CN102155913A - Method and device for automatically measuring coal pile volume based on image and laser - Google Patents
Method and device for automatically measuring coal pile volume based on image and laser Download PDFInfo
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- CN102155913A CN102155913A CN2011100536250A CN201110053625A CN102155913A CN 102155913 A CN102155913 A CN 102155913A CN 2011100536250 A CN2011100536250 A CN 2011100536250A CN 201110053625 A CN201110053625 A CN 201110053625A CN 102155913 A CN102155913 A CN 102155913A
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Abstract
The invention provides a method and a special device for automatically measuring coal pile volume. The method comprises the steps of: firstly, disposing a plurality of markers on a coal pile; secondly, cruising the coal pile a circle by a cruising car, wherein while moving, the cruising car scans every marker, a laser range finder on the cruising car acquires the distances S from the cruising car to the markers and pitch rotation angles Phi, a GPS (global positioning system) sensor arranged on the cruising car provides a current horizontal rotation angle beta, the distance from the laser range finder to the ground is H, and the spatial coordinate of one marker can be obtained; processing the acquired spatial coordinates of all markers to form a three-dimensional figure of the coal pile; and calculating the volume of the coal pile according to the three-dimensional figure of the coal pile. The method and the special device can accurately measure the volume of the coal pile and are easy to implement.
Description
Technical field
The present invention relates to a kind of method and isolated plant thereof of automatic coal pile volume measurement.
Technical background
The accounting and the coal consumption of thermal power plant's cost of electricity-generating are closely related.The problem that solves coal consumption is to calculate the problem of coal pile volume after all.For these years, the mapping colleague is making great efforts always one of exploration rationally, fast, coal pile volume numerical procedure efficiently, usually have following several, yet, effect is neither fully up to expectations: 1, measure coal pile volume by the mode of manually measuring: the volume of a dump of medium-sized thermal power plant is generally hundreds thousand of cubic meters (the about 100m of length and width, high about 10m).Be transported to the scene by automobile, it is extraordinary-looking that dump is, and for measuring coal pile volume comparatively exactly, at first artificial shaping is measured then, and last gained volume is also inaccurate, is out and out " empirical estimating ".Empirical tests, error are between 10%～30%, and the method clumsiness, time-consuming taking a lot of work, and to produce running extremely unbecoming with modernized thermal power plant.2, measure coal pile volume by total powerstation: utilize total powerstation to have the prism pattern to measure coal pile volume, though precision is high, the reflecting prism coordinating operation must be arranged, observation person must stand on prism on each measuring point.And explain a complete dump appearance, and need thousands of effectively measuring points at least, like this, observation person has to climb up and climbs down, and expends a large amount of observation times.3, adopt laser triangulation that coal yard is measured, the laser triangulation distance measuring sensor is installed on the dolly of transfer gantry, walking by dolly on the transfer gantry scans the coal yard plane, finish data acquisition, and by computer realization calculation of reserves and graphic plotting, the method can realize the automatic measurement of coal yard, but the method will be used main equipments such as transfer gantry, the equipment cost height, small power plant this kind equipment not in the part, this method adopts the single-point sampling in addition, and according to one group of sampled data volume calculated, its Measuring Time is longer then.
Summary of the invention
Technical matters to be solved of the present invention is, proposes a kind of method and isolated plant thereof of automatic coal pile volume measurement, and this method and isolated plant can be measured coal pile volume exactly, and easy to implement.
Technical solution of the present invention is as follows:
A kind of method of automatic coal pile volume measurement is characterized in that, may further comprise the steps:
1) a plurality of markers is set on dump;
2) cruise a week around dump by the dolly that cruises, when the dolly that cruises moves, each marker is scanned: the laser range finder measurement on the dolly that cruises obtain cruise dolly to marker apart from S and pitching corner φ, the GPS sensor of installing on the dolly that cruises provides current level angle β, laser range finder is H to the height on ground
Then the volume coordinate of a certain marker is:
Height coordinate z
w=H-Scos φ;
Horizontal horizontal ordinate:
Horizontal ordinate:
Volume coordinate to all markers of getting access to is handled, and forms the dump three-dimensional plot;
3) calculate the volume of dump according to the dump three-dimensional plot.
