CN-122015691-A - Laser three-dimensional scanning system and method for monitoring bulk material inventory of greenhouse in real time

CN122015691ACN 122015691 ACN122015691 ACN 122015691ACN-122015691-A

Abstract

A laser three-dimensional scanning system and method for monitoring bulk material inventory of a greenhouse in real time comprises the following steps: a laser scanning unit; an environment sensing module; the weighing data acquisition module; a data processing module; a dynamic compensation and calibration module; an inventory analysis module; a feedback control unit; a communication module; the visual monitoring interface directly acquires the volume information of the material pile through a laser scanning technology, overcomes subjectivity of manual inventory, introduces a dynamic compensation mathematical model through integrating various environment sensors such as vibration, temperature, dust concentration and the like, and can sense and quantify the influence of environmental interference on a scanning result in real time and accurately compensate.

Inventors

XU XIANKAI
JIA LANHUI
SUN WENTAO
LIU YANG
SONG HANYU
XIE CHAOHUI

Assignees

中交机电工程局有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. A laser three-dimensional scanning system for monitoring bulk material inventory of a greenhouse in real time is characterized by comprising: the laser scanning unit is used for emitting laser beams and receiving signals reflected from the surface of the material, acquiring distance and angle information of the material and acquiring point cloud data; the environment sensing module comprises a vibration sensor, a temperature sensor and a dust concentration sensor and is used for monitoring environment parameters in the greenhouse in real time; the weighing data acquisition module is used for acquiring material weight data from an external weighing system; the data processing module is used for splicing, denoising and three-dimensional reconstruction of the point cloud data to generate a three-dimensional model of the material pile; the dynamic compensation and calibration module is internally provided with a dynamic compensation and calibration algorithm, and performs real-time processing on the point cloud data obtained by laser scanning according to the environmental parameters; the inventory analysis module is used for calculating the volume of the material based on the three-dimensional model and carrying out inventory change analysis and abnormal alarm by combining weight data; The feedback control unit is used for sending a regulation and control instruction to the laser scanning unit through a control algorithm according to the output results of the dynamic compensation and calibration module and the inventory analysis module, and automatically adjusting laser scanning parameters and a calibration model, wherein the adjusted scanning parameters comprise scanning speed, angle and frequency; The communication module is used for uploading the inventory data to a remote server or a monitoring terminal; The visual monitoring interface is used for displaying a three-dimensional model, volume data and real-time change trend of the materials and providing a management interface; The laser scanning unit emits laser beams according to preset parameters or parameter configuration adjusted by the feedback control unit, receives reflected signals according to the set parameters, converts the received signals into distance and angle data, and stores the distance and angle data in the system or transmits the distance and angle data to the dynamic compensation and calibration module.
2. The laser three-dimensional scanning system for monitoring the stock of bulk materials in the greenhouse in real time according to claim 1, wherein the weighing data acquisition module is connected to at least one of a wagon balance system, a belt scale or a fixed scale in a bin.
3. The laser three-dimensional scanning system for monitoring bulk material inventory in real time in a greenhouse according to claim 1, wherein the dynamic compensation and calibration module receives raw data from the laser scanning unit and the environment sensing module, performs denoising and filtering processing on the laser scanning data to eliminate random errors and noise, and performs checksum outlier rejection on the environment parameter data.
4. The laser three-dimensional scanning system for real-time monitoring of bulk material inventory in greenhouse according to claim 3, wherein the dynamic compensation and calibration module calculates the influence of environmental parameters on the scanning result according to the environmental parameter database and algorithm, and dynamically compensates the laser scanning data, and dynamically compensates the scanning data by the following formula: , wherein, Is a coefficient of an environmental parameter, which is, Is the point of reference temperature at which, Is a nonlinear transformation of the dust concentration, Indicating the interaction between vibration, temperature and dust concentration, Is a residual term.
5. The laser three-dimensional scanning system for monitoring the bulk material inventory of the greenhouse according to claim 1, wherein the inventory analysis module is used for calculating the volume difference of the materials before and after loading/unloading, judging the loading/unloading consistency by combining the weight difference of the vehicles in and out, and giving an alarm when the volume difference is inconsistent with the weight difference.
6. The laser three-dimensional scanning system for real-time monitoring of bulk material inventory in greenhouse according to claim 1, wherein the control algorithm of the feedback control unit is a PID control algorithm, and the control signal thereof is a PID control algorithm , wherein, Is a control signal, namely an adjustment instruction sent to the laser scanning unit; 、 And Proportional, integral and differential gain coefficients, respectively; error signals calculated based on the quality of point cloud data or environmental interference; is the error integral, representing from time 0 to the current time Is a cumulative error of (1); the differential of the error reflects the rate of change of the error over time.
7. A laser scanning method for real-time monitoring of bulk material inventory in a greenhouse, which is characterized by comprising the following steps of: s1, system initialization and data acquisition: starting a laser scanning unit, generating laser beams to bulk material piles in the greenhouse according to preset parameters or feedback control instructions, receiving reflected signals, acquiring distance and angle information of the materials, and forming initial point cloud data; The environment sensing module is synchronously started, and environmental parameters in the greenhouse are monitored and collected in real time through the vibration sensor, the temperature sensor and the dust sensor; acquiring weight data of materials from an external weighing system through a weighing data acquisition module; S2, data processing and dynamic compensation calibration: splicing, denoising and three-dimensional reconstruction are carried out on the point cloud data, and a three-dimensional model of the material pile is generated; According to the collected environmental parameters, calculating the influence of the environmental parameters on a scanning result by using a dynamic compensation and calibration algorithm, and dynamically compensating laser scanning data; s3, inventory analysis and consistency judgment: Calculating the stock volume of the material based on the compensated three-dimensional model, calculating the difference of the material volume before and after loading/unloading and the difference of the vehicle in-out weight by combining weighing data, judging whether the change directions of the two are consistent, if not, giving an abnormal alarm, and if so, updating the stock data; s4, feedback control and parameter adjustment: Generating a emptying instruction through a feedback control unit according to the results of dynamic compensation and inventory analysis, wherein a PID control algorithm is adopted by a control algorithm to obtain a control signal According to the control signal Automatically adjusting the scanning speed, angle and frequency of the laser scanning unit to optimize the scanning effect; S5, uploading data and visually displaying: Uploading the processed inventory data, the three-dimensional model and the alarm information to a remote server or a monitoring terminal through a communication module; And displaying the three-dimensional model, the volume data, the weight information and the real-time change trend of the materials in the visual monitoring interface in real time, and providing a man-machine interaction management interface.
8. The laser scanning method for monitoring the bulk material inventory of the greenhouse in real time according to claim 7, wherein in the step S1, the laser scanning unit is mounted on the autonomous mobile robot, the method further comprises the step of controlling the autonomous mobile robot to cruise in the greenhouse along a preset path, and in the cruising process, the laser scanning unit performs broken or continuous scanning and automatically splices point cloud data obtained by multi-station scanning to generate a complete full-field three-dimensional model.
9. The laser scanning method for real-time monitoring of bulk material inventory in greenhouse of claim 8, wherein in step S3, determining whether the changing directions of the two are consistent comprises the following specific steps: when the sign of the weight difference is opposite to that of the volume difference, determining that the change is consistent; And when the sign of the weight difference is the same as that of the volume difference, judging that the change is inconsistent, and immediately sending out alarm information.
10. The laser scanning method for monitoring the bulk material inventory of the greenhouse in real time according to claim 9 is characterized in that the visual monitoring interface also provides the following functions of displaying a change curve of historical inventory data and supporting inquiry according to a time range, receiving loading/unloading plan information manually input by a user and comparing the loading/unloading plan information with a result automatically judged by a system, and providing an alarm information management interface for confirming, processing and recording alarm events.

