FR3161738A1 - Scale - Google Patents

Abstract

The invention relates to a device (1) for estimating the internal volume of a barrel (2), comprising: - a body (4), - an arm (5) rotatable about a first axis of rotation (12), the arm (5) having a first arm section (7) and a second arm section (8) connected to the first arm section (7) by a joint (9), the second arm section (8) being rotatable about the joint (9) along a second axis of rotation (13), said arm being intended to be at least partially inserted through a bung hole (6) of the barrel (2), - an infrared camera (17) fixed to the second arm section (8), - a control unit (18), wherein the control unit (18) is configured to control the movement of the arm (5) into a plurality of positions, and the acquisition of an infrared image (34) by the infrared camera (17) for each of the arm's (5) positions, and in which The control unit (18) is configured to calculate the internal volume of the barrel (2) using infrared images (34). Figure for the abstract: 1

Description

Scale

The invention relates to the technical field of estimating the internal volumes of barrels, casks or casks.

Technological background

Cooperage is an ancestral French craft that allows for the creation of wooden containers, for example from oak, using traditional methods. The Nouvelle-Aquitaine region in France is one of the pioneering regions in this field due to the significant need for containers for the region's wine production.

These containers are commonly called barrels, casks, or casks.

Barrels have different functions such as the transport and storage of liquids such as wine, or the aging of wine, that is to say its maturation process.

For inventory and logistics management, it is important to know the precise volume of the barrels produced. Knowing this volume precisely is also important for due diligence purposes.

Due in particular to the artisanal production process, it is possible to observe volumetric variations between barrels of the same size produced on the same production line. It is therefore customary to measure these volumes rather than attempting to predict them.

Indeed, methods of predicting volume by stereometry or by calculating the volume using the number of staves used to make the barrel do not allow us to obtain sufficiently precise values.

Currently, it is common practice to accurately measure the volume of a barrel by filling the barrel with a liquid of known density, commonly water, and thus evaluating its volume by weighing.

However, due to chemical contamination of the liquid used, the liquid (mainly water) cannot be reused and is therefore discarded. A large quantity of water (several hundred liters per barrel) is thus wasted, representing very significant amounts over a year and therefore an ecological disaster.

This technique therefore has disadvantages, particularly in terms of practicality, but also in terms of cost and environment.

Furthermore, a negligible but nonetheless present portion of the liquids in the barrels seeps into the wood. This portion is irrecoverable, which invalidates the idea of measuring volume by weight.

One idea behind the invention is to design a simple-to-use device that can accurately estimate the internal volume of a barrel.

According to one embodiment, the invention provides a device for estimating the internal volume of a barrel, wherein the estimation device comprises:
- a body,
-a first training device attached to the body and a second training device attached to the body,
- an arm fixed to the body in a mobilizable manner and extending along a longitudinal direction, said arm being connected to the first drive device and being movable in rotation about a first axis of rotation parallel to the longitudinal direction, the arm having a first part of the arm and a second part of the arm connected to the first part of the arm by a joint, the second part of the arm being movable in rotation about the joint along a second axis of rotation perpendicular to the first axis of rotation, said arm being intended to be at least partially inserted through a bung hole of the barrel,
- an infrared camera attached to the second arm section,
- a control unit,
in which the control unit is configured to control the movement of the arm according to a plurality of positions using the first and second drive devices, and to control the acquisition of an infrared image by the infrared camera for each of the arm positions,
and in which the control unit is configured to calculate the internal volume of the barrel using infrared shots.

Thanks to these features, the estimating device, or gauge, allows for the precise estimation of a barrel's internal volume using infrared imaging. By partially inserting the arm into the barrel's bung hole, the camera and its joint can be positioned inside the barrel. Furthermore, using the drive mechanisms, the infrared camera can be oriented to various angles to capture images of the entire internal surface of the barrel. The control unit then uses the data from the infrared images to calculate the barrel's internal volume.

