CN101916329A - Computational method for modeling volume of material pile - Google Patents
Computational method for modeling volume of material pile Download PDFInfo
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- CN101916329A CN101916329A CN2010102424024A CN201010242402A CN101916329A CN 101916329 A CN101916329 A CN 101916329A CN 2010102424024 A CN2010102424024 A CN 2010102424024A CN 201010242402 A CN201010242402 A CN 201010242402A CN 101916329 A CN101916329 A CN 101916329A
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Abstract
The invention provides a computational method for modeling the volume of a material pile. In the method, a plurality of square columns are formed by longitudinal and transverse two-dimensional cutting of sampled data of the original profile of the material pile, column surface height data of each square column is obtain by filtering processing, the volume of each square column is computed, and the volumes of the square columns are added to obtain the total volume of the whole material pile. The method can be applied in the field of material pile volume measurement effectively, so that material pile profile sampled data obtained by the vertical scanning of the material pile by a measurement system is processed to obtain a continuous surface three-dimensional model of the material pile, and the volume of the material pile is computed at the same time. The processing process of the method comprises: cutting the material pile into square columns; distributing data into columns; processing data in columns; compensating for material pile data; processing data among columns; and the like. The three-dimensional model of the material pile can be displayed in several modes such as an original data mode, an after-modeling color mode, isohypse line color-based mode and the like. The method is applied in enterprises and public institutions such as power plants, coal plants and the like for realizing the accurate measurement and computation and visual display and management of the volume of the material pile.
Description
Technical field
The present invention relates to the fields of measurement of stockpile, particularly a kind of three-dimensional imaging of stockpile and calculation method of physical volume thereof.
Background technology
At present, have the industrial enterprise of stockpiles such as depositing coal, ore in sand form, important production datas such as volume weight to stockpile adopt traditional mode of manually getting ready to estimate always, influenced by inclement weather and the influence of the error that manual measurement is introduced, and the result of estimation is often not ideal enough.
Summary of the invention
The objective of the invention is to, a kind of material stack volume Modeling Calculation method is provided, this method by the sampled data on the stockpile surface that obtains of scanning stockpile is cut, processing such as filtering, edge compensation, obtain complete stockpile three-dimensional model, and calculate the volume and the quality of stockpile in view of the above.
For achieving the above object, the invention provides a kind of material stack volume Modeling Calculation method, the two dimension cutting forms some square columns to this method by stockpile original contour sampled data being carried out in length and breadth, Filtering Processing obtains the cylinder altitude information of each square column, calculate the volume of each square column, the volume of each square column that adds up and then obtain the cumulative volume of whole stockpile.
This method at first reads the stockpile stack height data with azimuth information, then, the material stack height data is carried out the processing that data are returned data processing in post, the post, stockpile edge compensation, intercolumniation mean filter successively, finally obtains complete stockpile three-dimensional imaging; Concrete steps comprise:
1) data input: read stockpile stack height data with azimuth information;
Described stockpile stack height data with azimuth information, on the scanister direct of travel, promptly X-direction data equispaced is at 0.002～0.003 meter, in the Y direction equispaced at 0.046～0.150 meter; , Y-axis becomes 90 ° of distributions with X-axis;
2) data return post to handle: stockpile is divided into a lot of square columns by an integral body, corresponding each square column that falls into of above-mentioned surface data;
It is on X-Y plane stockpile to be divided into some grids that described data are returned post, and the stockpile stack height data vertical projection with azimuth information falls into the altitude information that corresponding grid becomes the post inner top surface of corresponding column on X-Y plane;
3) data processing in the post: altitude information in the post is treated to obtain the most rational square column height according to falling into;
When data number in the post greater than 2 the time, adopt median filtering algorithm to obtain the cylinder altitude information; When data number in the post greater than 0 smaller or equal to 2 the time, adopt the mean filter algorithm to obtain the cylinder altitude information; When the data number equaled 0 in the post, the cylinder altitude information was designated as 0;
4) the stockpile edge compensation is handled: will not fall into the grid of significant height data, the perhaps data blind area of not sweeping to because of scanner, slope characteristics according to natural stockpile, compensate corresponding data, make the surface data of whole stockpile complete, each grid all has data interior, reduces measuring error;
Described stockpile edge compensation is to get the match gradient according to general fines stockpile ruling grade, calculates respectively on X, Y direction by the altitude information of compensation grid; Again the altitude information of same grid on both direction compared, get value bigger among both as the significant height value that is compensated square column;
5) the intercolumniation mean filter is handled: the profile that is used for original surface data of level and smooth stockpile and offset data;
Described intercolumniation mean filter keeps raw data for the significant height value of the square column at stockpile edge;
For other square column, the apical side height data of calculating current square column be adjacent four the square column apical side height data in upper and lower, left and right and 1/4th; Or the apical side height data of calculating current square column be adjacent eight square column apical side height data and 1/8th;
6) calculate the volume of each square column thus, and summation adds up and obtains the cumulative volume of stockpile.
