CN104111035A - Digital coal stocktaking system and digital coal stocktaking method - Google Patents
Digital coal stocktaking system and digital coal stocktaking method Download PDFInfo
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- CN104111035A CN104111035A CN201410315132.3A CN201410315132A CN104111035A CN 104111035 A CN104111035 A CN 104111035A CN 201410315132 A CN201410315132 A CN 201410315132A CN 104111035 A CN104111035 A CN 104111035A
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Abstract
The invention relates to a digital coal stocktaking system comprising a laser scanning module, a spatial positioning module, an intelligent data acquisition module, a data transmission module, and a terminal processing module. The laser scanning module sends acquired surface shape information of a measured object to the intelligent data acquisition module. The spatial positioning module sends acquired spatial position acquisition of a bucket wheel machine to the intelligent data acquisition module. The intelligent data acquisition module sends the surface shape information and the spatial position acquisition to the terminal processing module through the data transmission module. The terminal processing module obtains the surface shape and three-dimensional coordinate data of the measured object according to the surface shape information and the spatial position acquisition, and then carries out three-dimensional modeling and displaying on a coal pile. According to the invention, a coal stocktaking instrument mounted on a portal frame is wide in range of scanning, and is not constrained by the coal height of a coal yard in scanning. A GPS differential system for spatial positioning and the wireless network transmission technology are adopted. Compared with other schemes, the positioning accuracy and the real-time performance of data transmission can be better guaranteed.
Description
Technical field
The present invention relates to a kind of digitizing coal yard based on GPS (BD) difference location and laser scanner technique, particularly a kind of digitizing dish coal system and method.
Background technology
Current existing laser coal inventory instrument is portable laser dish coal instrument mostly, fixed dish coal instrument etc.Portable disc coal instrument exists for a long time on the market, it is to be slowly transformed by engineering surveying instrument, and fixed dish coal measures system is as the product of making an inventory and developing for large type coal field specially, from theory into action, never matured product has very deep historical background to becoming fuel-burning power plant state-of-the-art dish coal mode.Every year, coal-fired power plant cost accounts for 70 percent of total operating cost, only has the accurate coal consumption index of understanding every month, could realize the more effectively management of thermal power plant, realize object energy-conservation, that reduce discharging and increase the performance of enterprises, so the coal yard work of making an inventory at the end of month every month becomes a central important component part of fuel management work.To fast, accurately and simply complete this work, just must realize by most scientific reliable surveying instrument.
The mode that fixed dish coal instrument is installed has multiple, has under the laser coal inventory instrument that is arranged on cantilever bucket wheel machine lower wall coal instrument, is arranged on travelling belt top, guide rail suspension type list probe laser coal inventory instrument etc. is installed.
Current existing dish coal instrument field engineering scheme is mounted in the dish coal instrument under bucket wheel machine cantilever.Native system be take stacker-reclaimer as carrier, adopts laser scanning and ranging technology and position sensing technology, immediately obtains the spatial positional information data in tested stock ground, and synchronous transmission is to computer platform.A link of this system acquisition data most critical is, by laser scanner two dimension sector scan material surface, obtain tested coal yard and laser scanner between angle information and range information.
By obtaining thick and fast a large amount of coal yard point cloud three-dimensional coordinate datas, the some cloud that obtains is built to TIN, set up three-dimensional model, reduce the true appearance in tested stock ground.
By building TIN, tested material shape is broken down into ten hundreds of tri-prismoids, calculates the volume of each tri-prismoid, and all triangular prism volumes are added up, and just obtains the volume of tested material.Software can be realized the separation calculation to testee simultaneously;
This technology is that dish coal instrument is arranged on bucket wheel machine cantilever, if coal yard coal piling is too high, bucket wheel machine cantilever cannot be lifted to higher height, and dish coal instrument cannot carry out normal disk coal.In addition when coiling coal, bucket wheel machine need to walk certainly will make cantilever shake guide rail is up, bring error can to dish coal result, and the dish coal instrument sweep limit being arranged on cantilever is little, when dish coal, need cantilever to lift to certain height, bring work load can to bucket wheel machine operations staff.