The verification by the Administration of the capacity of containers for this measurement is called "sampling." A sampler is a device that allows for compliance with sampling requirements and thus enables this measurement to be carried out or estimated precisely. An infrared sampler is a device for estimating this volume using infrared rays.

According to some embodiments, such a device may include one or more of the following characteristics.

According to one embodiment, the first arm portion and the second arm portion are cylindrical in shape and the second arm portion has a shape inscribed in a cylindrical tube with a circular cross-section of diameter less than or equal to 45 mm, preferably less than or equal to 40 mm, preferably between 20 and 40 mm, for example 40 mm.

According to one embodiment, the first arm portion has a shape inscribed in a cylindrical tube with a circular cross-section of diameter less than or equal to 45 mm, preferably less than or equal to 40 mm, preferably between 20 and 40 mm, for example 40 mm.

Thus, the dimensions of the arm allow easy insertion into the bung hole of a barrel which commonly has dimensions of around 45 mm.

According to one embodiment, the body comprises a support and a carriage, the arm being fixed on the carriage, the support comprising guide rails extending in the longitudinal direction, the carriage being linked to the guide rails so as to be mobile in translation in the longitudinal direction.

According to one embodiment, the estimation device has an insertion position in which the second arm part protrudes from the body in the longitudinal direction, and a retracted position in which the second arm part is at least partially located vertically below the body, the estimation device moving from the insertion position to the retracted position and vice versa by the movement of the carriage on the guide rails of the support.

Thus, in the retracted position, the estimation device can be moved while minimizing the risk of damaging the arm and camera in a collision. Furthermore, the ability to move the carriage along the guide rails allows for adjusting the length of the arm that will be inserted into the barrel.

Advantageously, in the retracted position, the second arm part is totally located vertically below the body, so that the second arm part does not protrude from the body in the longitudinal direction.

According to one embodiment, the support comprises a plurality of insertion stops spaced apart along the longitudinal direction near one of the guide rails, each insertion stop having an active state and an inactive state selectable by the user, the insertion stop being configured in the active state to limit the movement of the carriage in the longitudinal direction.

Thus, the insertion stops limit the length of the arm inserted into the barrel by using stops positioned at different lengths along the guide rail. The user can activate the insertion stop corresponding to the barrel size to be estimated.

According to one embodiment, the body comprises a chassis and a position adjustment device actuated by at least one actuator, the position adjustment device connecting the chassis to the support such that the position of the support relative to the chassis is adjustable by actuating the actuator.

Thus, the user can, with the help of at least one actuator, adjust the position of the support and thus the position of the arm relative to the bung hole of the barrel.

According to one embodiment, the position adjustment device is actuated by a first actuator and a second actuator, for example handwheels or levers, the first actuator allowing the position of the support to be adjusted in a vertical direction, and the second actuator allowing the position of the support to be adjusted in a transverse direction.

The longitudinal direction, the transverse direction and the height direction form an orthonormal coordinate system in three dimensions.

According to one embodiment, the body is equipped with a plurality of wheels and a braking device configured to block the rotation of the wheels by actuation.

According to one embodiment, the body includes an inertial measurement unit configured to estimate the orientation and relative position of the body with respect to the ground.

According to one embodiment, the estimation device includes a sighting device fixed to the body, the sighting device being configured to visually materialize a sight indicating the position of one end of the arm along a forward direction parallel to the longitudinal direction.

Thus, the aiming device helps the user to position the estimation device in relation to the barrel, and in particular the arm in relation to the bung hole.

According to one embodiment, the aiming device comprises one or more plane laser pointers.

According to one embodiment, the aiming device comprises a first plane pointer projecting a plane laser beam extending along a plane normal to the transverse direction, and a second plane pointer projecting a plane laser beam extending along a plane normal to the height direction, the first plane pointer being aligned with the arm in the height direction, and the second plane pointer being aligned with the arm in the transverse direction.

