CN114527461A - Space measuring device and measuring method thereof - Google Patents

Abstract

The invention discloses a space measurement device and a measurement method thereof, and relates to the technical field of space measurement. The spatial measurement method includes the following steps: on-site measurement and data transmission, the on-site measurement equipment reports the measured data to a cloud service platform through a data transmission channel, the cloud service platform uses a spatial algorithm to calculate the reported data, and calculates the result by the spatial algorithm. The utilization rate of the outgoing space; by setting the space algorithm, the space can be measured effectively and quickly, and it has the advantage of non-influenced statistics of the space utilization rate, which can help the user to quickly understand the space utilization rate of the place of use, which is beneficial to the use of the space. The user arranges and counts the places of use, and can conduct real-time statistics on the space through network transmission, which effectively improves the efficiency of space measurement. The cloud service platform can help users to quickly monitor the utilization rate of the place of use, which is convenient for secondary space planning.

Description

A space measuring device and its measuring method

technical field

The invention relates to the technical field of space measurement, in particular to a space measurement device and a measurement method thereof.

Background technique

Measurement is to use data to describe the observed phenomenon according to a certain law, that is, to make a quantitative description of things. Measurement is the quantitative process of non-quantified objects. In mechanical engineering, measurement refers to the experimental cognition process of comparing the measured value with a standard quantity with a unit of measurement to determine the ratio of the two. Measurement is actually a process of comparison, that is, a comparison between the measured physical quantity and the standard quantity.

In goods transportation, warehouse management and other activities, it is often necessary to measure the space in which the space is located, so that users can quickly and accurately manage the goods in the area. However, the existing space measurement methods can only roughly calculate the space size. , and it takes a certain amount of manpower and material resources, which is not conducive to normal use, and the remaining space cannot be measured quickly and effectively in the area where the goods are already stored. In view of this, we propose a spatial measurement method.

SUMMARY OF THE INVENTION

(1) Technical problems solved

In view of the deficiencies of the prior art, the present invention provides a space measurement device and a measurement method thereof, which solve the problem of inconvenient measurement of space utilization in the prior art mentioned above.

(2) Technical solutions

To achieve the above object, the present invention is achieved through the following technical solutions:

A space measuring device includes a base, a rotating motor is penetrated and fixed on the side wall of the base, a cross-shaped fixing plate is fixed at the end of the output shaft of the rotating motor, and the fixing plate is fixed with the connecting plate by bolts , the connecting plate is fixed with the measuring equipment through bolts, and one end of the connecting plate is fixed with a baffle plate through bolts.

Preferably, a protective casing is clipped on the measuring device.

Preferably, a protective pad for protecting the fixed plate is fixed on the side wall of the base by bolts, and the thickness of the protective pad is slightly larger than that of the fixed plate, and the side of the protective pad close to the measuring device is fixed by bolts. gasket.

A space measurement method, the space measurement method comprises the following steps:

S1. On-site measurement, on-site measurement equipment measures on-site, and uses radar method, camera method, or combination of radar and camera to measure on-site.

S2, data transmission, the on-site measurement equipment reports the measured data to the cloud service platform through the data transmission channel.

S3. The cloud service platform uses a spatial algorithm to calculate the reported data, and the spatial algorithm includes the following steps:

The formation of three-dimensional space coordinates.

Three-dimensional coordinate conversion calculation: X=R*sinΦcosθ,

Y=R*sinΦsinθ,

Z=R*cosΦ.

Based on surface fitting, the least squares algorithm is used as the point cloud data, and a sub-area is determined by a certain point. In this sub-area, the moving least squares method is to weight the fitting equation according to the space points in the area, and according to the fitting equation Solve for the coordinates of this point. Using the moving least squares method to fit the point cloud surface can be regarded as an interpolation process. Each interpolation corresponds to a weighted least squares equation fitting to obtain a result of approximating the surface.

S4. Calculate the utilization rate of the space through a space algorithm.

Preferably, the three-dimensional space coordinates established in S3 need to be based on a measuring device. The measuring device obtains the polar angle φ and the polar radius R based on the TOF principle on the z-axis plane, and a linear motor for adjusting its angle is installed on the measuring device.

Preferably, the angle of rotation of the measuring device in the x and y planes is denoted as θ.

Preferably, when the radar method in S1 measures on-site, the radar first scans the three-dimensional space, and forms cloud image data, and through data processing (spatial coordinate transformation), the time usage of the space is obtained.

Preferably, when the camera method in S1 measures on-site, the camera is calibrated according to the space area, and the collected data is compared with the data occupied by the current stack, and then the time usage of the space is obtained through data processing (spatial coordinate transformation).

Preferably, the combination of radar and camera in S1 uses radar and camera to collect data together, and there are two ways to collect data in two ways: fusing the two groups of data collected into one point cloud data and processing the two groups of data separately. to be processed.

Preferably, end users are set in the cloud service platform, and the cloud service platform controls, inquires and basically maintains the site through a data transmission channel.

Preferably, the data transmission channel includes but is not limited to RS458, WIFI, Lora, Bluetooth, Ethernet, and mobile Internet (2G, 3G, 4G, 5G, CAT1, NBIOT).

