CN104251664B - Power plant based on wireless network symmetry laser ranging inventory coal system and method - Google Patents
Power plant based on wireless network symmetry laser ranging inventory coal system and method Download PDFInfo
- Publication number
- CN104251664B CN104251664B CN201410497549.6A CN201410497549A CN104251664B CN 104251664 B CN104251664 B CN 104251664B CN 201410497549 A CN201410497549 A CN 201410497549A CN 104251664 B CN104251664 B CN 104251664B
- Authority
- CN
- China
- Prior art keywords
- laser
- main control
- laser ranging
- point
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000003245 coal Substances 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 72
- 230000005662 electromechanics Effects 0.000 claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 31
- 239000000203 mixture Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 4
- 238000004587 chromatography analysis Methods 0.000 abstract description 3
- 238000007405 data analysis Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 abstract description 2
- 230000001186 cumulative effect Effects 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of power plant based on wireless network symmetry laser ranging inventory coal method, the method uses the system being made up of computer, wireless exchange board, measurement system and wireless local area network building.Measurement system includes left region measurement system and right region measurement system, and they are made up of guide rail, sliding platform, numerical control electromechanics box, the dynamo-electric box of scanning range finding, rotating shaft, range finder using laser, base, fixed installation bolt, numerical control electromechanics box WAP, the dynamo-electric box WAP of scanning range finding.The mode using left and right subregion to be added obtains the area in cross section；The mode using stratiform volume element cumulative calculates the volume of dump.Due to the fact that have employed left and right subregion symmetry synchronizes the chromatography calculation method of physical volume of laser ranging, is more easy to eliminate dead angle, raising dish coal speed.Fixedly mounted, use wireless network that left and right subregion is carried out Synchronization Control and data analysis, it is achieved full-automatic generating list price coal, eliminate the shortcoming that conventional disk coal instrument needs professional to operate with.
Description
Technical field
The present invention relates to a kind of fully automatic electric list price coal system and method, have employed wireless network symmetry Laser Measuring
Away from method, belong to technical field of photoelectricity test.
Background technology
Thermal power generation needs to use coal, and along with expansion and the raising of coal price of power plant units, dish coal is the most all the more
Become the indispensable important step of electricity power enterprise.So-called dish coal be exactly thermal power plant make an inventory electric field deposit coal
Amount.Initial dish coal mode is artificial disc coal, first (is used for by bucket-wheel stacker reclaimer by the coal piled up
Heap takes the carrier of coal) carry out shaping, typically it is made into that comparison rule is trapezoidal or rectangle.Again by manually adopting
Measure with tape measure, draw weight according to calculating its volume further according to density.This method takes time and effort,
Inefficiency, is eliminated the most substantially.
Dish coal technology now is mainly laser coal inventory instrument, and it utilizes high-precision laser scanner to dump table
Face is acquired.By computer disposal dump outline data, reconstructing the 3D figure in stock ground, calculating is produced coal
The information such as the volume of heap.In conjunction with the density set, the weight of dump will be obtained.
At present, conventional laser coal inventory instrument, when dump surface carrying out data coordinates and gathering, needs artificial choosing
Taking several operating points, then set up laser coal inventory instrument on these operating points, Artificial Control laser ranging is swept
Retouch mode, gather the space laser scanning element coordinate data of this operating point field range, then by all working
Data under Dian make a synthesis, calculate with software.This mode requirement pole to operator
Height, the selection of operating point, the mode of scanning, data collect calculating, general staff cannot complete.
Also have some laser coal checking modes to be suitable for the coal yard having bucket wheel machine or straddle truck, laser range finder is set up
On the cantilever of straddle truck or bucket wheel machine, along with the movement of cantilever, system measures testee surface character point
Three-dimensional coordinate, process through computer software, calculate, draw the data such as volume and weight of testee,
The 3 dimensional drawing of tested heap body can be reproduced simultaneously.These laser coal checking modes have been suitable only for bucket wheel machine or gantry
The coal yard hung, even and if having bucket wheel machine or straddle truck, because of by bucket wheel machine or straddle truck cantilever control mode and work
Make interval restriction, be difficult to accomplish full automation.
Summary of the invention
It is an object of the invention to, for the problem in traditional laser coal checking method, it is provided that a kind of wireless network
Left and right subregion symmetry synchronizes the chromatography calculation method of physical volume of laser ranging, and the method uses wireless network to left and right
Subregion carries out Synchronization Control and data analysis, it is possible to realizes full-automatic generating list price coal, solves in power plant general
The coal pile volume of coal yard and mass metrology problem.
The technical scheme is that and be achieved in:
Treating in the middle of power plant that the dump of dish coal is deposited on coal yard, the rectangular zone length of coal yard is l, width is w.
It is divided into equal two regions being w/2 of width, Zuo Qu and You Qu along blueline.
