[1]姜鑫,尹文庆,浦浩,等.基于结构光三维视觉的螺旋输送器谷粒体积的测量方法[J].南京农业大学学报,2019,42(2):373-381.[doi:10.7685/jnau.201807028]
 JIANG Xin,YIN Wenqing,PU Hao,et al.Measurement method of grain volume on screw conveyor based on structured light of 3D vision[J].Journal of Nanjing Agricultural University,2019,42(2):373-381.[doi:10.7685/jnau.201807028]
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基于结构光三维视觉的螺旋输送器谷粒体积的测量方法()
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《南京农业大学学报》[ISSN:1000-2030/CN:32-1148/S]

卷:
42卷
期数:
2019年2期
页码:
373-381
栏目:
食品与工程
出版日期:
2019-03-19

文章信息/Info

Title:
Measurement method of grain volume on screw conveyor based on structured light of 3D vision
作者:
姜鑫 尹文庆 浦浩 胡飞 陈彩蓉 李旭辉
南京农业大学工学院/江苏省智能化农业装备重点实验室, 江苏 南京 210031
Author(s):
JIANG Xin YIN Wenqing PU Hao HU Fei CHEN Cairong LI Xuhui
College of Engineering/Jiangsu Key Laboratory for Intelligent Agricultural Equipment, Nanjing Agricultural University, Nanjing 210031, China
关键词:
螺旋输送器结构光三维视觉谷粒流体积测量
Keywords:
screw conveyorstructured light3D visionmeasurement of grain flow volume
分类号:
TP391.41;S333.3
DOI:
10.7685/jnau.201807028
摘要:
[目的] 针对螺旋输送器在输送谷粒的过程中需要在线测量物料输送量的问题,选择合适的在线测量方法,实现螺旋输送器输送谷粒体积的在线测量。[方法] 选择常用的螺旋输送器,应用激光三角法构建结构光三维视觉测量系统;通过试验参数标定法建立物长与像素偏移值的关系;在对结构光图像进行预处理的基础上,通过阈值判定法获取谷粒流轮廓;分别用图像处理法与几何解析法对螺旋叶片裸露情况进行判定,对断裂的谷粒流轮廓运用最小二乘法进行拟合;基于梯形微元积分求和法,分别建立谷粒流截面计算模型与体积计算模型。[结果] 螺旋输送器填充率在45%以上,转速在26.3~46.0 r·min-1,输送3种不同体积谷粒时,谷粒流体积测量平均误差小于5%,重复试验变异系数小于0.024,均方根误差小于0.969。当测量体积为11.6 L,螺旋输送器转速为32.8 r·min-1时,图像处理法的最小误差为1.73%,几何解析法最小误差为1.97%。[结论] 采用结构光三维视觉测量系统,应用梯形微元积分求和法建立谷粒流体积计算模型,可以实现螺旋输送器输送谷粒体积的在线测量。
Abstract:
[Objectives] To solve the problem of measuring the quantity of material in real-time during the conveying process in the screw conveyer, it is vital to select a proper real-time measuring method to calculate the grain volume in the screw conveyor.[Methods] By using a normal screw conveyer, the structural light images of 3D vision system can be constituted by applying laser triangulation. And the relationship between material length and pixel offset can be established by calibrating test parameter. Based on these preprocessed structured light images, the grain flow contour can be obtained by using threshold determinant algorithm. In case of bare helical blade obscured the grain flow contour, which can be detected by using image processing method and geometric analysis method, the obscured part of the grain flow contour can be fitted by applying least square method. Finally, the grain flow section calculation model and volume calculation model can be establishment by applying trapezoidal calculus summation to the grain flow contour.[Results] When the filling rate of the screw conveyor was above 45% and the rotational speed was between 26.3-46.0 r·min-1, and transportation was of three different grain volume, the average error of the measurement of grain flow volume was less than 5%, and the CV was less than 0.024, and the RMSE was less than 0.969. When the volume of measurement was 11.6 L and the speed of screw conveyor was 32.8 r·min-1, the minimum error of image processing method was 1.73% and the geometric analysis method was 1.97%.[Conclusions] Based on the structured light of three-dimensional vision measuring system, the calculation model of grain flow volume established by applying trapezoidal calculus summation method, can measure grain volume conveyed by screw conveyor in real-time.

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备注/Memo

备注/Memo:
收稿日期:2018-7-12。
基金项目:国家重点研发计划项目(2017YFD0700800)
作者简介:姜鑫,硕士研究生。
通信作者:胡飞,副教授,主要从事智能化农业装备技术研究,E-mail:hufei@njau.edu.cn。
更新日期/Last Update: 1900-01-01