Description

Laser three-dimensional scanning system and method for monitoring bulk material inventory of greenhouse in real time Technical Field The invention relates to the technical field of inventory monitoring, in particular to a laser three-dimensional scanning system and method for monitoring bulk material inventory of a greenhouse in real time. Background In the storage management of bulk materials, particularly in a large-scale agricultural greenhouse, accurate and real-time monitoring of inventory is important to cost control, production planning and logistics scheduling of enterprises, in order to realize accurate inventory management and production scheduling, the volume, distribution and the like of bulk materials in the greenhouse are required to be measured efficiently and accurately, currently, an inventory monitoring technology commonly used is an inventory monitoring system based on cameras, such as a system for shooting shelf images by adopting a plurality of cameras in patent application CN109328359A, and a live-action diagram is constructed by combining depth information. In addition, an inventory checking mode based on a laser radar is adopted, for example, in a patent application CN115561775A, point cloud data of the surface of a material is obtained by utilizing laser radar scanning, and then the volume is calculated, but the inventory checking mode is faced with complex dynamic environments in a greenhouse, such as continuous vibration caused by mechanical equipment operation, temperature fluctuation caused by day-night temperature difference, dust and water mist generated by irrigation and fertilization and the like, an effective real-time dynamic compensation mechanism is lacked, measurement errors caused by environmental disturbance are difficult to overcome, quick response and adjustment cannot be made to instantaneous changes of the environment, and the system lacks enough flexibility and adaptability, so that stability and reliability of long-term monitoring are difficult to guarantee. Disclosure of Invention The invention aims to solve the defects of the prior art and provides a laser three-dimensional scanning system and a laser three-dimensional scanning method for monitoring bulk material inventory of a greenhouse in real time. The invention adopts the following technical scheme to realize the aim: a laser three-dimensional scanning system for monitoring bulk material inventory of a greenhouse in real time comprises: the laser scanning unit is used for emitting laser beams and receiving signals reflected from the surface of the material, acquiring distance and angle information of the material and acquiring point cloud data; the environment sensing module comprises a vibration sensor, a temperature sensor and a dust concentration sensor and is used for monitoring environment parameters in the greenhouse in real time; the weighing data acquisition module is used for acquiring material weight data from an external weighing system; the data processing module is used for splicing, denoising and three-dimensional reconstruction of the point cloud data to generate a three-dimensional model of the material pile; the dynamic compensation and calibration module is internally provided with a dynamic compensation and calibration algorithm, and performs real-time processing on the point cloud data obtained by laser scanning according to the environmental parameters; the inventory analysis module is used for calculating the volume of the material based on the three-dimensional model and carrying out inventory change analysis and abnormal alarm by combining weight data; The feedback control unit is used for sending a regulation and control instruction to the laser scanning unit through a control algorithm according to the output results of the dynamic compensation and calibration module and the inventory analysis module, and automatically adjusting laser scanning parameters and a calibration model, wherein the adjusted scanning parameters comprise scanning speed, angle and frequency; The communication module is used for uploading the inventory data to a remote server or a monitoring terminal; The visual monitoring interface is used for displaying a three-dimensional model, volume data and real-time change trend of the materials and providing a management interface; The laser scanning unit emits laser beams according to preset parameters or parameter configuration adjusted by the feedback control unit, receives reflected signals according to the set parameters, converts the received signals into distance and angle data, and stores the distance and angle data in the system or transmits the distance and angle data to the dynamic compensation and calibration module. The weighing data acquisition module is connected to at least one of a wagon balance system, a belt scale or a fixed scale in the bin. The dynamic compensation and calibration module receives the original data from the laser scanning unit an