The present invention uses a kind of power plant based on wireless network symmetry laser ranging inventory coal measures system, including:
Computer, is used for supporting that main control software works, and sends instruction and receives data；Control measurement system each
Parts sliding platform, rotating shaft, the work of range finder using laser；
Wireless exchange board, for by high powered antenna launch wireless signal, numerical control electromechanics box WAP,
The dynamo-electric box WAP of scanning range finding receives wireless signal configuration of IP address, forms WLAN；
Measurement system includes left region measurement system and right region measurement system, is used for sending laser ranging line, laser
The laser ranging line formed along its optical axis carries out horizontal bedding scanning from bottom to up to coal yard dump.
Described left region measurement system is just the same with right region measurement system.Described left region measurement system is led by first
Rail, the first sliding platform, the first numerical control electromechanics box, the first scanning dynamo-electric box of range finding, the first rotating shaft, first
Range finder using laser, the first base, the first fixed installation bolt, the first numerical control electromechanics box WAP, the
One scan range finding dynamo-electric box WAP composition；Described right region measurement system is by the second guide rail, the second slip
Platform, the second numerical control electromechanics box, the second scanning dynamo-electric box of range finding, the second rotating shaft, the second range finder using laser,
Second base, the second fixed installation bolt, the second numerical control electromechanics box WAP, the second scanning range finder
Electricity box WAP composition.The length of described first guide rail and the second guide rail is all higher than the maximum of tested dump
Highly.
Computer directly couples wireless exchange board by netting twine, and wireless exchange board launches nothing by high powered antenna
Line signal, numerical control electromechanics box WAP, the dynamo-electric box WAP of scanning range finding receive wireless signal and join
Put IP address, form WLAN.Main control software in computer by LAN to numerical control electromechanics box and
The dynamo-electric box of scanning range finding carries out transmitted in both directions, i.e. sends instruction and is controlled and receives data.
In left region measurement system, the first numerical control electromechanics box comprises power supply, control circuit, servomotor, ball
Screw pair, wherein servomotor do executive component and drive ball-screw, and ball-screw nut drives first
Slider platform, at the first moving on rails, completes the motion of rectilinear direction.Control circuit passes through the first numerical control machine
The instruction of the main control software in electricity box WAP reception computer carries out the motion control of the first sliding platform
System.In order to add stiff stability, left region measurement system is furnished with the first base, by the first fixed installation bolt jail
Guan County is contained in job site.Job site is on the center line of coal yard, and first rotating shaft distance away from left head of district limit is d.
The first dynamo-electric box of scanning range finding is arranged on the first sliding platform, moves therewith.First scanning is surveyed
Comprise away from dynamo-electric box and drive the servomotor of the first pivot and drive control circuit, also comprise first and swash
The driving control circuit of ligh-ranging machine.First range finder using laser is fixed in the first rotating shaft, rotates therewith.
First shaft axis is perpendicular to the ground, and the optical axis of the first range finder using laser is parallel to the ground, when the first rotating shaft turns
Time dynamic, the first range finder using laser concomitant rotation, the laser ranging line that laser is formed along its optical axis is parallel to the ground
Scanning.The first dynamo-electric box of scanning range finding is received in computer by the first dynamo-electric box WAP of scanning range finding
The range finding of the instruction of the main control software Spin Control and the first range finder using laser that carry out the first rotating shaft control, and
Send ranging data to the main control software in computer.
Each several part composition in right region measurement system is the most identical with left region measurement system with working method.Work
Place is on the center line of coal yard, and second rotating shaft distance away from coal yard right head of district limit is d.
A kind of power plant based on wireless network symmetry laser ranging inventory coal method, described method presses following step
Suddenly carry out: when carrying out inventory coal,
(1) reset operation, i.e.
Main control software in computer sends instruction, and Synchronization Control sliding platform vertically z is moved down into
Minimum point, now the optical axis of range finder using laser is h with the vertical dimension on ground0。
Then, the main control software in computer sends instruction, and Synchronization Control axis of rotation is to range finder using laser
Optical axis is parallel with center line.
(2) area of section is measured,
By the optical axis comprising range finder using laser and be parallel to the plane on ground and intersect formed curve institute with dump
The plane surrounded, is defined as cross section.
Now the area in cross section is S1, including left region measurement and right region measurement.As a example by right region measurement, set up
Rectangular coordinate system, i.e. makees a plane being perpendicular to cross section comprising blueline, and it is x-axis with the intersection in cross section；
Making a plane being perpendicular to cross section comprising center line, it is y-axis with the intersection in cross section.
Main control software in computer sends instruction, starts range finder using laser and carries out laser ranging, laser ranging
The laser that machine is launched advances along its optical axis, forms laser ranging line.When laser ranging line runs into obstacle,
Measure distance value k0。
Startup is just being swept the main control software in program, i.e. computer and is being sent instruction, controls rotating shaft and drives sharp clockwise
Ligh-ranging machine rotates, and rotates every timeAnd find range, then when n-th rotates, the angle turned over
The distance recorded is k+n.The main control software these data being sent in computer carries out availability deciding, to
Rotating for n time, its critical distance isThe length that i.e. laser ranging line intersects with x-axis.
