CN105043249A - Method and system for measuring volume of bulk materials in circular material shed - Google Patents
Method and system for measuring volume of bulk materials in circular material shed Download PDFInfo
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- CN105043249A CN105043249A CN201510278272.2A CN201510278272A CN105043249A CN 105043249 A CN105043249 A CN 105043249A CN 201510278272 A CN201510278272 A CN 201510278272A CN 105043249 A CN105043249 A CN 105043249A
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Abstract
The invention relates to the technical field of material management, and provides a method and system for measuring the volume of bulk materials in a circular material shed. The method comprises the steps that the top of the material shed is provided with an annular track; a laser scanner carries out scanning measurement while moving along the track; the laser scanner enables scanning measurement data to be transmitted to a data processing server through a wireless data transceiver; the data processing server employs the received scanning measurement data to update the material data stored locally; and the data processing server extracts data needed by a material field centralized control system, and transmits the data to the material field centralized control system. The embodiment of the invention provides the material measurement method. The top of the material shed is provided with the annular track, and the laser scanner carries out scanning measurement while moving along the track, thereby ironing out defects, caused by that a laser scanning measurer is provided with a material pushing arm or material fetching arm, of low efficiency in measurement and material stacking and fetching in the prior art, and improving the efficiency of measurement and material stacking and fetching.
Description
[technical field]
The present invention relates to handling of goods and materials technical field, particularly relate to a kind of circular material shed bulk material volume measuring method and system.
[background technology]
At present in the industries such as metallurgy, electric power and building, stock yard or coal yard generally adopt bar shaped stock ground or closed circular material shed to store former, fuel, for the measurement of bar shaped stock ground bulk material, adopt portable laser scanner or on stacker-reclaimer, fixedly mount laser scanner to measure material stack volume and the tank farm stock that converts, also there is similar method for circular material shed, windrow arm or arm for taking material are installed laser scanner to measure material stack volume.But this method needs the action of piling reclaimer device to coordinate location just can complete measurement task when measuring, be not suitable for stacking and taking operation busy or need to carry out the operating mode that stockpile measures in real time.
Given this, the defect overcome existing for the prior art is the art problem demanding prompt solution.
[summary of the invention]
The technical problem to be solved in the present invention is that in prior art, windrow scan method needs the action of piling reclaimer device to coordinate location just can complete measurement task when measuring, and is not suitable for stacking and taking operation busy or need to carry out the operating mode that stockpile measures in real time.
The present invention adopts following technical scheme:
On the one hand, embodiments provide a kind of circular material shed shape volume of material measuring method, arrange circular orbit at material shed top, laser scanner carries out scanning survey while rail moving, and described method comprises:
Scanning survey data are sent to data processing server by wireless receiver by described laser scanner; Described data processing server uses the described scanning survey Data Update received to be stored in local material data; Described data processing server extracts the data needed for the central control system of stock ground, sends to stock ground central control system.
Preferably, circular orbit, with annular safety trolley, is powered for giving scanner and scanner driving arrangement.
Preferably, laser scanner is arranged on driving arrangement, and driving arrangement is provided with locating device; Described locating device is for controlling described driving arrangement to appointment position to be scanned.
Preferably, driving arrangement, laser scanner, locating and detecting device carry out exchanges data by wireless network and stock ground central control system or data server.
Preferably, described data processing server is also for receiving the sector scanning instruction of operating personnel, and described method also comprises:
Sector scanning instruction transformation is the locating information of driving arrangement by described data processing server, and by wireless network, described locating information is sent to driving arrangement, so that described driving arrangement and laser scanner complete the material scanning in described locating information.
Preferably, described locating information is specially the coordinate figure of driving arrangement on described circular orbit.
Preferably, described driving arrangement also has distance exam function, concrete: when described driving arrangement receives locating information, according to the changing coordinates of laser scanner, calculate the position the most contiguous with coordinate in described locating information, described method specifically comprises: when the changing coordinates of laser scanner is between the coordinate that described locating information comprises, calculate the distance with described locating information two extreme coordinates, and from its most contiguous coordinate scan; When the changing coordinates of laser scanner is in outside the coordinate that described locating information comprises, calculate the distance of described locating information two extreme coordinates, and from its most contiguous coordinate scan.