Summary of the invention
Technical matters to be solved by this invention is to provide that a kind of sweep limit is wide, precision and the higher digitizing dish coal system and method for real-time.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of digitizing dish coal measures system, comprises laser scanning module, space orientation module, intelligent data sampling module, data transmission module, terminal processing module and data exhibiting release module;
Described laser scanning module and space orientation module are arranged on bucket wheel machine tip platform, laser scanning module sends to intelligent data sampling module by the configuration of surface information of the measured target of collection, space orientation module sends to intelligent data sampling module by the spatial positional information of the bucket wheel machine of collection, intelligent data sampling module sends to terminal processing module by configuration of surface information and spatial positional information by data transmission module, terminal processing module obtains the configuration of surface of measured target according to configuration of surface information and spatial positional information, deposit coal information and three-dimensional coordinate data, and then carry out the three-dimensional modeling of dump, generating three-dimensional modeling figure, data exhibiting release module is carried out data statistics to depositing coal information, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
The invention has the beneficial effects as follows: the present invention is arranged on dish coal instrument on bucket wheel machine door frame, by the angle of scalable mechanical arm and cradle head control dish coal instrument dish coal, the dish coal instrument sweep limit being arranged on door frame is wide, is not subject to the impact of coal yard coal piling height; The blind area of this programme in scanning process will reduce much than traditional scheme, and the singularity due to coal yard, there are a lot of problems in its space orientation and data transmission, this project sampling GPS differential system and wireless network transmission technology, its effect is compared with other schemes, and precision and real-time more can guarantee.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described laser scanning module and space orientation module are arranged on the auxiliary lifting support of bucket wheel machine tip platform.
Further, described auxiliary lifting support comprises rack body, horizontal gird and rotary head, and described rotary head inside comprises reducing motor and rotary encoder;
Described rack body is the structure with double-layer pipe, wherein outer layer pipe is fixed, inner layer steel pipe stretches up and down in outer steel duct, rotary head is arranged at the top of inner layer steel pipe, connect inner layer steel pipe and horizontal gird, the turning axle of reducing motor and the middle part of horizontal gird of described rotary head inside are fixed, one end of horizontal gird is provided with laser scanning module, the other end of horizontal gird is provided with a movement station of space orientation module, the motor control signal that the reducing motor of rotary head inside sends according to intelligent data sampling module is rotated turning axle, turning axle drives horizontal gird rotation when rotating, carry out near the location of the scanner uni spatial positional information of the configuration of surface information of the target to be measured in coal yard region collection point.
Further, described laser scanning module is laser range finder.
Further, described space orientation module comprises a GPS base station and three GPS movement stations, described GPS base station is arranged at defeated coal transfer station top, wherein two GPS movement stations are arranged at respectively the large arm front end of bucket wheel machine, for obtaining the anglec of rotation of large arm of bucket wheel machine and the luffing angle of the large arm of bucket wheel machine, another one GPS movement station is arranged at one end of horizontal gird, for measuring the anglec of rotation of horizontal gird, the receiver of GPS movement station receives by movement station data radio the differential correcting data that the transmitting of GPS base station comes, and process in mobile station receiver inside, thereby obtain in real time the high precision position of movement station, and then obtain the spatial positional information of bucket wheel machine.
Further, intelligent data sampling module is also for storing configuration of surface information and spatial positional information.
Further, described data transmission module transmits configuration of surface information and spatial positional information by wireless mode.
Further, a kind of digitizing dish coal method, comprises the following steps:
Step 1: laser scanning module gathers the configuration of surface information of measured target, space orientation module gathers the spatial positional information of measured target;
Step 2: laser scanning module and space orientation module send to intelligent data sampling module by configuration of surface information and the spatial positional information of the measured target of collection respectively;
Step 3: intelligent data sampling module sends to terminal processing module by configuration of surface information and spatial positional information by data transmission module;
Step 4: terminal processing module obtains configuration of surface and the three-dimensional coordinate data of measured target according to configuration of surface information and spatial positional information, and then carry out three-dimensional modeling, the generating three-dimensional modeling figure of dump and three-dimensional modeling figure is shown;
Step 5: the three-dimensional data that data exhibiting release module obtains according to terminal processing module and three-dimensional modeling figure, to depositing coal information, carry out data statistics, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
Further, also comprise step 6: at bucket wheel machine, complete and get after coal operation, the configuration of surface information of laser scanning module Resurvey measured target, the spatial positional information of space orientation module Resurvey measured target.