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point away from point, the coordinate calculating characteristic point is
IfIllustrate that laser ranging Xian You district does not has dump through place, i.e. point distance measurement without
Effect, is now defined as characteristic point by the intersection point of laser ranging line Yu x-axis, and its coordinate is
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump, terminate along inswept journey.Now, will be final
Number of revolutions n is designated as N1。
Start the main control software in homing procedure, i.e. computer and send instruction, control rotating shaft and drive sharp counterclockwise
Ligh-ranging machine turns to its optical axis and overlaps with y-axis, i.e. initial position.
Start and counter sweep program, i.e. main control software in computer sends instruction, controls rotating shaft and drives sharp counterclockwise
Ligh-ranging machine rotates, and rotates every timeAnd find range, then when n-th rotates, the angle turned over The distance recorded is k-n.The main control software these data being sent in computer carries out availability deciding,
Rotating n-th, its critical distance isThe length that i.e. laser ranging line intersects with x-axis.
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point away from point, the coordinate calculating characteristic point is
IfIllustrate that laser ranging Xian You district does not has dump through place, i.e. point distance measurement without
Effect, is now defined as characteristic point by the intersection point of laser ranging line Yu x-axis, and its coordinate is
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump, anti-inswept journey terminates.Now, will be final
Number of revolutions n is designated as N2。
Be again started up homing procedure, i.e. main control software in computer sends instruction, controls rotating shaft and carries clockwise
Dynamic range finder using laser turns to its optical axis and overlaps with y-axis, i.e. initial position.
All of characteristic point being linked in sequence, form a broken line, the region that broken line and x-axis surround is by some ladders
Shape cell area composition (being two triangle area units at two ends), can regard the face in right district part, the cross section approx as
Long-pending Sright.It is calculated as follows this region area
Left region measurement is just the same with right region measurement, and similarly, available cross section is at the area S of left district partleft。
Then there is cross section 5 area S1=Sright+Sleft。
(3) move in synchronization, i.e.
Main control software in computer sends instruction, Synchronization Control sliding platform vertically z move up away from
From h, now the optical axis of range finder using laser is h with the vertical dimension on ground0+h。
(4) repeating step (2), now the area in cross section 5 is S2。
(5) repeating step (3) and (4), now the optical axis of range finder using laser with the vertical dimension on ground is
h0+ 2h, the area in cross section is S3。
(6) constantly repeat step (5), respectively obtain S4,…,Si,Si+1... until cross section 5 area recorded
SM+1Little area value set in advance less than one.
(7) step (1) is repeated.
(8) dish coal calculates, i.e.
Main control software in computer retains area of section from S1To SM.Regard the volume of dump as some
The volume sum of individual stratiform volume element, is calculated as follows the volume of dump
The invention has the beneficial effects as follows, have employed left and right subregion symmetry and synchronize the chromatography volume calculating of laser ranging
Method, is more easy to eliminate dead angle, raising dish coal speed.Fixedly mounted, use wireless network to left and right subregion
Carry out Synchronization Control and data analysis, it is achieved full-automatic generating list price coal, eliminating conventional disk coal instrument needs people
Work reconnaissance, manual operation, need the shortcoming that professional operates with.
Accompanying drawing explanation
Fig. 1 is present system structure and algorithm front elevational schematic；
Fig. 2 is present system structure and algorithm schematic top plan view；
In the drawings, 1 is left region measurement system；2 is right region measurement system；1-1 is the first guide rail, and 2-1 is
Two guide rails；1-2 is the first sliding platform；2-2 is the second sliding platform；1-3 the first numerical control electromechanics box；2-3
It it is the second numerical control electromechanics box；1-4 is the first dynamo-electric box of scanning range finding；2-4 is the second dynamo-electric box of scanning range finding；
1-5 is the first rotating shaft；2-5 is the second rotating shaft；1-6 is the first range finder using laser；2-6 is the second laser ranging
Machine；1-7 is the first base；2-7 is the second base；1-8 first fixedly mounts bolt；2-8 be second fix
Bolt is installed；1-9 is the first numerical control electromechanics box WAP；2-9 is the second numerical control electromechanics box wireless access
Point；1-10 is the first dynamo-electric box WAP of scanning range finding；2-10 is that the second dynamo-electric box of scanning range finding is wireless
Access point；3 is dump；4 is stratiform volume element；5 is cross section；6 is high powered antenna；7 is switched wireless
Machine；8 is netting twine；9 is computer；10 is coal yard；11 is characteristic point；12 is cell area；13 is laser
Piano wire；14 is blueline；15 is center line.