Preferably, a power supply system is provided in the on-site measurement device to supply power to it.

(3) Beneficial effects

The invention provides a space measurement device and a measurement method thereof. Has the following beneficial effects:

(1) The space measurement device and its measurement method can effectively and quickly measure the space by being provided with a space algorithm, and has the advantage of non-influenced statistics on the space utilization rate, which can help users quickly understand the space of the use site. The utilization rate is beneficial to the user to arrange and count the use places, and real-time statistics of the space can be carried out by means of network transmission, which effectively improves the efficiency of space measurement. The cloud service platform can help users to quickly monitor the utilization rate of the place of use, which is convenient for secondary space planning.

Description of drawings

Fig. 1 is the system flow schematic diagram of the present invention;

2 is a schematic diagram of three-dimensional space coordinates of the present invention;

Fig. 3 is the schematic diagram of principle calculation of the present invention;

Fig. 4 is the schematic diagram of detection result of the present invention;

FIG. 5 is a schematic structural diagram of the measuring device of the present invention.

In the figure: 1. Base; 2. Fixed plate; 3. Gasket; 4. Connecting plate; 5. Measuring equipment; 6. Protective shell; 7. Baffle plate; 8. Protective pad.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Fig. 1-Fig. 5, the present invention provides a technical solution:

A space measuring device comprises a base 1, a rotating motor is penetrated and fixed on the side wall of the base 1, a cross-shaped fixing plate 2 is fixed at the end of the output shaft of the rotating motor, and the fixing plate 2 is connected to a connecting plate by bolts. 4-phase fixation, the connecting plate 4 is fixed with the measuring device 5 by bolts, and one end of the connecting plate 4 is fixed with a baffle 7 by bolts. The rotating electrical machine of the present invention has an impact on the measuring device 5 during the operation process, which greatly improves the accuracy of the measurement. A protective casing 6 is clamped on the measuring equipment 5, and the protective casing 6 can protect the measuring equipment 5, and the measuring equipment 5 in this device adopts a camera or a radar device to realize related data measurement.

In this embodiment, a protective pad 8 for protecting the fixing plate 2 is fixed on the side wall of the base 1 by bolts, and the thickness of the protective pad 8 is slightly larger than that of the fixing plate 2 , and the protective pad 8 is close to the measuring device 5 . One side is fixed with a gasket 3 by bolts, and the area between the protective gasket 8 and the fixing plate 2 is smeared with a certain amount of lubricating oil, so that the device has good lubrication and heat dissipation effects during use, and the gasket 3 can Seal the lubricated area to prevent dust or other debris from falling into it to ensure the normal and stable operation of the device. Starting the rotating motor can drive the cross-shaped fixed plate 2 to rotate, so that the measuring device 5 can be rotated, so that the measuring device 5 can perform related three-dimensional measurements.

A space measurement method, the space measurement method includes the following steps:

S1. On-site measurement, the on-site measurement equipment measures the site, and the on-site measurement is carried out by means of radar, camera, or a combination of radar and camera. The on-site measurement equipment is provided with a power supply system to supply power to it, and the power supply can be The power storage type can be applied to areas without mains electricity, effectively increasing the scope of application.

S2, data transmission, on-site cameras or radar equipment will report the measured data to the cloud service platform through the data transmission channel.

S3. The cloud service platform uses a spatial algorithm to calculate the reported data. The spatial algorithm includes the following steps:

The formation of three-dimensional space coordinates.

Three-dimensional coordinate conversion calculation: X=R*sinΦcosθ,

Y=R*sinΦsinθ,

Z=R*cosΦ.

Based on surface fitting, the least squares algorithm is used as the point cloud data, and a sub-area is determined by a certain point. In this sub-area, the moving least squares method is to weight the fitting equation according to the space points in the area, and according to the fitting equation Solve for the coordinates of this point. Using the moving least squares method to fit the point cloud surface can be regarded as an interpolation process. Each interpolation corresponds to a weighted least squares equation fitting, and a result of approximating the surface is obtained, and the principle of the space algorithm is shown in the figure 3 shown.

S4. Calculate the utilization rate of the space through a space algorithm.

After solving the system function, the fitted point data is more than the collected point data, due to the continuity of the spatial measurement surface. During this process, the abnormal salient points are removed in this scheme, and the obtained results are shown in Figure 4.

In this embodiment, the establishment of three-dimensional space coordinates needs to be based on the camera or radar equipment. The camera or radar equipment obtains the polar angle φ and the polar radius R based on the TOF principle on the z-axis plane, and a straight line for adjusting the angle is installed on the measuring equipment. motor. The angle by which the camera or radar device is rotated in the x and y planes is denoted as θ.

Among them, the different angles θ of the measuring equipment and the different angles φ and polar radius R of the measuring equipment, the obtained data are as follows:

X Y Z amplitude 1034 0 -2489 622 1047 0 -2500 622 1057 0 -2496 598 1068 0 -2495 610 1080 0 -2497 624 1093 0 -2500 605 1104 0 -2497 621 1117 0 -2500 623 1127 0 -2496 607 1139 0 -2497 614 1151 0 -2498 628 1167 0 -2505 635 1173 0 -2493 609 1186 0 -2494 606 1196 0 -2491 630

And the obtained coordinate system is shown in Figure 2.