Described grid is a * a, and the span of a is 5～15cm.As a kind of preferred, described a value is 0.1 meter.
The theoretical ruling grade of general fines stockpile is 45 °, and the value of the described match gradient is 38 °～45 °.As a kind of preferred, the value of the described match gradient is 41 °.
The invention has the advantages that, the invention provides a kind of three-dimensional imaging modeling volume mass computing method, this method can effectively be applied in the material stack volume fields of measurement, utilize the measuring system stockpile configuration sampling data that stereoscanning obtains to stockpile, obtain the continuous surface three-dimensional model of stockpile after the processing, calculate the volume of windrow simultaneously.The process that this method is handled is a stockpile cutting square columnization, and data are returned post, data processing in the post, stockpile compensation data, intercolumniation data processing etc.
Three-dimensional imaging modeling volume mass computing method of the present invention, operation is implemented convenient, and measuring accuracy is higher, and the relative measurement error of volume data generally can be controlled in 0.5%.
The demonstration of stockpile three-dimensional model has that raw data shows, after the modeling color mode show, level line color separation display lamp several modes.Be applied in power plant, enterprises and institutions such as coal works have realized accurate measurement calculating and visualization display and management to material stack volume.
Description of drawings
Fig. 1 is the principle flow chart of material stack volume Modeling Calculation method of the present invention;
Fig. 2 is the hard-wired structural representation of one embodiment of the invention;
Fig. 3 is the synoptic diagram of stockpile original contour data of the present invention (white portion is the scanning blind area);
Fig. 4 is the synoptic diagram of the stockpile three-D profile after method of the present invention is handled.
Embodiment
Below in conjunction with the drawings and specific embodiments, structure of the present invention is described in more detail.
As shown in Figure 1, three-dimensional imaging modeling volume mass computing method mainly comprise stockpile cutting square columnization, and data are returned post, data processing in the post, stockpile compensation data, intercolumniation data processing etc.
The background object data that the present invention handles is the stockpile stack height data with azimuth information, returns post through data successively, data processing in the post, the stockpile edge compensation, disposal routes such as intercolumniation mean filter finally obtain complete stockpile three-dimensional model, and calculate the volume and the quality of stockpile.
1) the size maximum magnitude of background stockpile is: long (X-axis) 220 meters, wide (Y-axis) 50 meters, high (Z axle) is less than 13 meters, the stockpile out-of-shape, ground parallel with in surface level, natural stacking state, scan above stockpile by particular instrument, obtain the surface elevation data of stockpile.The feature of stockpile surface data is, in X-direction data equispaced at 0.002-0.003 rice, the Y direction equispaced is at 0.046-0.150 rice 2) to return the purpose of post be that stockpile is divided into a lot of square columns by an integral body to data, corresponding each square column that falls into of surface data.Its processing procedure is: on top plan view, promptly on the X-Y plane, stockpile is divided into numerous grids of a * a, the big I of a is set, and under the default situations is 0.1 meter.Stockpile surface data vertical projection falls into corresponding grid on X-Y plane.Become the altitude information of the post inner top surface of corresponding column.
3) data processing is to obtain the most rational square column height according to the altitude information that falls in the post in the post.Its processing procedure is: when data number in the post greater than 2 the time, adopt median filtering algorithm to obtain the cylinder altitude information; When data number in the post greater than 0 smaller or equal to 2 the time, adopt the mean filter algorithm to obtain the cylinder altitude information; When the data number equaled 0 in the post, the cylinder altitude information was designated as 0.
4) purpose of stockpile compensation is not fall into the grid of significant height data, perhaps the data blind area of not sweeping to because of scanner compensates corresponding data according to the slope characteristics of natural stockpile, makes the surface data of whole stockpile complete, each grid all has data interior, reduces measuring error.Its processing procedure is: according to general fines stockpile ruling grade, get 41 ° for the match gradient, at X, Y direction calculating section boundary scan blind area is respectively compensated the data of grid.The data that same grid is compensated on both direction are compared again, get value bigger among both as the significant height value that is compensated square column.