Further, terminal processing module is deposited configuration of surface information and the spatial positional information of coal according to the residue of newly obtaining, upgrade and deposit coal data, forms the up-to-date three-dimensional modeling figure of depositing coal, and three-dimensional modeling figure is shown.
Accompanying drawing explanation
Fig. 1 is apparatus of the present invention structural drawing;
Fig. 2 is the inventive method flow chart of steps.
In accompanying drawing, the list of parts of each label representative is as follows:
1, laser scanning module, 2, space orientation module, 3, intelligent data sampling module, 4, data transmission module, 5, terminal processing module, 6, data exhibiting release module.
Embodiment
Below in conjunction with accompanying drawing, principle of the present invention and feature are described, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, be apparatus of the present invention structural drawing; Fig. 2 is the inventive method flow chart of steps.
Embodiment 1
A kind of digitizing dish coal measures system, comprises laser scanning module 1, space orientation module 2, intelligent data sampling module 3, data transmission module 4, terminal processing module 5 and data exhibiting release module 6;
Described laser scanning module 1 and space orientation module 2 are arranged on bucket wheel machine tip platform, laser scanning module 1 sends to intelligent data sampling module 3 by the configuration of surface information of the measured target of collection, space orientation module 2 sends to intelligent data sampling module 3 by the spatial positional information of the bucket wheel machine of collection, intelligent data sampling module 3 sends to terminal processing module 5 by configuration of surface information and spatial positional information by data transmission module 4, terminal processing module 5 obtains the configuration of surface of measured target according to configuration of surface information and spatial positional information, deposit coal information and three-dimensional coordinate data, and then carry out the three-dimensional modeling of dump, generating three-dimensional modeling figure, 6 pairs of data exhibiting release module are deposited coal information and are carried out data statistics, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
Described laser scanning module 1 and space orientation module 2 are arranged on the auxiliary lifting support of bucket wheel machine tip platform.
Described auxiliary lifting support comprises rack body, horizontal gird and rotary head, and described rotary head inside comprises reducing motor and rotary encoder;
Described rack body is the structure with double-layer pipe, wherein outer layer pipe is fixed, inner layer steel pipe stretches up and down in outer steel duct, rotary head is arranged at the top of inner layer steel pipe, connect inner layer steel pipe and horizontal gird, the turning axle of reducing motor and the middle part of horizontal gird of described rotary head inside are fixed, one end of horizontal gird is provided with laser scanning module 2, the other end of horizontal gird is provided with a movement station of space orientation module 2, the motor control signal that the reducing motor of rotary head inside sends according to intelligent data sampling module 3 is rotated turning axle, turning axle drives horizontal gird rotation when rotating, carry out near the location of the scanner uni spatial positional information of the configuration of surface information of the target to be measured in coal yard region collection point.
Described laser scanning module 1 is laser range finder.
Described space orientation module 2 comprises a GPS base station and three GPS movement stations, described GPS base station is arranged at defeated coal transfer station top, wherein two GPS movement stations are arranged at respectively the large arm front end of bucket wheel machine, for obtaining the anglec of rotation of large arm of bucket wheel machine and the luffing angle of the large arm of bucket wheel machine, another one GPS movement station is arranged at one end of horizontal gird, for measuring the anglec of rotation of horizontal gird, the receiver of GPS movement station receives by movement station data radio the differential correcting data that the transmitting of GPS base station comes, and process in mobile station receiver inside, thereby obtain in real time the high precision position of movement station, and then obtain the spatial positional information of bucket wheel machine,
At least two GPS movement stations are arranged at respectively on the different rotary axle of the large arm of bucket wheel machine, for obtaining the anglec of rotation of the large arm of bucket wheel machine, the luffing angle of the large arm of bucket wheel machine.
Intelligent data sampling module 3 is also for storing configuration of surface information and spatial positional information.
Described data transmission module 4 transmits configuration of surface information and spatial positional information by wireless mode.