Detailed description of the invention
The specific embodiment of the invention is as shown in Figure 1 and Figure 2.
Treat in the middle of power plant that the dump 3 of dish coal is deposited on coal yard 10, the rectangular zone length of coal yard 10 be l,
Width is w.The wide perpendicular bisector of coal yard is blueline 14, along blueline 14, rectangular area is divided into width
Equal two regions being w/2, Zuo Qu and You Qu.
Inventory coal measures is united by computer 9, wireless exchange board 7, left region measurement system 1 and right region measurement system
2 wireless local area network building compositions.The most left region measurement system 1 is just the same with right region measurement system 2.They
By the first guide rail 1-1 and the second guide rail 2-1, the first sliding platform 1-2 and the second sliding platform 2-2, the first number
The dynamo-electric box 1-3 and the second numerical control electromechanics box 2-3 of control, the first scanning range finding dynamo-electric box 1-4 and second scanning range finding
Dynamo-electric box 2-4, the first rotating shaft 1-5 and the second rotating shaft 2-5, the first range finder using laser 1-6 and the second laser ranging
Machine 2-6, the first base 1-7 and the second base 2-7, the first fixed installation bolt 1-8 and the second fixed installation spiral shell
Bolt 2-8, the first numerical control electromechanics box WAP 1-9 and the second numerical control electromechanics box WAP 2-9,
One scan range finding dynamo-electric box WAP 1-10 and the second dynamo-electric box WAP 2-10 group of scanning range finding
Become.Wherein the length of the first guide rail 1-1 and the second guide rail 2-1 is more than the maximum height of dump 3.
Computer 9 directly couples wireless exchange board 7 by netting twine 8, and wireless exchange board 7 passes through high powered antenna
6 launch wireless signal, the first numerical control electromechanics box WAP 1-9 and the second numerical control electromechanics box WAP
2-9, the first scanning range finding dynamo-electric box WAP 1-10 and second dynamo-electric box WAP of scanning range finding
2-10 receives wireless signal configuration of IP address, forms WLAN.Main control software in computer 9 passes through
LAN is to the first numerical control electromechanics box 1-3 and the second numerical control electromechanics box 2-3, the first dynamo-electric box 1-4 of scanning range finding
Carry out transmitted in both directions with the second dynamo-electric box 2-4 of scanning range finding, i.e. send instruction and be controlled and receive data.
In left region measurement system 1, the first numerical control electromechanics box 1-3 comprise power supply, control circuit, servomotor,
Ball guide screw nat, wherein servomotor do executive component and drive ball-screw, and ball-screw nut drives
First sliding platform 1-2 moves on the first guide rail 1-1, completes the motion of rectilinear direction.Control circuit is passed through
First numerical control electromechanics box WAP 1-9 receives the instruction of the main control software in computer 9 and carries out the first slip
The motor control of platform 1-2.In order to add stiff stability, left region measurement system 1 is furnished with the first base 1-7, logical
Cross the first fixed installation bolt 1-8 and be fixedly attached to job site.Job site is at the center line 15 of coal yard 10
On, the first rotating shaft 1-5 distance away from left head of district limit is d.
The first dynamo-electric box 1-4 of scanning range finding is arranged on the first sliding platform 1-2, moves therewith.First
The dynamo-electric box 1-4 of scanning range finding comprises the servomotor driving the first rotating shaft 1-5 to move and drives control circuit,
Also comprise the driving control circuit of the first range finder using laser 1-6.First range finder using laser 1-6 is fixed on first turn
On axle 1-5, rotate therewith.First rotating shaft 1-5 axis is perpendicular to the ground, the first range finder using laser 1-6
Optical axis parallel to the ground, when first rotating shaft 1-5 rotate time, the first range finder using laser 1-6 concomitant rotation, swash
Laser ranging line 13 scanning parallel to the ground that light is formed along its optical axis.The first dynamo-electric box 1-4 of scanning range finding leads to
The instruction crossing the main control software in the first scanning range finding dynamo-electric box WAP 1-10 reception computer 9 is carried out
The Spin Control of the first rotating shaft 1-5 and the range finding of the first range finder using laser 1-6 control, and send ranging data extremely
Main control software in computer 9.
Each several part composition in right region measurement system 2 is the most identical with left region measurement system 1 with working method.
Job site is on the center line 15 of coal yard 10, and the second rotating shaft 2-5 distance away from coal yard right head of district limit is d, with
The first rotating shaft 1-5 distance in left region measurement system 1 is 2d+w.
When carrying out inventory coal, sequentially include the following steps:
(1) reset operation, it may be assumed that
Main control software in computer 9 sends instruction, and Synchronization Control the first sliding platform 1-2 and second slides flat
Platform 2-2 vertically z is moved down into minimum point, now the first range finder using laser 1-6 and the second Laser Measuring
Optical axis away from machine 2-6 is h with the vertical dimension on ground0(it has been determined that good as in dish coal pre-test during installation
The amount of knowing, in the present embodiment h0Take 1 meter).
