Point Cloud Processing software
The centre coordinate of the scan data of public domain internal standard target ball 4 between website, by these coordinate basis points by each scanning website
Cloud data carry out spliced whole together in the same coordinate system, delete unnecessary noise spot cloud, and carry out a cloud and vacuate, rationally subtract
Few cloud data quantity；
Step 4: building the three-dimensional space model of windrow：Sat according to the three dimensions on powdery windrow surface in cloud data
Information is marked, the three-dimensional space model of windrow is set up；
Step 5: measuring and calculating windrow volume：According to three-dimensional space model in step 4, using Integral Thought by 6 clouds of windrow
Coordinate data is divided into several small square bodies along short transverse, calculate each small square body volume and summation after calculate heap
The cumulative volume of material 6, computation model such as formula (1)；
In formula：V is the cumulative volume of powdery windrow, Δ viThe volume of small square body in windrow threedimensional model.
The present invention measures its cloud schematic diagram such as Fig. 4~6 using three powdery windrows as specific embodiment according to the above method
Shown, the volume for calculating 3 windrows is respectively 55.14 cubic metres, 272.08 cubic metres, 431.37 cubic metres, Yi Gongwei
780.88 cubic metres, use the volume that the method for direct measuring is measured for 794.03 cubic metres, error is 1.66%, coincidence measurement
Error is not more than 5% requirement.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (8)
1. the powdery material pile volume measuring apparatus based on three-dimensional laser scanning technique, including three-dimensional laser scanner (1), its feature
It is：Also include tripod (2), computer (3), target ball (4) and target support (5), the target ball (4) is erected at target
Target device is formed on support (5), the three-dimensional laser scanner (1) is erected on tripod (2), passes through wifi and computer
(3) wireless connection is carried out, the three-dimensional laser scanner (1) is by generating laser, prism, the receiver synchronous with prism, master
Machine and pedestal composition.
2. the powdery material pile volume measuring apparatus as claimed in claim 1 based on three-dimensional laser scanning technique, it is characterised in that：
Every three target devices constitute three target balls (4) in a target group, target group and are located at different level position, each mark
Target ball (4) is mutually at an acute angle to be distributed in per two neighboring scanning movement centre position.
3. the powdery material pile volume measuring apparatus as claimed in claim 2 based on three-dimensional laser scanning technique, it is characterised in that：
The three-dimensional laser scanner (1), tripod (2) and computer (3) composition scanning movement.
4. the powdery material pile volume measuring apparatus as claimed in claim 3 based on three-dimensional laser scanning technique, it is characterised in that：
Two targets assemble standby scanning movement formation scanning platform.
5. target support as claimed in claim 1, it is characterised in that：The target support is provided with magnetic base (5.1), institute
Target ball (4) is stated on magnetic base (5.1), magnetic force is opened markers target ball (4) and is fixed on magnetic base (5.1), magnetic force is closed
Shi Yidong targets ball (4).
6. the powdery windrow volume based on three-dimensional laser scanning technique as described in Claims 1 to 5 any one claim
The measuring method of measurement apparatus, it is characterised in that comprise the following steps：
Step 1: formulating three-dimensional laser scanning technique scheme：Reconnaissance trip is carried out to windrow (6) and draws field scan plan grass
Figure, according to the shape of windrow (6), height, distribution and periphery situation, mark should arrange that scanning is flat in scan plan sketch
The scanning website of platform, and determine the scanning movement of scanning platform and the scan position of target ball (4), scanning distance, scanning angle and
Sweep span is with control data acquisition quality；
Step 2: collection cloud data：Gathered using scanning platform and obtain windrow three dimensional point cloud；
Step 3: data preprocessing：Cloud data is carried out by cloud data registration, coordinate by Point Cloud Processing software
System's conversion, noise reduction are with vacuating and feature information extraction；
Step 4: building the three-dimensional space model of windrow：Believed according to the three dimensional space coordinate on windrow in cloud data (6) surface
Breath, sets up the three-dimensional space model of windrow；
Step 5: measuring and calculating windrow volume：According to three-dimensional space model in step 4, using Integral Thought by heap shots cloud number of coordinates
Be divided into several small square bodies according to along short transverse, calculate each small square body volume and summation after calculate windrow (6)
Cumulative volume, computation model such as formula (1)；
In formula：V is the cumulative volume of powdery windrow, Δ viThe volume of small square body in windrow threedimensional model.
7. the measuring method of the powdery material pile volume measuring apparatus as claimed in claim 6 based on three-dimensional laser scanning technique,
Characterized in that, the step 2 comprises the following steps：
A. scanning platform is laid：According to the mark in scan plan sketch in step one, scanning platform is laid；
B. scan：Instrument state is adjusted, and by wifi by computer (3) remote control three-dimensional laser scanner (1), it is determined that scanning model
Enclose, according to the actual conditions and measurement accuracy on windrow (6) periphery, scanning resolution and scanning element cloud quality are set, are scanned；
C. spot scan is mended：Carrying out independent frame to target ball selects essence to sweep, while site inspection scan data, carries out benefit spot scan；
D. move instrument and carry out next scanning：Instrument is closed, next scanning platform is laid, laying repeats above-mentioned b-c steps after finishing
Suddenly, the scanning of this scanning platform is completed, then moves to the target ball of scanning platform between two scanning websites of scanning platform
In public domain, scan again, complete the scanning of the public domain between scanning platform；
E. sequential scanning：The b-d that repeats the above steps is sequentially completed the scanning of each station data, and carries out data summarization and obtain windrow
(6) three dimensional point cloud.
8. the measuring method of the powdery material pile volume measuring apparatus as claimed in claim 7 based on three-dimensional laser scanning technique,
It is characterized in that：The Point Cloud Processing software in the step 3 calculates Points cloud Fitting between scanning website
Public domain internal standard target ball (4) scan data centre coordinate, each scanning platform is obtained by these coordinate basis points
Cloud data carries out spliced whole together in the same coordinate system.
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