Evenly be provided with from top to bottom on a plurality of directions of marker in dump, marker is 30-50, and marker is an inserted link, but the upper end of inserted link is the surperficial plectane that is coated with the adularescent reflectorized material, and the diameter of plectane is 10cm-20cm.
A kind of isolated plant of realizing the method for automatic coal pile volume measurement, it is characterized in that, this isolated plant is the dolly that cruises, the cruise lower end of dolly is provided with deflecting roller and driving wheel, the dolly that cruises is provided with embedded onboard industrial computer, laser range finder, video camera, GPS sensor and communication module, the embedded onboard industrial computer joins by driving circuit and deflecting roller and driving wheel, and laser range finder, video camera, GPS sensor and communication module all are connected with the embedded onboard industrial computer; Be integrated with the marker spatial coordinates calculation unit that calculates the marker volume coordinate in the embedded onboard industrial computer, be used for coal pile volume computing unit that all marker volume coordinates are fitted to the dump three-dimensional plot generation unit of dump three-dimensional plot and are used for calculating according to the dump three-dimensional plot coal pile volume.
Cruising also to be provided with on the dolly is used to respond to feeler, sonac and the infrared sensor of obstacle on every side, and described feeler, sonac and infrared sensor all are connected with the embedded onboard industrial computer.
Cruise dolly bottom is provided with deflecting roller and driving wheel, and the middle part is provided with the embedded onboard industrial computer; The embedded onboard industrial computer is controlled the action of described deflecting roller and driving wheel; Periphery at dolly also is provided with feeler, sonac, infrared sensor, and they are connected with the embedded onboard industrial computer, to realize dolly autokinetic movement and avoiding barrier.This dolly that cruises also comprises battery that power and power supply are provided and the GPS sensor of self poisoning, vehicle-mounted notebook and the loudspeaker that exchange with the user, can provide good man computer interface for the user.
The dolly that cruises is provided with cubing mechanism and is made up of laser range finder, vision sensor and height adjustable sensor base; Cubing mechanism is installed on the dolly that cruises, pile in the annular movement process along the matchmaker at dolly, the cross section profile and the image information of the continuous sweep matchmaker of cubing mechanism heap are delivered to measurement result in the data acquisition processing system, can calculate scanned coal pile volume fast.
The signal I/O unit comprises input signal plate, embedded onboard industrial computer, host computer communication interface; The input signal plate is connected with the embedded onboard industrial computer by data bus, the embedded onboard industrial computer is connected with host computer by the host computer communication interface, the parameter that host computer is adjusted is stored and handled, the GPS sensor that carries by dolly is measured the direct of travel and the concrete coordinate of the dolly that cruises in real time, and be recorded in the flush bonding processor storer, can read to be used for follow-up volume calculation for data acquisition processing system; The signal I/O unit can constitute man machine operation interface by the vehicle-mounted notebook that dolly carries.
Data Collection ﹠ Processing System, form by an embedded onboard industrial computer and an embedded communication card, embedded onboard industrial computer and cubing mechanism and signal I/O unit have and communicate to connect, the dump data that cubing mechanism obtains are transferred to the embedded onboard industrial computer and are handled, calculate coal pile volume, and can draw out real-time dump 3-D view, and the result can be presented in the computer screen on the dolly that cruises; Data acquisition processing system is communicated by letter with host computer by the signal I/O unit, carries out parameter tuning, measurement data and download as a result etc. by host computer.
Principle of work of the present invention is: the dolly that cruises is along in the autonomous moving process of dump annular, by laser range finder scanning dump surface, its direction of scanning guarantees the marker over against the dump surface, obtain the volume coordinate of marker, coordinate based on all markers carries out match, and the dump three-dimensional plot that obtains can accurately reflect the dump profile.At last, calculate coal pile volume figure based on the dump three-dimensional plot.