The embodiment of the present invention additionally provides a kind of circular material shed bulk material volume measuring system on the other hand, and arrange circular orbit at material shed top, laser scanner carries out scanning survey while rail moving, and described system comprises:
Scanning survey data are sent to data processing server by wireless receiver by described laser scanner; Described data processing server uses the described scanning survey Data Update received to be stored in local material data; Described data processing server extracts the data needed for the central control system of stock ground, sends to stock ground central control system.
Preferably, described system also comprises: sector scanning instruction transformation is the locating information of driving arrangement by described data processing server, and by wireless network, described locating information is sent to driving arrangement, so that described driving arrangement and laser scanner complete the material scanning in described locating information.
Preferably, data processing server is also for resolving measurement instruction, and the state of monitoring driving equipment and laser scanner, sends driving arrangement and laser scanner steering order.
Compared with prior art, beneficial effect of the present invention is: embodiments provide a kind of material measuring method, based at material shed top, circular orbit is set, laser scanner is along the method for carrying out scanning survey while rail moving, overcome in prior art the inefficiency of laser scanning measurement instrument being installed surveying work and the heap material extracting operation that windrow arm or arm for taking material bring, improve and measure and heap material extracting operation efficiency.
[accompanying drawing explanation]
Fig. 1 is the one circular material shed bulk material volume measuring method schematic flow sheet that the embodiment of the present invention provides;
Fig. 2 is the one circular material shed bulk material volume measuring system structural representation that the embodiment of the present invention provides;
Fig. 3 is the one circular material shed bulk material volume measuring method schematic flow sheet that the embodiment of the present invention provides;
Fig. 4 is the one circular material shed bulk material volume measuring system structural representation that the embodiment of the present invention provides;
Fig. 5 is the one circular material shed bulk material volume measuring method schematic flow sheet that the embodiment of the present invention provides.
[embodiment]
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
embodiment 1:
The embodiment of the present invention 1 provides a kind of circular material shed shape volume of material measuring method, and arrange circular orbit at material shed top, laser scanner carries out scanning survey while rail moving, and described method comprises:
In step 201, scanning survey data are sent to data processing server by wireless receiver by described laser scanner.
In step 202., described data processing server uses the described scanning survey Data Update received to be stored in local material data.
In step 203, described data processing server extracts the data needed for the central control system of stock ground, sends to stock ground central control system.
Embodiments provide a kind of material measuring method, based at material shed top, circular orbit is set, laser scanner is along the method for carrying out scanning survey while rail moving, overcome the inefficiency of in prior art, laser scanning measurement instrument being installed the surveying work that windrow arm or arm for taking material bring, improve measurement efficiency.
Preferably, circular orbit, with annular safety trolley, is powered for giving scanner and scanner driving arrangement.
Preferably, laser scanner is arranged on driving arrangement, and driving arrangement is provided with locating device; Described locating device is for controlling described driving arrangement to appointment position to be scanned.
Preferably, driving arrangement, laser scanner, locating and detecting device carry out exchanges data by wireless network and stock ground central control system or data server.
Preferably, described data processing server is also for receiving the sector scanning instruction of operating personnel, and described method also comprises:
Sector scanning instruction transformation is the locating information of driving arrangement by described data processing server, and by wireless network, described locating information is sent to driving arrangement, so that described driving arrangement and laser scanner complete the material scanning in described locating information.
Preferably, described locating information is specially the coordinate figure of driving arrangement on described circular orbit.
Preferably, described driving arrangement also has distance exam function, concrete: when described driving arrangement receives locating information, according to the changing coordinates of laser scanner, calculate the position the most contiguous with coordinate in described locating information, described method specifically comprises: when the changing coordinates of laser scanner is between the coordinate that described locating information comprises, calculate the distance with described locating information two extreme coordinates, and from its most contiguous coordinate scan; When the changing coordinates of laser scanner is in outside the coordinate that described locating information comprises, calculate the distance of described locating information two extreme coordinates, and from its most contiguous coordinate scan.
embodiment 2:
The embodiment of the present invention 2 provides a kind of circular material shed shape volume of material measuring system, and arrange circular orbit at material shed top, laser scanner 1 carries out scanning survey while rail moving, and described system comprises:
Scanning survey data are sent to data processing server 3 by wireless receiver 2 by described laser scanner 1; Described data processing server 3 uses the described scanning survey Data Update received to be stored in local material data; Described data processing server 3 extracts the data needed for stock ground central control system 4, sends to stock ground central control system 4.