Then, the main control software in computer 9 sends instruction, Synchronization Control the first rotating shaft 1-5 and the second rotating shaft
The optical axis that 2-5 turns to the first range finder using laser 1-6 and the second range finder using laser 2-6 is parallel with center line.
(2) area of section is measured,
Comprise the first range finder using laser 1-6 and the optical axis of the second range finder using laser 2-6 and be parallel to the plane on ground
P intersects, with dump 3, the plane that formed curve is surrounded, and is defined as cross section 5.
Now the area in cross section 5 is S1, including left region measurement and right region measurement.As a example by right region measurement, build
Vertical rectangular coordinate system, i.e. makees a plane being perpendicular to cross section 5 comprising blueline 14, itself and the friendship in cross section 5
Line is x-axis；Making a plane being perpendicular to cross section 5 comprising center line 15, it is y-axis with the intersection in cross section 5,
As shown in Figure 2.
Main control software in computer 9 sends instruction, starts the second range finder using laser 2-6 and carries out laser ranging,
The laser that second range finder using laser 2-6 launches advances along its optical axis, forms laser ranging line 13.Work as laser
When piano wire 13 runs into obstacle, measure distance value k0。
Start the main control software just swept in program, i.e. computer 9 and send instruction, control the second rotating shaft 2-5 up time
Pin drives the second range finder using laser 2-6 to rotate, and rotates every timeAnd find range, then rotate in n-th
Time, the angle turned overThe distance recorded is k+n.These data are sent to the master control in computer 9
Software carries out availability deciding, rotates n-th, and its critical distance isI.e. laser ranging
The length that line 13 intersects with x-axis.
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point 11 away from point, the coordinate calculating characteristic point 11 is
IfIllustrate that laser ranging Xian13You district does not has dump through place, i.e. find range
Point is invalid, now the intersection point of laser ranging line 13 with x-axis is defined as characteristic point 11, and its coordinate is
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump 3, terminate along inswept journey.Now, will be
Whole number of revolutions n is designated as N1。
The main control software started in homing procedure, i.e. computer 9 sends instruction, controls for the second rotating shaft 2-5 inverse time
Pin drives the second range finder using laser 2-6 to turn to its optical axis and overlaps with y-axis, i.e. initial position.
Start and counter sweep program, i.e. main control software in computer 9 sends instruction, controls for the second rotating shaft 2-5 inverse time
Pin drives the second range finder using laser 2-6 to rotate, and rotates every timeAnd find range, then rotate in n-th
Time, the angle turned overThe distance recorded is k-n.These data are sent to the master control in computer 9
Software carries out availability deciding, rotates n-th, and its critical distance isI.e. laser ranging
The length that line 13 intersects with x-axis.
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point 11 away from point, the coordinate calculating characteristic point 11 is
IfIllustrate that laser ranging Xian13You district does not has dump through place, i.e. point distance measurement
Invalid, now the intersection point of laser ranging line 13 with x-axis is defined as characteristic point 11, its coordinate is
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump 3, anti-inswept journey terminates.Now, will be
Whole number of revolutions n is designated as N2。
Be again started up homing procedure, i.e. main control software in computer 9 sends instruction, controls the second rotating shaft 2-5
Drive the second range finder using laser 2-6 to turn to its optical axis clockwise to overlap with y-axis, i.e. initial position.
All of characteristic point 11 being linked in sequence, form a broken line, the region that broken line and x-axis surround is by some
Trapezoidal area unit 12 composition (being two triangle area units at two ends), can regard cross section 5 as approx at You Qu
The area S of partright.It is calculated as follows this region area
Left region measurement is just the same with right region measurement, and similarly, available cross section 5 is at the area S of left district partleft。
Then there is cross section 5 area S1=Sright+Sleft。
(3) move in synchronization, it may be assumed that
Main control software in computer 9 sends instruction, and Synchronization Control the first sliding platform 1-2 and second slides flat
Platform 2-2 vertically z moves up distance h (h takes 0.5 meter in the present embodiment), now the first Laser Measuring
Optical axis away from machine 1-6 and the second range finder using laser 2-6 is h with the vertical dimension on ground0+h。
(4) repeating step (2), now the area in cross section 5 is S2。
(5) step (3) and (4), now the first range finder using laser 1-6 and the second range finder using laser are repeated
The optical axis of 2-6 and the vertical dimension on ground are h0+ 2h, the area in cross section 5 is S3。
(6) constantly repeat step (5), respectively obtain S4,…,Si,Si+1... until cross section 5 area recorded
SM+1Little area value set in advance less than one, this area value takes 1 square metre in the present embodiment.
(7) step (1) is repeated.