According to one embodiment, the invention also provides a method for estimating the internal volume of a barrel, in which the method comprises the following successive steps:
- to provide the aforementioned estimation device, and a barrel including a bung hole, the infrared camera being arranged in a first initial position presenting a first longitudinal orientation and a first transverse orientation,
- Insert at least partially the arm of the estimation device through the bung hole so that the infrared camera and the joint are located inside the barrel,
- to perform at least one initial infrared image capture with the infrared camera from the first initial position, and at least one second infrared image capture from a second position different from the first position, the second position being obtained by rotation by an angle A around the first axis of rotation according to a second longitudinal orientation different from the first longitudinal orientation,
- orient the infrared camera into a third position, the third position being obtained by rotating around the second axis of rotation by an angle B according to a second transverse orientation different from the first transverse orientation, and by rotating around the first axis of rotation according to the first longitudinal orientation,
- to perform at least one first infrared image capture with the infrared camera according to the third position, and at least one second infrared image capture according to a fourth position different from the third position, the fourth position being obtained by rotation by an angle A around the first axis of rotation according to the second longitudinal orientation different from the first longitudinal orientation,
- transmit the infrared images to the control unit,
- calculate the internal volume of the barrel using infrared images.

According to one embodiment, the calculation step comprises the following sub-steps:
- Extraction of coordinates from a point cloud on each of the infrared images representing points on the internal surface of the barrel,
- creation of a mesh using point clouds representative of the internal surface of the barrel,
- Calculation of the mesh volume.

According to one embodiment, the estimation device includes a display device, the display device being configured to allow the user to set and operate the control unit and to display the calculated volume of the barrel.

According to one embodiment, the shooting steps involve N infrared shots, with N a natural number greater than or equal to 3, each infrared shot being followed by a rotation of an angle A around the first axis of rotation, the angle A being equal to 360°/N.

Brief description of the figures

The invention will be better understood, and other objects, details, features and advantages thereof will become more apparent from the following description of several particular embodiments of the invention, given solely by way of illustration and not limitation, with reference to the accompanying drawings.

There FIG. 1 represents in perspective an estimation device according to an embodiment positioned in front of the bung hole of a barrel.

There FIG. 2 represents a cross-sectional view of an estimation device along a plane normal to the transverse direction according to one embodiment.

There FIG. 3 represents a partial perspective view of an estimation device according to one embodiment.

There FIG. 4 schematically represents an infrared image taken from an internal surface of the barrel by the infrared camera.

There FIG. 5 schematically represents a graph on which the point clouds extracted from the different shots have been illustrated.

There FIG. 6 schematically represents a mesh representative of the internal surface of the barrel and created from point clouds.

A device for estimating the internal volume of a barrel, or scaler, and a method for using such a device will be described later in relation to figures 1 to 6.

There FIG. 1 represents the measurement estimation device 1 placed in a situation with on the one hand the barrel(s) 2 whose internal volume is to be measured and on the other hand an operator 3 present to position the device 1 in relation to the barrel 2 to be measured as well as to activate the device 1.

The estimation device 1 comprises a body 4 and an arm 5 movably attached to the body 4 and extending along a longitudinal direction L. The arm 5 of the device 1 is designed to be at least partially inserted through a bung hole 6 of the barrel 2 to be measured. For this purpose, the arm 5 has cross-sectional dimensions along a plane normal to the longitudinal direction L that are smaller than the diameter of the bung hole 6.

Thus, when positioning device 1 in front of barrel 2, operator 3 is required to center arm 5 relative to bung hole 6 in order to allow insertion of arm 5.

Figures 2 and 3 present in more detail the components of estimation device 1.

As can be seen in particular in FIG. 3 , arm 5 comprises a first part of arm 7 and a second part of arm 8 connected to the first part of arm 7 by a joint 9.

The body 4 includes a first drive device 10 fixed inside the body 4 and a second drive device 11 fixed inside the body 4.