In this embodiment, when the radar method measures on-site, the radar first scans the three-dimensional space, and forms cloud image data, and then obtains the time usage of the space through data processing (spatial coordinate conversion). When the camera method is used for on-site measurement, the camera is calibrated according to the space area, and the collected data is compared with the currently occupied data, and then the time usage of the space is obtained through data processing (spatial coordinate conversion). The combination of radar and camera uses radar and camera to collect data together. There are two ways to process the data: fusing the collected two sets of data into a single point cloud data and processing the collected two sets of data separately.

In this embodiment, end users are set in the cloud service platform, and the cloud service platform controls, inquires and performs basic maintenance on the site through the data transmission channel. Data transmission channels include but are not limited to RS458, WIFI, Lora, Bluetooth, Ethernet, mobile Internet (2G, 3G, 4G, 5G, CAT1, NBIOT).

The space measurement device and its measurement method can effectively and quickly measure the space by being provided with a space algorithm, and have the advantage of non-influenced statistics of the space utilization rate, which can help the user to quickly understand the space utilization rate of the place of use, thereby It is beneficial for users to arrange and count the use places, and real-time statistics of the space can be carried out by means of network transmission, which effectively improves the efficiency of space measurement. The cloud service platform can help users to quickly monitor the utilization rate of the place of use, which is convenient for secondary space planning.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1. A space measuring device, comprising a base (1), characterized in that: a rotating motor runs through and is fixed on the side wall of the base (1), and the end of the output shaft of the rotating motor is fixed with a cross-shaped fixed plate (2), and the fixing plate (2) is fixed with the connecting plate (4) by bolts, the connecting plate (4) is fixed with the measuring device (5) by bolts, and one end of the connecting plate (4) is fixed by bolts There are baffles (7). 2 . The space measuring device according to claim 1 , wherein a protective casing ( 6 ) is clamped on the measuring device ( 5 ). 3 . 3. A space measuring device according to claim 1, characterized in that: a protective pad (8) for protecting the fixing plate (2) is fixed on the side wall of the base (1) by bolts, and The thickness of the protective pad (8) is slightly larger than the thickness of the fixing plate (2), and a sealing pad (3) is fixed by bolts on the side of the protective pad (8) close to the measuring device (5). 4. A space measurement method, characterized in that: the space measurement method comprises the following steps: S1, on-site measurement, on-site measurement equipment measures on-site, adopts radar method, camera method or radar and camera combination method to measure on-site, and the on-site measurement equipment is provided with a power supply system to supply power to it; S2, data transmission, the on-site measurement equipment reports the measured data to the cloud service platform through the data transmission channel; S3. The cloud service platform uses a spatial algorithm to calculate the reported data, and the spatial algorithm includes the following steps: The formation of three-dimensional space coordinates; Three-dimensional coordinate conversion calculation: X=R*sinΦcosθ, Y=R*sinΦsinθ, Z=R*cosΦ; Based on surface fitting, the least squares algorithm is used as the point cloud data, and a sub-area is determined by a certain point. In this sub-area, the moving least squares method is to weight the fitting equation according to the space points in the area, and according to the fitting equation Solve for the coordinates of this point. Using the moving least squares method to fit the point cloud surface can be regarded as an interpolation process, each interpolation corresponds to a weighted least squares equation fitting, and a result of approximating the surface is obtained; S4. Calculate the utilization rate of the space through a space algorithm. 5. a kind of space measurement method according to claim 4 is characterized in that: establishing three-dimensional space coordinates in S3 needs to be based on measuring equipment, and measuring equipment is based on TOF principle on z-axis plane, obtains polar angle φ and polar radius R. 6 . The method for spatial measurement according to claim 5 , wherein the rotation angle of the measurement device in the x and y planes is denoted as θ. 7 . 7. A kind of space measurement method according to claim 4, it is characterized in that: when the radar method in S1 measures on-site, the radar first scans the three-dimensional space, and forms cloud image data, through data processing (spatial coordinate conversion) thereby Get the time usage of the space. 8. a kind of space measurement method according to claim 7, is characterized in that: when camera mode in S1 is to on-site measurement, camera is calibrated according to space area and compares the collected data and the data occupied by current stacking, and then passes through the data Processing (spatial coordinate transformation) to get the time usage of the space. 9. A kind of space measurement method according to claim 8, is characterized in that: the mode of radar and camera combination in S1 carries out data collection jointly by radar and camera, has two groups of data collected into a point cloud The data is processed in two ways: on the data and by processing the collected two groups of data separately. 10. A space measurement method according to claim 4, characterized in that: the cloud service platform is provided with end users, the cloud service platform controls, inquires and basically maintains the scene through a data transmission channel, and the data Transmission channels include but are not limited to RS458, WIFI, Lora, Bluetooth, Ethernet, mobile Internet (2G, 3G, 4G, 5G, CAT1, NBIOT).

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