(8) dish coal calculates, it may be assumed that
Main control software in computer 9 retains cross section 5 area from S1To SM.As it is shown in figure 1, by dump
The volume of 3 regards the volume sum of several stratiform volume elements 4 as, is calculated as follows the volume of dump 3
Claims (2)
1. power plant based on a wireless network symmetry laser ranging inventory coal measures system, by computer, wireless
Switch, left region measurement system and right region measurement system wireless local area network building composition；Left region measurement system with
Right region measurement system is just the same, by guide rail, sliding platform, numerical control electromechanics box, the dynamo-electric box of scanning range finding,
Rotating shaft, range finder using laser, base, fixed installation bolt, numerical control electromechanics box WAP and scanning range finding
Dynamo-electric box WAP composition；
It is characterized in that, in described left region measurement system, the first numerical control electromechanics box comprise power supply, control circuit,
Servomotor, ball guide screw nat, wherein servomotor do executive component and drive ball-screw, ball wire
Thick stick nut drives the first sliding platform at the first moving on rails, completes the motion of rectilinear direction；Control circuit
The instruction being received the main control software in computer by the first numerical control electromechanics box WAP carries out the first slip
The motor control of platform；Left region measurement system is furnished with the first base, is firmly pacified by the first fixed installation bolt
It is contained in job site；Job site is on the center line of coal yard；
The first dynamo-electric box of scanning range finding is arranged on the first sliding platform, moves therewith；First scanning is surveyed
Comprise away from dynamo-electric box and drive the servomotor of the first pivot and drive control circuit, also comprise first and swash
The driving control circuit of ligh-ranging machine；First range finder using laser is fixed in the first rotating shaft, rotates therewith；
First shaft axis is perpendicular to the ground, and the optical axis of the first range finder using laser is parallel to the ground, when the first rotating shaft turns
Time dynamic, the first range finder using laser concomitant rotation, the laser ranging line that laser is formed along its optical axis is parallel to the ground
Scanning；The first dynamo-electric box of scanning range finding is received in computer by the first dynamo-electric box WAP of scanning range finding
The range finding of the instruction of the main control software Spin Control and the first range finder using laser that carry out the first rotating shaft control, and
Send ranging data to the main control software in computer；
Each several part composition in described right region measurement system is the most identical with left region measurement system with working method；
Job site is on the center line of coal yard, and second rotating shaft distance away from coal yard right head of district limit and the first rotating shaft are away from coal yard
The distance on Zuo head of district limit is equal.
2. power plant based on a wireless network symmetry laser ranging inventory coal method, it is characterised in that institute
The method of stating comprises the following steps:
(1) reset operation, it may be assumed that
Main control software in computer sends instruction, and Synchronization Control sliding platform vertically z is moved down into
Minimum point, now the optical axis of range finder using laser is h with the vertical dimension on ground0；
Then, the main control software in computer sends instruction, and Synchronization Control axis of rotation is to range finder using laser
Optical axis is parallel with center line；
(2) area of section is measured,
By the optical axis comprising range finder using laser and be parallel to the plane on ground and intersect formed curve institute with dump
The plane surrounded, is defined as cross section；Now the area in cross section is S1, including left region measurement and right region measurement；
Setting up rectangular coordinate system, i.e. make a plane being perpendicular to described cross section comprising blueline, it is with described
The intersection in cross section is x-axis；Make a plane being perpendicular to described cross section comprising center line, itself and described cross section
Intersection is y-axis；
Main control software in computer sends instruction, starts range finder using laser and carries out laser ranging, laser ranging
The laser that machine is launched advances along its optical axis, forms laser ranging line；When laser ranging line runs into obstacle,
Measure distance value k0；
Startup is just being swept the main control software in program, i.e. computer and is being sent instruction, controls rotating shaft and drives sharp clockwise
Ligh-ranging machine rotates, and rotates every timeAnd find range, then when n-th rotates, the angle turned over
The distance recorded is k+n；The main control software these data being sent in computer carries out availability deciding, to
Rotating for n time, its critical distance isThe length that i.e. laser ranging line intersects with x-axis；
Wherein, d is first rotating shaft distance away from coal yard left head of district limit；W is the rectangular zone width of coal yard；
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point away from point, the coordinate calculating characteristic point is:
IfIllustrate that laser ranging Xian You district does not has dump through place, i.e. point distance measurement without
Effect, is now defined as characteristic point by the intersection point of laser ranging line Yu x-axis, and its coordinate is:
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump, terminate along inswept journey；Now, will be final
Number of revolutions n is designated as N1；
Start the main control software in homing procedure, i.e. computer and send instruction, control rotating shaft and drive sharp counterclockwise
Ligh-ranging machine turns to its optical axis and overlaps with y-axis, i.e. initial position；
Start and counter sweep program, i.e. main control software in computer sends instruction, controls rotating shaft and drives sharp counterclockwise
Ligh-ranging machine rotates, and rotates every timeAnd find range, then when n-th rotates, the angle turned over The distance recorded is k-n；The main control software these data being sent in computer carries out availability deciding,
Rotating n-th, its critical distance isThe length that i.e. laser ranging line intersects with x-axis；
IfIllustrating that laser ranging point has got to dump, point distance measurement is effective, now this survey
Being defined as characteristic point away from point, the coordinate calculating characteristic point is:
IfIllustrate that laser ranging Xian You district does not has dump through place, i.e. point distance measurement without
Effect, is now defined as characteristic point by the intersection point of laser ranging line Yu x-axis, and its coordinate is:
Run into for the first time when if n-th rotates point distance measurement invalid after, then again meet when rotating for (n+1)th time
Invalid to point distance measurement, illustrate to have passed over the scope of right district dump, anti-inswept journey terminates: now, will be final
Number of revolutions n is designated as N2；
Be again started up homing procedure, i.e. main control software in computer sends instruction, controls rotating shaft and carries clockwise
Dynamic range finder using laser turns to its optical axis and overlaps with y-axis, i.e. initial position；
All of characteristic point being linked in sequence, form a broken line, the region that broken line and x-axis surround is by some ladders
Shape cell area forms, and can regard the cross section area S in right district part approx asright；It is calculated as follows this region
Area:
Left region measurement is just the same with right region measurement, and similarly, available cross section is at the area S of left district partleft；
Then there is area of section S1=Sright+Sleft；
(3) move in synchronization, it may be assumed that
Main control software in computer sends instruction, Synchronization Control sliding platform vertically z move up away from
From h, now the optical axis of range finder using laser is h with the vertical dimension on ground0+h；
(4) repeating step (2), now the area in cross section is S2；
(5) repeating step (3) and (4), now the optical axis of range finder using laser with the vertical dimension on ground is
h0+ 2h, the area in cross section is S3；
(6) constantly repeat step (5), respectively obtain S4,…,Si,Si+1... until the area of section S recordedM+1
Little area value set in advance less than one；
(7) step (1) is repeated；
(8) dish coal calculates, it may be assumed that
Main control software in computer retains area of section from S1To SM；Regard the volume of dump as some
The volume sum of individual stratiform volume element, is calculated as follows the volume of dump
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410497549.6A CN104251664B (en) | 2014-09-25 | 2014-09-25 | Power plant based on wireless network symmetry laser ranging inventory coal system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410497549.6A CN104251664B (en) | 2014-09-25 | 2014-09-25 | Power plant based on wireless network symmetry laser ranging inventory coal system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104251664A CN104251664A (en) | 2014-12-31 |
| CN104251664B true CN104251664B (en) | 2016-09-21 |
Family
ID=52186783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410497549.6A Expired - Fee Related CN104251664B (en) | 2014-09-25 | 2014-09-25 | Power plant based on wireless network symmetry laser ranging inventory coal system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104251664B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2547292A (en) * | 2016-08-19 | 2017-08-16 | Intertek Group Plc | Improved method, apparatus and system for estimating the mass of a stockpile |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106091944A (en) * | 2016-07-18 | 2016-11-09 | 电子科技大学 | A kind of creep age distance measurement apparatus of suspension insulator |
| CN106767398B (en) * | 2016-11-21 | 2019-10-11 | 国网四川省电力公司电力科学研究院 | A kind of suspension insulator comprehensive parameters detection device and detection method |
| CN107941147B (en) * | 2017-11-17 | 2020-04-07 | 北京振兴计量测试研究所 | Non-contact online measurement method for three-dimensional coordinates of large-scale system |
| CN108168426B (en) * | 2017-11-29 | 2020-09-04 | 华侨大学 | Method for measuring volume of sea corrosion column |
| CN110823061A (en) * | 2019-11-18 | 2020-02-21 | 中国航发贵州黎阳航空动力有限公司 | Device and method for measuring different section radiuses of large thin-wall cylinder part |
| CN113532339B (en) * | 2020-04-14 | 2023-05-12 | 保定市天河电子技术有限公司 | Warehouse cargo volume measurement system and method |
| CN114018440B (en) * | 2021-11-05 | 2023-06-13 | 华能(福建漳州)能源有限责任公司 | Closed strip-shaped coal yard monitoring device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2294453Y (en) * | 1997-03-28 | 1998-10-14 | 南京理工大学 | Automatically measuring and drawing the volume of coal bulk on ground |