A digitizing dish coal method, comprises the following steps:
Step 1: laser scanning module 1 gathers the configuration of surface information of measured target, space orientation module 2 gathers the spatial positional information of measured target;
Step 2: laser scanning module 1 and space orientation module 2 send to intelligent data sampling module 3 by the configuration of surface information of the measured target of collection and spatial positional information respectively;
Step 3: intelligent data sampling module 3 sends to terminal processing module 5 by configuration of surface information and spatial positional information by data transmission module 4;
Step 4: terminal processing module 5 obtains configuration of surface and the three-dimensional coordinate data of measured target according to configuration of surface information and spatial positional information, and then carry out three-dimensional modeling, the generating three-dimensional modeling figure of dump and three-dimensional modeling figure is shown;
Step 5: the three-dimensional data that data exhibiting release module 6 obtains according to terminal processing module 5 and three-dimensional modeling figure, to depositing coal information, carry out data statistics, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
Also comprise step 6: at bucket wheel machine, complete and get after coal operation, the configuration of surface information of laser scanning module Resurvey measured target, the spatial positional information of space orientation module Resurvey measured target.
Terminal processing module is deposited configuration of surface information and the spatial positional information of coal according to the residue of newly obtaining, upgrade and deposit coal data, forms the up-to-date three-dimensional modeling figure of depositing coal, and three-dimensional modeling figure is shown.
In concrete enforcement, dish coal process is specifically divided into following steps:
(1) coal yard is received and is carried out in advance coal information, according to carrying out coal calorific value, by digital coal yard system assignment coal piling position.
(2) operations staff, according to predetermined coal piling position, completes coal piling operation, by laser scanning system and space positioning system, dump scan-data is processed after modeling, sends digital coal yard management system to and becomes.
(3) digital coal yard management system is according to depositing coal situation record in coal piling data real-time update system, for coal yard, deposits that coal data show and coal yard is deposited coal three-dimensional picture and generated.
(4) coal yard receives the coal information of using, according to the requirement to ature of coal in coal information, from deposit coal record, search satisfy condition deposit coal data, obtain the precise position information of getting coal.
(5) get coal information and send bucket wheel machine control terminal to, complete bucket wheel machine and get coal operation.
(6) get coal complete after, operations staff is completed and is got the measurement that remains coal yard dump after coal by laser scanning system and space positioning system, will process data transmission after modeling to digital coal yard management system.
(7) digital coal yard management system is deposited coal information according to the residue of obtaining, and deposits coal data in renewal system, forms the up-to-date coal situation of depositing and deposits coal three-dimensional picture.
Object: coal yard is deposited the fine-grained management of coal.
At present, there are 3 of coal yards in North SinKiang power plant, and basic size is respectively 58*300m, 88*300m, 58*300m, and coal yard is piled high 17 meters, and coal yard does not have coal canopy to stop.The heap that uses two cantalever bucket machines to carry out coal yard is got coal operation.Coal is coiled in power plant's dish coal work not employing dish coal instrument product.Need to carry out the construction of digitizing coal yard now, need to coil in real time coal operation to coal yard, propose following dish coals simultaneously and want:
Dish coal accuracy is high, covers all dead angles of coal yard as far as possible, to bucket wheel machine trailer part dump, also can realize the work of making an inventory.
At bucket wheel machine heap, get in the coal course of work, till being coiled coal data acquisition equipment and instructed bucket wheel machine driver as requested by scene, heap is got coal.
Dish coal equipment carries out real-time Communication for Power by wireless mode and digitizing coal yard system.
Compatible with digitizing coal yard system energy, data are communicated by letter mutually with digitizing coal yard system.
On-the-spot dump altitude information is by being used laser scanner to obtain, and laser scanner is arranged on bucket wheel machine platform top.Laser scanner can be rotated according to the control of operation.
Bucket wheel machine space orientation comprises a set of base station equipment and six mobile station apparatus.Base station equipment is arranged on #2 transfer station top, and movement station is arranged on respectively on-the-spot two bucket wheel machine tops and large arm front end.
Data acquisition system (DAS) is arranged in the pilothouse of every bucket wheel machine, for powering, gather laser scanner and gps data, data transferring is shown to the use of digitizing coal yard related request parameter to dish coal system software and to bucket wheel machine driver to laser scanner and GPS.
In fuel management office, one of data terminal disposal system is set, for receiving data acquisition system (DAS) data, the processing of coal yard three-dimensional model and communicating by letter with digitizing coal yard.
Data acquisition system (DAS) is used network radio station mode to be connected with data terminal disposal system.