Beneficial effect:
The present invention compared with prior art has following advantage:
1, the present invention adopts the mobile dolly that cruises that coal pile volume is measured automatically, and this method and apparatus provides a brand-new design for the coal pile volume measurement.Coal pile volume is measured the method that adopts laser scanning and vision to combine, as long as the quantity of marker is abundant, the dump three-dimensional plot that just can make match obtain can accurately characterize the shape of actual dump, calculates the volume of dump then according to the dump three-dimensional plot, therefore, adopt this method and device, can carry out quantitative calculation to coal pile volume, the error of having avoided random estimation to bring, therefore, with respect to prior art, the present invention can significantly improve measuring accuracy.
2, calculation method of physical volume is simple, the time spent is few.This volume measuring method is rejected ignore, elevation catastrophe point and dump border Null Spots such as point in addition to the measurement data pre-service, has reduced the subsequent treatment time; In addition, by simply calculating coal pile volume and generating three-dimensional dump view, this computing method computing velocity is fast, the efficient height.Generating three-dimensional dump view, is exactly the three-dimensional coordinate information according to tested each point in the dump in fact, simulates stereoscopic three-dimensional figure.
3, have parameter school card, the advantage that measuring accuracy is high.The vehicle-mounted industry control function of measuring on the dolly is carried out data transmission by communication interface and host computer, and the while can also be by the analyzing measuring error of host computer, thereby according to parameter correction modification of program measurement parameter, improved measuring accuracy greatly.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is that cubing of the present invention mechanism forms synoptic diagram;
Fig. 3 is that the dolly that cruises of the present invention independently detects synoptic diagram; Annotate: stealthy zone is a dump, and peripheral great circle is the dolly autokinetic movement path of cruising, and--------is laser beam to dotted line.
Fig. 4 is a volume test synoptic diagram of the present invention; (A is a laser range finder among the figure)
Among the figure: 1, the dolly that cruises; 2, battery; 3, deflecting roller; 4, driving wheel; 5, feeler; 6, embedded onboard industrial computer; 7, sonac; 8, infrared sensor; 9, loudspeaker; 10, laser range finder; 11, CCD camera; 12, sensor base; 13, vehicle-mounted notebook; 14, GPS module; 15, dump.
Embodiment
Embodiment 1:
As shown in Figure 1, the dolly 1 that cruises comprises cubing mechanism, signal I/O unit, data acquisition processing system;
The described dolly bottom of cruising is provided with deflecting roller 3 and driving wheel 4, and its top is provided with cubing mechanism, and the middle part is provided with embedded onboard industrial computer 6; The action of embedded onboard industrial computer 6 described deflecting rollers 3 of control and driving wheel 4; Also be provided with feeler 5[contact, effect ultrasonic, infrared sensor in the periphery of dolly and can all be and be used for making the barrier of dolly around avoiding], sonac 7, infrared sensor 8, they are connected with embedded onboard industrial computer 6, to realize dolly autokinetic movement and avoiding barrier.This dolly that cruises also comprises battery 2 and the GPS module 14 of self poisoning, the vehicle-mounted notebook 13 that exchanges with the user and the loudspeaker 9 that power and power supply are provided, and can provide good man computer interface for the user.
Described cubing mechanism is made up of laser range finder 10, vision sensor 11 and height adjustable sensor base 12; Cubing mechanism is installed on the dolly that cruises, pile along the matchmaker in annular movement [adopt manual remote control the cruise dolly move] process at dolly, operating personnel's Long-distance Control laser range finder is aimed at marker, thus by laser range finder obtain marker to the dolly that cruises apart from S and pitching corner φ; The GPS sensor of installing on the dolly that cruises provides current level angle β.The actual measurement synoptic diagram as shown in Figure 4.Be installed in measuring mechanism on the travelling car and rise to (H is a known quantity) behind the certain altitude H, set up coordinate system as Fig. 4.
