| Summary: | 碩士 === 國立中興大學 === 生物產業機電工程學系所 === 102 === This paper described the design of a portable measuring system for estimating grain volume. The system consists of an inertial measurement unit (IMU), a laser range finder, a compact tripod, and Button module. Inertial measurement unit consisting of tri-axis gyroscopes and accelerometer was assembled in a rectangular box that can measure the orientation in local coordinate system through mathematical integration. Laser range finder mounted on compact tripod can measure the distance information to the object point in grain piles. According to the distance obtained by the laser range finder and its orientation measured by IMU, the coordinate information of the object point in the local coordinate system can be calculated. In order to get more surface information on grain piles, two different perspectives were used. The same object points on the bottom of grain piles were used in a serial of mapping steps
including quaternion rotating and coordinate shifting. Then, two sets of the object points can be mapped into the same coordinate system. Therefore, a 3D model of the grain piles can be constructed, and the volume can be estimated. Results indicated that the error rate of this system was less than 2.15%.
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