The first arm part 7 is connected at one end to the first drive device 10 and at the other end to the joint 9. The first arm part 7 is thus mobile in rotation around a first axis of rotation 12 parallel to the longitudinal direction L by actuation of the first drive device 10, which also drives in rotation the joint 9 and the second arm part 8.

The second arm section 8 is connected at one end to the joint 9 and to the second drive device 11 by a transmission (not shown) passing through the inside of the first arm section 7, the other end of which remains free. The second arm section 8 is thus free to rotate about the joint 9 and relative to the first arm section 7, along a second axis of rotation 13 perpendicular to the first axis of rotation 12, by actuating the second drive device 11.

The first training device 10, visible in FIG. 3 , is for example a servomotor having an output shaft 14 parallel to the first part of arm 7 and connected to it via a first motion transmission (not shown), including for example a belt, preferably a synchronous belt.

The second drive device 11, visible in Figures 2 and 3, is, for example, a servomotor connected to the second arm section 8 via a second motion transmission (not shown), comprising, for example, a belt, preferably a synchronous belt. The second motion transmission preferably has a belt tensioning system 15, shown in FIG. 3 The synchronous belt is connected on one side to a belt shaft 16 which is itself driven in rotation by the servomotor 11 via another belt (not shown), and on the other side to one end of the second part of the arm 8 at the joint 9, so as to pass through the first part of the arm 7.

The second part of arm 8 includes an infrared camera 17, shown in FIG. 3 The infrared camera 17 is intended to take infrared shots of the inside of barrel 2 when arm 5 is partially inserted into barrel 2.

Preferably, a 33-inch case is placed around the camera to protect it from impacts.

The estimation device 1 further includes a control unit 18 configured to control the movement of the arm 5 to a plurality of positions using the first and second drive devices 10, 11, and to control the acquisition of an infrared image by the infrared camera 17 for each of the arm 5's positions. The operator 3 can interact with the control unit 18 using a human-machine interface 19, shown in FIG. 2 The human-machine interface 19 can, for example, be a screen equipped with a keyboard or a touch screen.

The estimation device 1 includes a power supply device 20, for example one or more batteries, configured to supply electricity to the various systems of the device 1, such as the first and second drive devices 10, 11, the infrared camera 17, the control unit 18 or the human machine interface.

The body 4 of the device 1 comprises a chassis 21, a support 22 fixed to the chassis 21 by means of a position adjustment device 23 and a carriage 24 fixed to the support 22 so as to be movable in translation along the longitudinal direction L.

The adjustment device in position 23 is, in the example shown in FIG. 1 , operable by a first adjustment wheel 25 and a second adjustment wheel 26. By operating the first adjustment wheel 25, the operator 3 can adjust the height of the support 22 along the height direction H. By operating the second adjustment wheel 26, the operator 3 can adjust the transverse position of the support 22 along the transverse direction T. The longitudinal direction L, the transverse direction T and the height direction H form an orthogonal coordinate system in three dimensions.

The arm 5 and the first and second drive devices 10, 11 are arranged on the carriage 24. The support 23 is provided with guide rails 27. The carriage 24 is linked to the guide rails 27 so as to be mobile in translation along the longitudinal direction L.

Estimation device 1 thus has an insertion position (not shown) and a retracted position, visible in FIG. 2 notably.

In the insertion position, the second arm part 8 protrudes from the body 4 in the longitudinal direction L in order to be inserted via the bung hole 6 into the inside of the barrel 2.

In the retracted position, the second part of the arm 8 and the camera 17 are at least partially located directly above the body 4 so that the estimation device 1 can be moved without risk of damage to the arm 5.

The estimation device 1 moves from the insertion position to the retracted position and vice versa by the movement of the carriage 24 on the guide rails 27 of the support 22.

The support 22 has a plurality of insertion stops 28 spaced apart along the longitudinal direction L near one of the guide rails 27, as seen in FIG. 3 .