5) purpose of intercolumniation mean filter is the profile of original surface data of level and smooth stockpile and offset data.Its processing procedure is: the filtering template may be selected to be template 1 or template 2, when selecting template 1, after the filtering apical side height data of current square column be around adjacent four square column apical side height data and 1/4th, be G (0,0)=(G (1,0)+G (0 ,-1)+G (1,0)+G (0,1))/(4-n); When selecting template 2, after the filtering apical side height data of current square column be on every side eight square column apical side height data and 1/8th, promptly G (0,0)=(G (1,0)+G (0 ,-1)+G (1,0)+G (0,1)+G (1,-1)+G (1 ,-1)+G (1 ,-1)+G (1,1))/(8-n); Wherein, n for around the square column apical side height number of 0 value is arranged.The stockpile edge is not done this intercolumniation mean filter and is handled, and keeps raw data.
6) obtain behind the volume data of stockpile and the density data of stockpile multiplies each other, calculate the quality of stockpile.The density data of stockpile obtains by the actual sampling and measuring to stockpile.
When measuring, by LAN (Local Area Network) surveying instrument and server are coupled together, as shown in Figure 2.This algorithm forms data processing software and is installed on the server.By LAN (Local Area Network), data processing software is communicated by letter with surveying instrument, reads the stockpile outline data that surveying instrument measures.Data processing software is handled the stockpile outline data by computing method of the present invention, and as shown in Figure 3, the three-dimensional model and the volume mass data of Zhongdao stockpile form three-dimensional visible figure and volume mass form, as shown in Figure 4.The stockpile outline data that measuring equipment measures also can be stored in the form of file on the server, and data processing software reads this file, handles according to the method described above.
It should be noted last that above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is made amendment or is equal to replacement, do not break away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (6)
1. material stack volume Modeling Calculation method, the two dimension cutting forms some square columns to this method by stockpile original contour sampled data being carried out in length and breadth, Filtering Processing obtains the cylinder altitude information of each square column, calculate the volume of each square column, the volume of each square column that adds up, thus the cumulative volume of whole stockpile obtained.
2. material stack volume Modeling Calculation method according to claim 1, it is characterized in that, this method at first reads the stockpile stack height data with azimuth information, then, stockpile stack height data are carried out the processing that data are returned data processing in post, the post, stockpile edge compensation, intercolumniation mean filter successively, finally obtain complete stockpile three-dimensional imaging; Concrete steps comprise:
1) data input: read stockpile stack height data with azimuth information;
Described stockpile stack height data with azimuth information, in the sensor direction of advancing, promptly X-direction data equispaced is at 0.002～0.003 meter, in the Y direction equispaced at 0.046～0.150 meter;
2) data return post to handle: stockpile is divided into a lot of square columns by an integral body, corresponding each square column that falls into of above-mentioned surface data;
It is on X-Y plane stockpile to be divided into some grids that described data are returned post, and the stockpile stack height data vertical projection with azimuth information falls into the altitude information that corresponding grid becomes the post inner top surface of corresponding column on X-Y plane;
3) data processing in the post: obtain the most rational square column height according to the altitude information that falls in the post;
When data number in the post greater than 2 the time, adopt median filtering algorithm to obtain the cylinder altitude information; When data number in the post greater than 0 smaller or equal to 2 the time, adopt the mean filter algorithm to obtain the cylinder altitude information; When the data number equaled 0 in the post, the cylinder altitude information was designated as 0;
4) the stockpile edge compensation is handled: will not fall into the grid of significant height data, and the perhaps data blind area of not sweeping to because of scanner, the slope characteristics according to natural stockpile compensate corresponding data;
Described stockpile edge compensation is to get the match gradient according to general fines stockpile ruling grade, calculates respectively on X, Y direction by the altitude information of compensation grid; Again the altitude information of same grid on both direction compared, get value bigger among both as the significant height value that is compensated square column;
5) the intercolumniation mean filter is handled: the profile that is used for original surface data of level and smooth stockpile and offset data;
Described intercolumniation mean filter keeps raw data for the significant height value of the square column at stockpile edge;
For other square column, the apical side height data of calculating current square column be adjacent four the square column apical side height data in upper and lower, left and right and 1/4th; Or the apical side height data of calculating current square column be adjacent eight square column apical side height data and 1/8th;
6) determine the cylinder altitude information after, calculate the volume of each square column thus, and summation adds up and obtains the cumulative volume of stockpile.
