基于基准面提取的物料体积在线测量方法

On-line measurement method for material volume based on reference plane extraction

针对测量装置与物料放置底面相对姿态变化影响测量结果的问题,提出一种实时校正及积分基准面提取的物料体积测量方法。该方法通过姿态传感器实时检测激光传感器的姿态,并获取被测物体表面点云,对点云归一化处理,多次迭代拟合确定积分基准面及被测物料边界,进行三维重建,最后提出基于剖分原理的三棱微元逼近的体积计算方法。利用提出的测量方法搭建测量系统,在多种工况下进行实测实验和对比分析,测量结果的平均相对误差为1.69%,表明提出的方法具有较好的适应性及准确性,为物料体积测量提供了新思路。

Aiming at the problem that the relative posture variation of the measurement equipment and the material stacking ground influences the measurement result,a material volume measurement method is proposed based on the real-time calibration and extraction of integral reference plane. In this method,the point cloud of the measured object surface is gathered by the laser scanning sensor,which is calibrated by the gesture sensor,then the normalization processing of the point cloud is conducted for easier retrieval. Through several times of iteration fitting,the integral reference plane and the boundary of the material to be measured are determined,and the three dimensional reconstruction is carried out. Finally,a volume calculation method based on the dividing principle and triangular infinitesimal element approximation is proposed. A measurement platform was set up based on the proposed method,and measurement experiment and comparison analysis under different working conditions were conducted on the built platform. The experiment result shows that the average relative error of the measurement result is 1. 69%,which indicates that the proposed method has good adaptability and accuracy,and provides a new idea for the stacked material volume measurement.