Each insertion stop 28 has an active state and an inactive state selectable by the operator 3. The insertion stop 28 is configured in the active state to limit the movement of the carriage 24 in the longitudinal direction L according to a certain insertion length relative to the active insertion stop 28 and its position on the guide rail 27.

Indeed, the carriage 24 has a projection 29 extending in the transverse direction T, which is configured to be stopped by the active insertion stop 28 when the insertion length is reached. Thus, the operator 3 can select the insertion length of the arm 5 according to the dimension of the barrel 2 to be measured by selecting the insertion stop to activate.

In another embodiment not shown, the device 1 may include a single insertion stop 28. The insertion stop 28 is thus continuously in the active state. The insertion length is therefore constant in this embodiment and adapted to a plurality of barrel ranges.

In an embodiment not shown, the front of the body 4 has an arched shape to fit the external shape of a barrel 2.

In the example illustrated in FIG. 2 , the body 4 is equipped with a plurality of wheels 30 and a braking device (not shown) configured to block the rotation of the wheels 30 by actuation.

In an embodiment not shown, the body 4 may include an inertial measurement unit configured to estimate the orientation and relative position of the body 4 with respect to the ground and thus take into account any parasitic movement during the estimation.

As depicted in FIG. 3 The estimation device 1 includes a sighting device fixed to the support 22 of the body 4. The sighting device makes it possible to visually materialize a sight indicating the position of one end of the arm 5 along a forward direction parallel to the longitudinal direction L, so that in the retracted position, the operator 3 has a visual of the position of the end of the arm 5 in the insertion position.

For this purpose, in the example shown, the aiming device comprises a first plane pointer 31 projecting a plane laser beam extending along a plane normal to the transverse direction T, and a second plane pointer 32 projecting a plane laser beam extending along a plane normal to the height direction H. The first plane pointer 31 is aligned with the arm 5 in the height direction H so as to materialize the height of the arm 5, and the second plane pointer 32 is aligned with the arm 5 in the transverse direction T so as to materialize the transverse position of the arm 5.

As seen in figures 1 and 2, the body 4 has gripping handles 37 allowing the operator 3 to move the device more easily.

In an embodiment not shown, the support 22 may include a compensation device configured to absorb an offset between the axis of the arm 5 and the axis of the drain hole 6. This compensation device may, for example, be made using springs.

The method for estimating the internal volume of a barrel 2 using the measurement estimation device 1 will be described subsequently according to one embodiment.

First, operator 3 is required to place device 1 in front of barrel 2 to be measured so as to place arm 5 approximately in line with bung hole 6. Advantageously, operator 3 can use planar pointers 31, 32 to achieve this positioning.

Using the first and second adjustment wheels 25, 26, the operator precisely positions the end of the arm 5 equipped with the camera 17 opposite the drain hole.

The alignment operation between the axis of arm 5 and the axis of bung hole 6 can also be performed automatically. Indeed, in an embodiment not shown, device 1 may include a second camera capable of taking a picture of the external surface of the barrel 2 where the bung hole 6 is located. This image can then be sent to the control unit 18, which will use this image to determine the relative position of the bung hole 6 with respect to arm 5 and then command the adjustment device to position 23 in order to move the support 22 and align arm 5 with the bung hole 6.

In addition, preferably, operator 3 can activate one of the insertion stops 28 which corresponds to the template of barrel 2.

Via the human-machine interface 19, the operator 3 sends the information to the control unit 18 to move the device 1 from the retracted position to the insertion position by sliding the carriage 24 on the guide rails 27. The arm 5 is thus partially inserted through the bung hole 6 so that the infrared camera 17 and the joint 9 are located inside the barrel 2.

In the initial position, the second part of arm 8 is aligned with the first part of arm 7 in the longitudinal direction L, which is substantially horizontal.

Operator 3 then initiates the volume estimation operations via the human-machine interface 19, according to an example implementation.

