基于贪婪投影三角化的散货料堆体积测量

Bulk Bile Volume Measurement Based on Greedy Projection Triangulation

文中基于自动化抓取以及库存盘点所需的料堆参数信息,研究料堆体积的求取方法,提出一种基于贪婪投影三角化的三角网格微积分的体积求取方法.运用贪婪投影三角化算法将点云数据分成无数个三角网格,求取每个三角网格与地面组成几何体的体积,其体积和即为料堆的体积.并与实际测量数据以及传统算法求解的结果进行对比分析,验证了算法求取料堆体积的准确性.

Based on the information of material pile parameters required by automatic grabbing and inventory counting,the method of obtaining material pile volume was studied,and a method of obtaining volume based on triangular grid calculus of greedy projection triangulation was proposed.By using greedy projection triangulation algorithm,the point cloud data was divided into countless triangular meshes,and the volume of each triangular mesh and the ground was obtained,and the sum of its volumes was the volume of the material pile.Compared with the actual measured data and the results of the traditional algorithm,the accuracy of the algorithm for calculating the volume of the material pile was verified.