Among Fig. 4, S is the distance of laser range finder to the measured point, is provided in real time by laser range finder.Get by the triangular relationship among Fig. 4:
The height of fixed point P is:
z
w＝H-Scosφ (1)
Horizontal level is:
x
w＝Ssinφcosβ (2)
y
w＝Ssinφsinβ
The dolly that cruises will be finished the week of cruising, and just can obtain all data.
The technology that is formed the dump three-dimensional plot by the volume coordinate of a plurality of markers is a prior art, provides a kind of specific algorithm as follows here:
(1) according to wanting the zone of graphing that original sampling data is handled, generates the data point set P1 in the given area;
(2) P1 is projected to the two-dimensional matrix zone and obtain 2-D data point set P2;
(3) border of given area is segmented by scanning step, obtained boundary edge collection, border point set, and the border point set is joined among the data point set P3;
(4) data point set P3 is carried out triangulation in matrix area, obtain the topological structure that planar delta is described;
(5) adopt positive two apex coordinates of surveying transformation matrix diabolo collection to carry out projective transformation;
(6) calculate the normal vector of each planar delta sheet at last, judge whether that it is potential visible face, and the hiding relation between the potential visible face is handled the final visible segment collection of output, can obtain the dump three-dimensional picture of given area.
Method according to dump three-dimensional plot calculating coal pile volume is prior art, provides a kind of method here: in rectangular coordinate system the dump bottom surface is divided into some equal squares (is 2 meters as the length of side), according to the height flat average z of all drop points in each square
WiAs the height of this paxilla, thereby obtain the volume of paxilla, summation obtains the volume of whole dump again:
Wherein: Δ x, Δ y be two bit scans at x, the step-length on the y both direction is as Δ x=Δ y=2, m, n is respectively x, cuts apart mark on the y direction, for one long be 300 meters, wide is 60 meters dump, and Δ x, Δ y all are taken as 2 meters (realizing by the travelling car autokinetic movement), then
Claims (4)
1. the method for an automatic coal pile volume measurement is characterized in that, may further comprise the steps:
1) a plurality of markers is set on dump;
2) cruise a week around dump by the dolly that cruises, when the dolly that cruises moves, each marker is scanned: the laser range finder measurement on the dolly that cruises obtain cruise dolly to marker apart from S and pitching corner φ, the GPS sensor of installing on the dolly that cruises provides current level angle β, laser range finder is H to the height on ground
Then the volume coordinate of a certain marker is:
Height coordinate z
w=H-Scos φ;
Horizontal horizontal ordinate:
Horizontal ordinate:
Volume coordinate to all markers of getting access to is handled, and forms the dump three-dimensional plot;
3) calculate the volume of dump according to the dump three-dimensional plot.
2. the method that is used for automatic coal pile volume measurement according to claim 1, it is characterized in that, evenly be provided with from top to bottom on a plurality of directions of marker in dump, marker is 30-50, marker is an inserted link, but the upper end of inserted link is the surperficial plectane that is coated with the adularescent reflectorized material, and the diameter of plectane is 10cm-20cm.
3. isolated plant of realizing the method for automatic coal pile volume measurement in claim 1 or 2, it is characterized in that, this isolated plant is the dolly that cruises, the cruise lower end of dolly is provided with deflecting roller and driving wheel, the dolly that cruises is provided with embedded onboard industrial computer, laser range finder, video camera, GPS sensor and communication module, the embedded onboard industrial computer joins by driving circuit and deflecting roller and driving wheel, and laser range finder, video camera, GPS sensor and communication module all are connected with the embedded onboard industrial computer; Be integrated with the marker spatial coordinates calculation unit that calculates the marker volume coordinate in the embedded onboard industrial computer, be used for coal pile volume computing unit that all marker volume coordinates are fitted to the dump three-dimensional plot generation unit of dump three-dimensional plot and are used for calculating according to the dump three-dimensional plot coal pile volume.