An initial infrared image 34 is taken at the initial position using the infrared camera 17. An example of this image is schematically illustrated in FIG. 4 .

The arm 5 is then rotated 45° around the first axis of rotation 11 with the first drive device 10, and then a second infrared image 34 is taken via the infrared camera. These steps are repeated to obtain 9 images, each offset by 45° from the previous one.

The arm 5 then returns to the initial position. The second part of the arm 8 is then inclined by means of the second drive device 11 at an angle of 50° around the second axis of rotation 12.

A first infrared image 34 is taken in this new position.

The arm 5 is then rotated 45° around the first axis of rotation 11 using the first drive device 10, and a second infrared image is taken via the infrared camera. These steps are repeated to obtain 8 images, each with a 45° offset from the previous one, with this new 50° tilt after rotation around the second axis of rotation 12.

The arm 5 then returns to the initial position. The second part of the arm 8 is then inclined once again by means of the second drive device 11 at an angle of -50° around the second axis of rotation 12.

A first infrared image 34 is taken in this new position.

The arm 5 is then rotated 45° around the first axis of rotation 11 with the first drive device 10, and a second infrared image 34 is taken via the infrared camera. These steps are repeated to obtain 8 images with a 45° offset from the previous one, with this new inclination of -50° after rotation around the second axis of rotation 12.

The number of shots 34 with the same inclination around the second axis of rotation 12, the angle of rotation between each shot or the number of series of shots with a different inclination around the second axis of rotation 12 could also be achieved, so as to cover with all the shots the entire internal surface of the barrel 2. For example, the angles of rotation around the second axis of rotation 12 could also be about 60° and about -45°.

All 34 images are sent to the control unit 18 for analysis. Each image 34 contains data relating to the current position of the infrared camera 17, namely its angular orientation about the first axis of rotation 12 and its angular orientation about the second axis of rotation 13, as well as the relative distances between the inner surface of the barrel 2 and the infrared camera 17 in a multitude of directions. Each servomotor has an encoder equipped with angular sensors to link each image to precise orientation data of the infrared camera 17.

The control unit 18 will then extract coordinates from a point cloud 35 on each of the infrared images representing points on the internal surface of the barrel 2. The set of point clouds 35 arranged on a graph gives an illustration as seen in FIG. 5 .

A mesh 35 is then created using the point clouds 35 representing the internal surface of barrel 2. An example of such a mesh is illustrated in FIG. 6 .

The control unit 18 will then calculate the volume of the mesh produced and thus obtain a precise estimate of the internal volume of barrel 2.

Although the invention has been described in connection with several particular embodiments, it is clearly evident that it is by no means limited to them and that it includes all technical equivalents of the means described as well as their combinations if these fall within the scope of the invention.

The use of the verb "comporter", "comprendre" or "include" and its conjugated forms does not exclude the presence of other elements or other steps than those stated in a claim.

In claims, any reference sign in parentheses shall not be interpreted as a limitation of the claim.

Claims (10)

