结构光3D相机倾斜拍摄下的料仓物料检测方法

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中图分类号：TH741.13 文献标志码：A 文章编号： 1000-5013（2025）06-0640-06

Abstract：To address the challenge in industrial settings where cameras cannot be installed directlyfacing silos due to constraints of material replenishment devices，a material volume detection method for silos based on tilted imaging using structured light 3D cameras is proposed. Firstly，a 3D reconstruction mathematical model under tilted coordinates is established to obtain surface point clouds by the triangulation principle and phase unwrapping technology.Secondly，a spatial coordinate prediction method is designed to efectively repair the hollow region of the point clouds.Finally，a diferential volume algorithm is constructed to accurately calculate the material volume through the diference between the point clouds of the empty silo and the silo with materials.The experimental results show that at tilted angles from 30∘ to 60∘ ，therelative errorof volumedetection of the proposed method is controlled within 2.5% ，and it is not affected by the shape and size of the silo.

Keywords：structured light 3D measurement；tilted imaging；silo material;； hollow repair;differential volume calculation

在矿山、冶金及化工等行业中，料仓作为散装物料储存与输送的核心设备，是实现工业流程智能化和精益化管理的基石[1-2]。（剩余6567字）