Fast Estimation of Loader’s Shovel Load Volume by 3D Reconstruction of Material Piles

IF 4.5 2区工程技术 Q1 Engineering

Chinese Journal of Mechanical Engineering Pub Date : 2023-10-13 DOI:10.1186/s10033-023-00945-y

Binyun Wu, Shaojie Wang, Haojing Lin, Shijiang Li, Liang Hou

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引用次数: 0

Abstract

Abstract Fast and accurate measurement of the volume of earthmoving materials is of great significance for the real-time evaluation of loader operation efficiency and the realization of autonomous operation. Existing methods for volume measurement, such as total station-based methods, cannot measure the volume in real time, while the bucket-based method also has the disadvantage of poor universality. In this study, a fast estimation method for a loader’s shovel load volume by 3D reconstruction of material piles is proposed. First, a dense stereo matching method (QORB–MAPM) was proposed by integrating the improved quadtree ORB algorithm (QORB) and the maximum a posteriori probability model (MAPM), which achieves fast matching of feature points and dense 3D reconstruction of material piles. Second, the 3D point cloud model of the material piles before and after shoveling was registered and segmented to obtain the 3D point cloud model of the shoveling area, and the Alpha-shape algorithm of Delaunay triangulation was used to estimate the volume of the 3D point cloud model. Finally, a shovel loading volume measurement experiment was conducted under loose-soil working conditions. The results show that the shovel loading volume estimation method (QORB–MAPM VE) proposed in this study has higher estimation accuracy and less calculation time in volume estimation and bucket fill factor estimation, and it has significant theoretical research and engineering application value.

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基于材料桩三维重构的装载机铲载体积快速估计

摘要快速准确地测量土方物料体积，对于实时评估装载机作业效率和实现装载机自主作业具有重要意义。现有的体积测量方法，如基于全站仪的方法，无法实时测量体积，而基于桶的方法也存在通用性差的缺点。本文提出了一种基于材料桩三维重构的装载机铲载体积快速估计方法。首先，将改进的四叉树ORB算法(QORB)与最大后验概率模型(MAPM)相结合，提出了一种密集立体匹配方法(QORB - MAPM)，实现了特征点的快速匹配和材料桩的密集三维重建;其次，对铲铲前后材料桩的三维点云模型进行配准和分割，得到铲铲区域的三维点云模型，并利用Delaunay三角剖分的Alpha-shape算法对三维点云模型的体积进行估计;最后，进行了松散土工况下的铲装体积测量试验。结果表明，本文提出的铲载体积估计方法(QORB-MAPM VE)在体积估计和斗体填充系数估计方面具有较高的估计精度和较少的计算时间，具有重要的理论研究和工程应用价值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Chinese Journal of Mechanical Engineering ENGINEERING, MECHANICAL-

CiteScore

5.60

自引率

4.80%

发文量

3097

审稿时长

8 months

期刊介绍： Chinese Journal of Mechanical Engineering (CJME) was launched in 1988. It is a peer-reviewed journal under the govern of China Association for Science and Technology (CAST) and sponsored by Chinese Mechanical Engineering Society (CMES). The publishing scopes of CJME follow with: Mechanism and Robotics, including but not limited to -- Innovative Mechanism Design -- Mechanical Transmission -- Robot Structure Design and Control -- Applications for Robotics (e.g., Industrial Robot, Medical Robot, Service Robot…) -- Tri-Co Robotics Intelligent Manufacturing Technology, including but not limited to -- Innovative Industrial Design -- Intelligent Machining Process -- Artificial Intelligence -- Micro- and Nano-manufacturing -- Material Increasing Manufacturing -- Intelligent Monitoring Technology -- Machine Fault Diagnostics and Prognostics Advanced Transportation Equipment, including but not limited to -- New Energy Vehicle Technology -- Unmanned Vehicle -- Advanced Rail Transportation -- Intelligent Transport System Ocean Engineering Equipment, including but not limited to --Equipment for Deep-sea Exploration -- Autonomous Underwater Vehicle Smart Material, including but not limited to --Special Metal Functional Materials --Advanced Composite Materials --Material Forming Technology.