基于摄影测量技术的矿石物料称重系统研究

On the Weighing System of Ore Materials Based on Photogrammetry Technology

针对矿山运矿物料称重问题,研究了一种基于摄影测量技术的矿石物料称重系统。该系统的首要难点是矿石立体模型的构建,针对构建矿石立体模型问题,研究了一种基于摄影技术的构建方法,其三维重建原理是采用深度相机实现的。首先需要建立深度相机坐标系与世界坐标系,将相机获取的图片像素点通过坐标转换关系从相机坐标转换为世界坐标,再通过深度相机得到的RGB图以及深度图像,利用两幅图之间存在着像素点的对应关系获取视差图,采用空间三角测量原理,便能够计算得到三维点云数据,通过点云数据构建矿石的立体模型。

Aiming at the problems of mine transportation and measurement,this paper studies a ore material weighing system based on photogrammetry technology.The first difficulty of the system is the construction of ore three-dimensional model.For the problem of building ore three-dimensional model,a photography technology-based weighing system is studied.The construction method,the principle of 3D reconstruction is realized by the depth camera.First,the depth camera coordinate system and the world coordinate system need to be established.The picture pixels obtained by the camera are converted from the camera coordinates to the world coordinates through the coordinate conversion relationship,and then obtained by the depth camera.The RGB map and the depth image of the two images are used to obtain the disparity map by using the corresponding relationship between the pixels between the two images.Using the principle of spatial triangulation,the three-dimensional point cloud data can be calculated,and the three-dimensional model of the ore can be constructed through the point cloud data.