| CN101858730A (en) * | 2010-05-14 | 2010-10-13 | 长沙友欣仪器制造有限公司 | Automatic coal pile volume measurement method and special device |
| CN102425991A (en) * | 2011-09-15 | 2012-04-25 | 武汉武大卓越科技有限责任公司 | Automation storage yard laser measurement device and application method thereof |
| DE102011011818A1 (en) * | 2011-02-19 | 2012-08-23 | Chen Jinghong | Measuring device for attaching in metallic frame for measuring volume of irregular solid body in logistics industry, has cameras for measuring volume of solid body by computation of contours in images taken with aid of laser beams |
| CN102749030A (en) * | 2012-06-14 | 2012-10-24 | 北京理工大学 | Freight truck carriage volume segmentation method based on pulse time-of-flight laser ranging |
| CN102878927A (en) * | 2012-09-18 | 2013-01-16 | 武汉武大卓越科技有限责任公司 | Device and method for automatically measuring volume of large open material yard based on vehicle carrier |
| CN103913116A (en) * | 2014-03-10 | 2014-07-09 | 上海大学 | Large-scale piled material volume two-side parallel measuring device and method |
-
2014
- 2014-09-25 CN CN201410497549.6A patent/CN104251664B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2294453Y (en) * | 1997-03-28 | 1998-10-14 | 南京理工大学 | Automatically measuring and drawing the volume of coal bulk on ground |
| CN101858730A (en) * | 2010-05-14 | 2010-10-13 | 长沙友欣仪器制造有限公司 | Automatic coal pile volume measurement method and special device |
| DE102011011818A1 (en) * | 2011-02-19 | 2012-08-23 | Chen Jinghong | Measuring device for attaching in metallic frame for measuring volume of irregular solid body in logistics industry, has cameras for measuring volume of solid body by computation of contours in images taken with aid of laser beams |
| CN102425991A (en) * | 2011-09-15 | 2012-04-25 | 武汉武大卓越科技有限责任公司 | Automation storage yard laser measurement device and application method thereof |
| CN102749030A (en) * | 2012-06-14 | 2012-10-24 | 北京理工大学 | Freight truck carriage volume segmentation method based on pulse time-of-flight laser ranging |
| CN102878927A (en) * | 2012-09-18 | 2013-01-16 | 武汉武大卓越科技有限责任公司 | Device and method for automatically measuring volume of large open material yard based on vehicle carrier |
| CN103913116A (en) * | 2014-03-10 | 2014-07-09 | 上海大学 | Large-scale piled material volume two-side parallel measuring device and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2547292A (en) * | 2016-08-19 | 2017-08-16 | Intertek Group Plc | Improved method, apparatus and system for estimating the mass of a stockpile |
| GB2547292B (en) * | 2016-08-19 | 2018-11-07 | Intertek Group Plc | Improved method, apparatus and system for estimating the mass of a stockpile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104251664A (en) | 2014-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104251664B (en) | Power plant based on wireless network symmetry laser ranging inventory coal system and method | |
| CN103913116B (en) | Large-scale stacking material volume both sides parallel measuring device and method | |
| CN105953747B (en) | Structured light projection full view 3-D imaging system and method | |
| CN103376068B (en) | The acquisition methods of laser three-D pattern proving installation and object plane three-dimensional information thereof | |
| CN106597470B (en) | A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device | |
| CN103090791B (en) | Measurement system, method and device of scattered materials and material piling and taking control system | |
| Fröhlich et al. | Terrestrial laser scanning–new perspectives in 3D surveying | |
| CN104797907B (en) | Measuring appliance and measuring method for object automatic measurement | |
| CN105116922B (en) | A kind of there-dimensional laser scanning device control system | |
| CN108981580B (en) | Online detection device and method for crane track | |
| CN106679588B (en) | A kind of live standing tree Laser Scanning based on 3 D laser scanning hoistable platform | |
| CN101493526B (en) | Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method | |
| CN109215111B (en) | Indoor scene three-dimensional modeling method based on laser range finder | |
| CN108535736A (en) | Three dimensional point cloud acquisition methods and acquisition system | |
| CN101950433A (en) | Building method of transformer substation three-dimensional model by using laser three-dimensional scanning technique | |
| CN106152944B (en) | Log based on the Airborne Laser Scan translation detection device | |
| CN205014956U (en) | A 3d scanner | |
| CN102230785B (en) | Indoor 3D (3-dimensional) dimension measurement method | |
| CN106989690A (en) | Portable non-contact object inner chamber pattern spy testing digitizer | |
| CN103307980A (en) | Automatic measuring device for volume of grain pile and measuring method thereof | |
| CN103307984A (en) | Laser measuring device, laser measuring system and laser measuring method for adjustable paddle blade | |
| CN104563459B (en) | A kind of plastering machine and its leveling method | |
| CN104154861A (en) | Circling measurement device and method for volume of large stacked material | |
| CN108344379A (en) | A kind of system and method measuring insulator cross-section profile shape and creepage distance | |
| CN100573033C (en) | Three-dimensional surface model building system based on binocular |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhou Shiyang Inventor after: He Jun Inventor after: Gong Xueli Inventor before: Wan Xiong |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160921 Termination date: 20200925 |