3. material stack volume Modeling Calculation method according to claim 1 is characterized in that described grid is a * a, and the span of a is 5～15cm.
4. material stack volume Modeling Calculation method according to claim 3 is characterized in that described a value is 0.1 meter.
5. material stack volume Modeling Calculation method according to claim 1 is characterized in that, the theoretical ruling grade of described general fines stockpile is 45 °, and the value of the described match gradient is 38 °～45 °.
6. material stack volume Modeling Calculation method according to claim 5 is characterized in that the value of the described match gradient is 41 °.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102967260A (en) * | 2012-11-01 | 2013-03-13 | 北京华夏力鸿商品检验有限公司 | Method and system for measuring volume and density of powder material stack |
| CN103090791A (en) * | 2013-01-08 | 2013-05-08 | 中联重科股份有限公司 | Measurement system, method and device of scattered materials and material piling and taking control system |
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| CN104424662A (en) * | 2013-08-23 | 2015-03-18 | 三纬国际立体列印科技股份有限公司 | Stereo scanning device |
| CN104596415A (en) * | 2014-12-29 | 2015-05-06 | 中国神华能源股份有限公司 | Method and device for determining lower edge of stack based on laser scanning single lines |
| CN104655011A (en) * | 2015-01-28 | 2015-05-27 | 佛山科学技术学院 | Non-contact optical measurement method for volume of irregular convex-surface object |
| CN113074631A (en) * | 2021-03-11 | 2021-07-06 | 中国水利水电第七工程局有限公司 | Method for measuring rock-fill dam pit test volume through handheld three-dimensional laser scanning |
| CN113504758A (en) * | 2021-06-30 | 2021-10-15 | 日照钢铁控股集团有限公司 | Control algorithm for rotational flow well traveling crane material taking model |
| CN116628831A (en) * | 2023-07-25 | 2023-08-22 | 江西中煤建设集团有限公司 | Space geometric figure rapid modeling and volume difference calculation method |
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2010
- 2010-07-30 CN CN2010102424024A patent/CN101916329A/en active Pending
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| 李集田等: "一种大面积煤堆体积自动检测系统", 《光学机械》 * |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102967260A (en) * | 2012-11-01 | 2013-03-13 | 北京华夏力鸿商品检验有限公司 | Method and system for measuring volume and density of powder material stack |
| CN103090791A (en) * | 2013-01-08 | 2013-05-08 | 中联重科股份有限公司 | Measurement system, method and device of scattered materials and material piling and taking control system |
| CN103090791B (en) * | 2013-01-08 | 2015-06-10 | 中联重科股份有限公司 | Measurement system, method and device of scattered materials and material piling and taking control system |
| CN104424662A (en) * | 2013-08-23 | 2015-03-18 | 三纬国际立体列印科技股份有限公司 | Stereo scanning device |
| CN104424662B (en) * | 2013-08-23 | 2017-07-28 | 三纬国际立体列印科技股份有限公司 | Stereo scanning device |
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| CN104279955B (en) * | 2014-09-26 | 2017-02-15 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| CN104596415A (en) * | 2014-12-29 | 2015-05-06 | 中国神华能源股份有限公司 | Method and device for determining lower edge of stack based on laser scanning single lines |
| CN104596415B (en) * | 2014-12-29 | 2017-06-09 | 中国神华能源股份有限公司 | A kind of method and apparatus that heap body lower edge is determined based on laser scanning single line |
| CN104655011A (en) * | 2015-01-28 | 2015-05-27 | 佛山科学技术学院 | Non-contact optical measurement method for volume of irregular convex-surface object |
| CN104655011B (en) * | 2015-01-28 | 2018-01-30 | 佛山科学技术学院 | A kind of noncontact optical measurement method of irregular convex surface object volume |
| CN113074631A (en) * | 2021-03-11 | 2021-07-06 | 中国水利水电第七工程局有限公司 | Method for measuring rock-fill dam pit test volume through handheld three-dimensional laser scanning |
| CN113504758A (en) * | 2021-06-30 | 2021-10-15 | 日照钢铁控股集团有限公司 | Control algorithm for rotational flow well traveling crane material taking model |
| CN116628831A (en) * | 2023-07-25 | 2023-08-22 | 江西中煤建设集团有限公司 | Space geometric figure rapid modeling and volume difference calculation method |
| CN116628831B (en) * | 2023-07-25 | 2023-09-29 | 江西中煤建设集团有限公司 | Space geometric figure rapid modeling and volume difference calculation method |
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Application publication date: 20101215 |