4. isolated plant according to claim 3, it is characterized in that, cruising also to be provided with on the dolly is used to respond to feeler, sonac and the infrared sensor of obstacle on every side, and described feeler, sonac and infrared sensor all are connected with the embedded onboard industrial computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100536250A CN102155913A (en) | 2011-03-07 | 2011-03-07 | Method and device for automatically measuring coal pile volume based on image and laser |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100536250A CN102155913A (en) | 2011-03-07 | 2011-03-07 | Method and device for automatically measuring coal pile volume based on image and laser |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435170A (en) * | 2011-10-13 | 2012-05-02 | 天津生态城环保有限公司 | Height measuring and early warning method for geotube for sludge dewatering |
| CN103673942A (en) * | 2012-09-14 | 2014-03-26 | 迪尔公司 | Tank commodity volume measurement apparatus and method |
| CN104154861A (en) * | 2014-03-10 | 2014-11-19 | 上海大学 | Circling measurement device and method for volume of large stacked material |
| CN104697445A (en) * | 2013-12-10 | 2015-06-10 | 湖南三德科技股份有限公司 | Volume measurement method for stock pile with uneven base level |
| CN105318875A (en) * | 2014-07-31 | 2016-02-10 | 中国矿业大学 | Backpack-type down-hole intelligent measuring device of coal mining quantity and measuring method of device |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| CN109751962A (en) * | 2019-03-11 | 2019-05-14 | 冀中能源峰峰集团有限公司 | A kind of coal body product dynamic metering device and method based on machine vision |
| CN110631968A (en) * | 2019-09-25 | 2019-12-31 | 湖南大学 | Method for tracing coal dust leakage point |
| CN112394359A (en) * | 2019-08-15 | 2021-02-23 | 北醒（北京）光子科技有限公司 | Laser radar and one-dimensional scanning method thereof |
| CN113281777A (en) * | 2021-04-07 | 2021-08-20 | 深圳市异方科技有限公司 | Dynamic measuring method and device for cargo volume |
| CN114092602A (en) * | 2021-10-21 | 2022-02-25 | 华能国际电力股份有限公司上海石洞口第二电厂 | Method and equipment for graphically managing coal piles of coal yard of thermal power plant |
| CN113281777B (en) * | 2021-04-07 | 2024-10-22 | 深圳市异方科技有限公司 | Cargo volume dynamic measurement method and measurement device thereof |
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2011
- 2011-03-07 CN CN2011100536250A patent/CN102155913A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435170A (en) * | 2011-10-13 | 2012-05-02 | 天津生态城环保有限公司 | Height measuring and early warning method for geotube for sludge dewatering |
| CN103673942A (en) * | 2012-09-14 | 2014-03-26 | 迪尔公司 | Tank commodity volume measurement apparatus and method |
| CN104697445A (en) * | 2013-12-10 | 2015-06-10 | 湖南三德科技股份有限公司 | Volume measurement method for stock pile with uneven base level |
| CN104154861A (en) * | 2014-03-10 | 2014-11-19 | 上海大学 | Circling measurement device and method for volume of large stacked material |
| CN105318875A (en) * | 2014-07-31 | 2016-02-10 | 中国矿业大学 | Backpack-type down-hole intelligent measuring device of coal mining quantity and measuring method of device |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| CN109751962A (en) * | 2019-03-11 | 2019-05-14 | 冀中能源峰峰集团有限公司 | A kind of coal body product dynamic metering device and method based on machine vision |
| CN112394359A (en) * | 2019-08-15 | 2021-02-23 | 北醒（北京）光子科技有限公司 | Laser radar and one-dimensional scanning method thereof |
| CN110631968A (en) * | 2019-09-25 | 2019-12-31 | 湖南大学 | Method for tracing coal dust leakage point |
| CN113281777A (en) * | 2021-04-07 | 2021-08-20 | 深圳市异方科技有限公司 | Dynamic measuring method and device for cargo volume |
| CN113281777B (en) * | 2021-04-07 | 2024-10-22 | 深圳市异方科技有限公司 | Cargo volume dynamic measurement method and measurement device thereof |
| CN114092602A (en) * | 2021-10-21 | 2022-02-25 | 华能国际电力股份有限公司上海石洞口第二电厂 | Method and equipment for graphically managing coal piles of coal yard of thermal power plant |
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Application publication date: 20110817 |