Scanner installation site is the top of bucket wheel machine agent structure, utilizing the existing agent structure tip platform of bucket wheel machine is basis, by installation, assist the equipment such as lifting support, The Cloud Terrace (electric rotating machine), laser scanner scans platform in the above, realize the gamut scanning of coal yard.
It is 4 meters that scanner is installed auxiliary lifting support height, uses double-layer pipe design, and outer layer pipe is fixed, and inner layer steel pipe is flexible up and down.Steel pipe thickness 70MM.Auxiliary lifting support top mounting rotary electric machine (The Cloud Terrace), installs horizontal gird on The Cloud Terrace, laser probe, in addition one end GPS movement station and counterweight lead are installed in horizontal gird one end.Electric Machine Control support by main part raises and reduces, and the rotation of cradle head control horizontal gird realizes near the scanning in the whole region of coal yard, collection point.
Support rotating part rotates by cradle head control, uses 220V alternating current generator to drive reductor, controls crossbeam-rotating speed, improves scanning accuracy.Arm rotation location is by installing approach switch, the starting point and the terminal that start as rotation at motor top.At rotating part, by scrambler, obtain the anglec of rotation, carry out corresponding with laser scanner data.
Data collection point arranges
Because scanner scanning distance is to 80 meters farthest of dumps, by the large arm lengths of bucket wheel machine generally in 40 meters, bucket wheel machine trailer partial-length is also 40 meters of left and right, simultaneously in order to make scanning range of scanner lap relatively many, therefore, according to the large arm distance of bucket wheel machine, collection point is set, for example, the coal yard of general 300 meters arranges 5 to 6 collection points.
Before measuring, prepare
Large arm is turned to and guide rail parallel position.
Metering system
Bucket wheel machine runs to after each data collection point, bucket wheel machine stops, log-on data acquisition system, laser scanning system is by rotary-top support, at bucket wheel machine rotary-top one circle, obtain the dump altitude information in sweep limit, these data send in dish coal process software in real time by data acquisition system (DAS).
Bucket wheel machine has carried out after a data acquisition at each data collection point, and whole dish coal process finishes.
During the rotation sweep of bucket wheel machine, revolving turns around, and to need the time be 2 minutes, after having scanned, and rotating part automatic rotary.After coal yard region and scanner parameter being processed in software, can realize the total data scanning in coal yard region, realize coal yard region and scan without dead angle.
Native system device space positioning system is used GPS real time differential locator meams.GPS real time differential location refers to and on measurement point, obtains in real time high-precision positioning result.The concrete grammar of this pattern is: on a known survey station, set up GPS base station receiver and data radio, and all visible satellites of Continuous Tracking, and to movement station, send differential correcting data by data radio.Mobile station receiver receives by movement station data radio the differential correcting data that base station transmitting comes, and processes in mobile station receiver inside, thereby obtains in real time the high precision position of movement station.
GPS equipment requires higher to site environment, need to be at the local installation of spaciousness receiving satellite signal fast and accurately.The GPS difference modes of using in this programme need to be set up a GPS base station and a plurality of GPS movement station, and GPS base station is arranged on the defeated coal transfer station of #2 top, and power supply obtains from the defeated coal transfer station of #2 inside.GPS movement station is arranged on respectively bucket wheel machine top and large arm front end.By lifting support is installed, GPS equipment is raise.
Intelligent data acqusition system is the on-site data gathering equipment of collection data acquisition, function setting, data transmission, on-the-spot biscuit and one.It is arranged on bucket wheel machine pulpit, connects laser scanner and run-length encoding device, and integral data also sends data to other computing machines on network.In addition, software also can complete collection in this locality, and image data is copied in dish coal software and carried out data recovery by storage mediums such as USB flash disks.This number is adopted instrument system stable performance, has visualization interface, supports touch operation, and use 10 cun of touch-screens, interface operation is simple, by several simple push button, just can complete all operations, is applicable to very much field operator and uses.
Field control cabinet is arranged in bucket wheel machine pilothouse, integrates, then send in remote control computer by netting twine or other approach for the data that laser scanner and rotary encoder are collected, and calculates.Control cabinet also possesses scene and takes inventory function, without remote computer, controls, and can gather coal yard scan-data at the scene, by simple touch screen operation, data directly can be deposited in USB flash disk, and concrete operations mode below can be described in detail.Control cabinet itself and have power switch, for controlling the switching of chassis power supply, by stacker-reclaimer power supply, supply with 220V alternating current, total power supply is controlled by being arranged on the electric power plug socket switch of instrument support bottom.