Estimating device (1) for the internal volume of a barrel (2), wherein the estimating device (1) comprises:
- a body (4),
-a first training device (10) fixed to the body (4) and a second training device (11) fixed to the body (4),
- an arm (5) fixed to the body (4) in a mobilizable manner and extending along a longitudinal direction, said arm (5) being connected to the first drive device (10) and being movable in rotation about a first axis of rotation (12) parallel to the longitudinal direction, the arm (5) having a first arm part (7) and a second arm part (8) connected to the first arm part (7) by a joint (9), the second arm part (8) being movable in rotation about the joint (9) along a second axis of rotation (13) perpendicular to the first axis of rotation (12), said arm being intended to be at least partially inserted through a bung hole (6) of the barrel (2),
- an infrared camera (17) attached to the second arm part (8),
- a control unit (18),
in which the control unit (18) is configured to control the movement of the arm according to a plurality of positions using the first and second drive devices, and to control the acquisition of an infrared image (34) by the infrared camera (17) for each of the positions of the arm (5),
and in which the control unit (18) is configured to calculate the internal volume of the barrel (2) using infrared shots (34). Estimating device (1) according to claim 1, wherein the first arm portion and the second arm portion are cylindrical in shape and the second arm portion has a shape inscribed in a cylindrical tube with a circular cross-section of diameter less than or equal to 45 mm. Estimating device (1) according to claim 1 or claim 2, in which the body (4) comprises a support (22) and a carriage (24), the arm (5) being fixed on the carriage (24), the support (22) comprising guide rails (27) extending in the longitudinal direction, the carriage (24) being linked to the guide rails (27) so as to be movable in translation in the longitudinal direction. Estimating device (1) according to claim 3, in which the estimating device (1) has an insertion position in which the second part of the arm (8) protrudes from the body (4) in the longitudinal direction, and a retracted position in which the second part of the arm (8) is at least partially located vertically below the body (4), the estimating device (1) passing from the insertion position to the retracted position and vice versa by the movement of the carriage (24) on the guide rails (27) of the support (22). Estimating device (1) according to claim 3 or claim 4, wherein the support (22) comprises a plurality of insertion stops (28) spaced apart in the longitudinal direction near one of the guide rails (27), each insertion stop having an active state and an inactive state selectable by the user, the insertion stop being configured in the active state to limit the movement of the carriage (24) in the longitudinal direction. Estimating device (1) according to any one of claims 3 to 5, wherein the body (4) comprises a chassis (21), and a position adjustment device (23) actuable by at least one actuator, the position adjustment device connecting the chassis (21) to the support (22) so that the position of the support (22) relative to the chassis (21) is adjustable by actuating the actuator. Estimating device (1) according to any one of claims 1 to 6, wherein the estimating device (1) comprises a sighting device fixed to the body (4), the sighting device being configured to visually materialize a sight indicating the position of one end of the arm (5) along a forward direction parallel to the longitudinal direction. A method for estimating the internal volume of a barrel (2), in which the method comprises the following successive steps:
- to provide an estimation device (1) according to any one of claims 1 to 7, and a barrel (2) comprising a bung hole (6), the infrared camera (17) being arranged in a first initial position having a first longitudinal orientation and a first transverse orientation,
- insert at least partially the arm (5) of the estimation device (1) through the bung hole (6) so that the infrared camera (17) and the joint (9) are located inside the barrel (2),
- to perform at least one first infrared image (34) by the infrared camera (17) according to the first initial position, and at least one second infrared image (34) according to a second position different from the first position, the second position being obtained by rotation by an angle A around the first axis of rotation (12) according to a second longitudinal orientation different from the first longitudinal orientation,
- orient the infrared camera (17) into a third position, the third position being obtained by rotation around the second axis of rotation by an angle B according to a second transverse orientation different from the first transverse orientation, and by rotation around the first axis of rotation (12) according to the first longitudinal orientation,
- to perform at least one first infrared image (34) by the infrared camera (17) according to the third position, and at least one second infrared image (34) according to a fourth position different from the third position, the fourth position being obtained by rotation by an angle A around the first axis of rotation (12) according to the second longitudinal orientation different from the first longitudinal orientation,
- transmit the infrared images (34) to the control unit (18),
- calculate the internal volume of the barrel (2) using the infrared shots (34). Estimation method according to claim 8, wherein the calculation step comprises the following substeps:
- extraction of the coordinates of a point cloud (35) on each of the infrared shots (34) representing points on the internal surface of the barrel (2),
- creation of a mesh (36) using point clouds (35) representing the internal surface of the barrel (2),
- calculation of the mesh volume (36). An estimation method according to claim 8 or claim 9, wherein the image acquisition steps (34) comprise N infrared images (34), with N a natural number greater than or equal to 3, each infrared image (34) being followed by a rotation by an angle A about the first axis of rotation (12), angle A being equal to 360°/N