【摘要】：近年來(lái),電子商務(wù)的飛速發(fā)展以及公民消費(fèi)方式的轉(zhuǎn)變,推動(dòng)了快遞行業(yè)的高速發(fā)展。在包裹運(yùn)轉(zhuǎn)時(shí),快遞公司需要獲取包裹體積及三維尺寸信息,用以優(yōu)化倉(cāng)儲(chǔ)空間、核算運(yùn)輸成本。傳統(tǒng)的快遞包裹體積測(cè)量多為效率低下的接觸式測(cè)量,隨著自動(dòng)化分揀設(shè)備在行業(yè)內(nèi)的普及,各類非接觸式二維輪廓掃描設(shè)備被應(yīng)用于體積測(cè)量,測(cè)量效率與精度大幅提高。然而,基于二維掃描的體積測(cè)量設(shè)備在對(duì)傳送帶上高速、小尺寸快遞包裹體積測(cè)量時(shí),測(cè)量精度很低。雙目立體視覺(jué)技術(shù)分辨率高、適合動(dòng)態(tài)高速測(cè)量,能夠彌補(bǔ)二維掃描體積測(cè)量方式的不足,在快遞包裹體積計(jì)量領(lǐng)域有著廣闊的應(yīng)用前景。本文基于雙目立體視覺(jué)原理,對(duì)傳送帶上高速運(yùn)動(dòng)的小尺寸快遞包裹的體積測(cè)量方法進(jìn)行了研究。體積測(cè)量系統(tǒng)采用兩臺(tái)工業(yè)CCD相機(jī)構(gòu)成雙目成像系統(tǒng),基于半全局動(dòng)態(tài)規(guī)劃算法對(duì)成像系統(tǒng)抓拍的快遞包裹雙目影像實(shí)現(xiàn)了立體匹配,獲得了包含待測(cè)包裹三維空間信息的稠密視差圖,最終通過(guò)三維重構(gòu)算法實(shí)現(xiàn)了待測(cè)包裹體積及三維尺寸的實(shí)時(shí)計(jì)量。文章首先建立了相機(jī)的小孔成像模型,研究雙目相機(jī)的標(biāo)定方法,并通過(guò)8×10的棋盤格標(biāo)定板,實(shí)現(xiàn)了成像系統(tǒng)的預(yù)標(biāo)定。接著重點(diǎn)分析了基于互信息的匹配代價(jià)計(jì)算方法,給出了多路徑動(dòng)態(tài)規(guī)劃的代價(jià)聚合方案。并根據(jù)本文給出的算法與幾種經(jīng)典算法的所進(jìn)行的對(duì)比實(shí)驗(yàn),驗(yàn)證了基于半全局動(dòng)態(tài)規(guī)劃的立體匹配算法的實(shí)時(shí)性與準(zhǔn)確性。最后討論了在雙目視覺(jué)快遞包裹體積實(shí)時(shí)計(jì)量應(yīng)用中,快遞包裹的快速三維重構(gòu)及體積計(jì)量方法。提出了一種基于視差圖多閾值分析的包裹快速定位方法,并通過(guò)線性回歸分析擬合包裹邊緣輪廓,根據(jù)預(yù)標(biāo)定的相機(jī)投影矩陣實(shí)現(xiàn)了待測(cè)包裹的三維重構(gòu)和體積計(jì)量。大量快遞包裹體積測(cè)量實(shí)驗(yàn)數(shù)據(jù)表明,本體積計(jì)量系統(tǒng)的平均測(cè)量誤差低于3%,算法平均用時(shí)約為1s,滿足快遞包裹體積計(jì)量系統(tǒng)的測(cè)量精度與實(shí)時(shí)性要求。
[Abstract]:In recent years, the rapid development of e-commerce and the change of citizen consumption mode promote the rapid development of express delivery industry. In order to optimize the storage space and calculate the transportation cost, the express company needs to obtain the information of package volume and three dimensional dimensions when the package is running. With the popularization of automatic sorting equipment in the industry, all kinds of contactless two-dimensional contour scanning equipment are used in volume measurement, and the measuring efficiency and precision are greatly improved. However, the measurement accuracy of the volume measurement equipment based on two-dimensional scanning is very low when measuring the volume of the conveyer belt at high speed and small size. Binocular stereo vision technology has high resolution, suitable for dynamic and high-speed measurement, and can make up for the deficiency of two-dimensional scanning volume measurement. It has a broad application prospect in the field of package volume measurement. Based on the principle of binocular stereo vision, the volume measurement method of small size express package with high speed motion on conveyor belt is studied in this paper. The volume measurement system uses two industrial CCD cameras to form a binocular imaging system. The binocular image captured by the imaging system is stereo matched based on semi-global dynamic programming algorithm. A dense parallax map containing the three-dimensional spatial information of the package under test is obtained, and the real-time measurement of the volume and the three-dimensional size of the package under test is realized through the 3D reconstruction algorithm. In this paper, the aperture imaging model of the camera is established, and the calibration method of binocular camera is studied, and the pre-calibration of the imaging system is realized through the 8 脳 10 checkerboard calibration board. Then, the method of calculating the matching cost based on mutual information is analyzed, and the cost aggregation scheme of multipath dynamic programming is presented. According to the comparison experiments between the algorithm presented in this paper and several classical algorithms, the real-time and accuracy of the stereo matching algorithm based on semi-global dynamic programming are verified. Finally, the fast 3D reconstruction and volume measurement method of express package are discussed in the application of binocular visual package volume real time measurement. In this paper, a method of fast parallax location based on multi-threshold analysis of parallax is proposed, and the contour of parallax is fitted by linear regression analysis. According to the pre-calibrated camera projection matrix, the 3D reconstruction and volume measurement of the package under test are realized. A large number of experimental data show that the average measurement error of the volume measurement system is less than 3 and the average time of the algorithm is about 1 s, which can meet the requirements of the measurement accuracy and real time of the package volume measurement system.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41

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