Because coal yard periphery in power plant is difficult for cable laying, for the data acquisition of whole coal yard, by bucket wheel machine, complete completely, the data that gathered are difficult to realize the real-time Transmission of coal yard data by conventional communication mode.Mode by wireless bridge in this programme completes data transmission, and wireless bridge is selected Chinese Academy of Sciences's product, is for Industrial Ethernet application and the network radio station of a long distance of design, two-forty, technical grade.It is operated in 336-344MHz scope, and transmission range maximum in sighting distance situation can reach 100 kilometers, supports the air communication speed of 512Kbps.Client can obtain information from basic network easily by ethernet gateway or serial port gateway.
Terminal processing system is for realizing the data processing work of on-the-spot laser scanner and space positioning system, simultaneously, mounting disc coal measures system process software on terminal processing system, can realize the work for the treatment of of remote disk coal measures system, simultaneously, result and the data of coiling coal are stored in system database at every turn, and digitizing coal yard system, by calling each dish coal data, realizes in real time and coils checking of coal result with history.
Laser coal checking system fixes a point to scan to coal yard by laser scanner continuously, and by rotation sensor acquisition angles data, the angular distance of target sampled point can reach 0.2 ゜, and the available point of sampling p.s. can reach 2000 points.By intelligence dish coal system software, measurement data is processed, finally obtained coal yard accurate three-dimensional image.
By network transmission system, the dump three-dimensional coordinate data of collection is sent to central computer, or at local computer, pile fast and accurately volume calculating and the map generalization of heap body three-dimensional perspective view of body.Laser coal checking system is carried out data processing and is automatically completed by processing terminal (portable notebook) with analysis, and the processing time is no more than 3 minutes.
System can realize the omnidistance non-blind area scanning of whole coal yard, and the real time 3-D image that data are carried out is processed.In unit such as three-dimensional modeling, figure matching, modulus calculating, all adopt advanced space picture treatment technology.By reasonable algorithm, reject invalid data, guarantee that data are calculated accurately reliable.Before using native system to take inventory, stock ground, without shaping, can perfectly reappear stock ground 3-D view after data processing.Software for Design is advanced, intelligent, and man-machine interaction is friendly, and visualization is high.
By contextual data, input and model construction, the interactive operations such as the heap body 3-D view that system acquisition is generated shows, rotation, translation, make the three-dimensional reconstruction of measured target heap body very clear.System, can also be to three-dimensional picture block management except generating the three-dimensional picture of whole coal yard.User can use simple mouse-keyboard operation to cut apart dump in three-dimensional picture, and piecemeal dump attribute is set, and comprises piecemeal volume, density, weight, fuel value, the much informations such as the place of production.Piecemeal result also can generate separately detailed three-dimensional picture form, thereby realizes the scientific and effective management to coal yard.
System can offer user with the form of form by the generations such as the existing volume of coal yard, volume change and actual dish coal reserves, profit and loss quantity " the end of month fuel make an inventory statistical report form ".System is generating three-dimensional data file and report file automatically, and shares long-time preservation of assigned address.Form and database file and existing office software are compatible, and authorized user can conveniently be inquired about form and three-dimensional data figure, and data are carried out to effectively management backup.
This cover system, except realizing on-the-spot dish coal function, can also, according to user's request, provide long distance wireless transmission to control function.In authorized user Ke power plant LAN (Local Area Network), whole dish coal process is supervised in operated from a distance.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a digitizing dish coal measures is united, it is characterized in that: comprise laser scanning module (1), space orientation module (2), intelligent data sampling module (3), data transmission module (4), terminal processing module (5) and data exhibiting release module (6);
Described laser scanning module (1) and space orientation module (2) are arranged on bucket wheel machine tip platform, laser scanning module (1) sends to intelligent data sampling module (3) by the configuration of surface information of the measured target of collection, space orientation module (2) sends to intelligent data sampling module (3) by the spatial positional information of the bucket wheel machine of collection, intelligent data sampling module (3) sends to terminal processing module (5) by configuration of surface information and spatial positional information by data transmission module (4), terminal processing module (5) obtains the configuration of surface of measured target according to configuration of surface information and spatial positional information, deposit coal information and three-dimensional coordinate data, and then carry out the three-dimensional modeling of dump, generating three-dimensional modeling figure, data exhibiting release module (6) is carried out data statistics to depositing coal information, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
2. digitizing dish coal measures system according to claim 1, is characterized in that: described laser scanning module (1) and space orientation module (2) are arranged on the auxiliary lifting support of bucket wheel machine tip platform.
3. digitizing dish coal measures system according to claim 2, is characterized in that: described auxiliary lifting support comprises rack body, horizontal gird and rotary head, and described rotary head inside comprises reducing motor and rotary encoder;
Described rack body is the structure with double-layer pipe, wherein outer layer pipe is fixed, inner layer steel pipe stretches up and down in outer steel duct, rotary head is arranged at the top of inner layer steel pipe, connect inner layer steel pipe and horizontal gird, the turning axle of reducing motor and the middle part of horizontal gird of described rotary head inside are fixed, one end of horizontal gird is provided with laser scanning module (2), the other end of horizontal gird is provided with a movement station of space orientation module (2), the motor control signal that the reducing motor of rotary head inside sends according to intelligent data sampling module (3) is rotated turning axle, turning axle drives horizontal gird rotation when rotating, carry out near the location of the scanner uni spatial positional information of the configuration of surface information of the target to be measured in coal yard region collection point.
4. digitizing dish coal measures system according to claim 1, is characterized in that: described laser scanning module (1) is laser range finder.
5. digitizing dish coal measures according to claim 1 is united, it is characterized in that: described space orientation module (2) comprises a GPS base station and three GPS movement stations, described GPS base station is arranged at defeated coal transfer station top, wherein two GPS movement stations are arranged at respectively the large arm front end of bucket wheel machine, for obtaining the anglec of rotation of large arm of bucket wheel machine and the luffing angle of the large arm of bucket wheel machine, another one GPS movement station is arranged at one end of horizontal gird, for measuring the anglec of rotation of horizontal gird, the receiver of GPS movement station receives by movement station data radio the differential correcting data that the transmitting of GPS base station comes, and process in mobile station receiver inside, thereby obtain in real time the high precision position of movement station, and then obtain the spatial positional information of bucket wheel machine.
6. digitizing dish coal measures system according to claim 1, is characterized in that: intelligent data sampling module (3) is also for storing configuration of surface information and spatial positional information.
7. digitizing dish coal measures system according to claim 1, is characterized in that: described data transmission module (4) transmits configuration of surface information and spatial positional information by wireless mode.
8. a digitizing dish coal method, is characterized in that, comprises the following steps:
Step 1: laser scanning module (1) gathers the configuration of surface information of measured target, space orientation module (2) gathers the spatial positional information of measured target;
Step 2: laser scanning module (1) and space orientation module (2) send to intelligent data sampling module (3) by the configuration of surface information of the measured target of collection and spatial positional information respectively;
Step 3: intelligent data sampling module (3) sends to terminal processing module (5) by configuration of surface information and spatial positional information by data transmission module (4);
Step 4: terminal processing module (5) obtains configuration of surface and the three-dimensional coordinate data of measured target according to configuration of surface information and spatial positional information, and then carry out three-dimensional modeling, the generating three-dimensional modeling figure of dump;
Step 5: the three-dimensional data that data exhibiting release module (6) obtains according to terminal processing module (5) and three-dimensional modeling figure, to depositing coal information, carry out data statistics, and to statistics after deposit coal information and three-dimensional modeling figure is issued.
9. digitizing dish coal method according to claim 8, it is characterized in that: also comprise step 6: at bucket wheel machine, complete and get after coal operation, the configuration of surface information of laser scanning module Resurvey measured target, the spatial positional information of space orientation module Resurvey measured target.
10. digitizing dish coal method according to claim 9, it is characterized in that: terminal processing module is deposited configuration of surface information and the spatial positional information of coal according to the residue of newly obtaining, coal data are deposited in renewal, form the up-to-date three-dimensional modeling figure of depositing coal, and three-dimensional modeling figure is shown.
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