Preferably, described system also comprises: sector scanning instruction transformation is the locating information of driving arrangement 6 by described data processing server 3, and by wireless network 5, described locating information is sent to driving arrangement 6, so that described driving arrangement 6 and laser scanner 1 complete the material scanning in described locating information.
Preferably, data processing server 3 is also for resolving measurement instruction, and the state of monitoring driving equipment 6 and laser scanner 1, sends driving arrangement 6 and laser scanner 1 steering order.
embodiment 3:
The present embodiment 3, from how to install circular orbit, to how scanning the whole process of bank is explained in detail.Wherein, the driving arrangement 6 in embodiment 1 is embodied in driving dolly in the present embodiment; Laser scanner 1 in embodiment 1 is embodied in two dimensional laser scanning instrument 1 at the present embodiment.As shown in Figure 3, specifically comprise:
In step 301, at material shed top fixed installation circular orbit, orbit radius is about the half of circular material shed inwall radius, with safety sliding contact line on track.
In step 302, circular orbit arranges scanner and drives dolly, drive dolly by annular slide wire power supply, drive dolly with locating device, two dimensional laser scanning instrument 1, wireless receiver 2.
In step 303, at circular material shed internal fixtion, wireless receiver 2 is installed, for carrying out data communication with driving dolly.
In step 304, install and measure data processing server 3 at circular material shed internal fixtion, for screening the data gathered, the rough handling such as calculating, data processing server 3 is by industrial network 5 and stock ground central control system 4 communication.
In step 305, stock ground central control system 4 formulates volume of material measurement instruction according to the needs of material shed heap material extracting operation or fixed cycle, comprises the information such as material shed numbering, start time, start-stop angle of measurement.
Within step 306, volume of material measurement instruction is sent to traverse measuring device control module by stock ground central control system 4, and this module can be deployed in central control system 4, also can be deployed in the local PLC of material shed.
In step 307, traverse measuring device control module generates according to measurement instruction and drives dolly and two dimensional laser scanning instrument 1 steering order, by industrial network 5 and wireless receiver 2, corresponding control signal is sent to driving dolly and two dimensional laser scanning instrument 1.
In step 308, drive dolly according to the measurement instruction received, move to scanning starting position.
In a step 309, two dimensional laser scanning instrument 1 starts and starts scanning, and drive dolly synchronizing moving until arrive scanning final position, two dimensional laser scanning instrument 1 completes scan task.
In the step 310, scan-data is sent to data processing server 3 in material shed by wireless receiver 2 by two dimensional laser scanning instrument 1.
In step 311, in material shed, data processing server 3 will upgrade stockpile data in material shed after scan-data process, comprises heap shape profile, volume etc., and generates the data of central control system 4 needs, be sent to stock ground central control system 4 by industrial network 5.
embodiment 4:
As shown in Figure 4, for the structural representation of a kind of circular material shed shape volume of material measuring system that the embodiment of the present invention provides, wherein, 11 is the profile that vault part removed by circular material shed, 12 is windrow arm, 13 is arm for taking material, 14 is stockpile, 15 is circular orbit (comprising safety sliding contact line), 16 for driving dolly (being driving arrangement 6 in example 2), 17 is two dimensional laser scanning instrument (being laser scanner 1 in example 2), 18 is wireless receiver (being wireless receiver 2 in example 2), 19 is wireless receiver (stiff end), 20 is scan-data processing server (being data processing server 3 in example 2), wherein 11-14 is the basic comprising of circular material shed, 15-20 is for realizing the main hardware formation required for measuring method of the present invention.
The radius of circular orbit is about the half of circular coal canopy radius, and computing method are accurately:
R＝(R
1+R
2)/2(1)
Wherein:
R is circular orbit radius;
R
1for circular coal canopy inwall radius;
R
2for circular piling materials take-out newel radius.
Circular orbit is fixed on circular material shed top, and real radius can be finely tuned according to in-site installation condition, and circular orbit, with safety sliding contact line, drives dolly to power for giving.
Dolly is driven to be arranged on circular orbit, by safety sliding contact line for electric drive, can along track way moving.Drive with locating device on dolly, Real-time Feedback dolly position in orbit, for dolly position control.
Two dimensional laser scanning instrument 1 is arranged on and drives on dolly, and scanner 1 carries out line sweep along radial direction, drives dolly along rail moving simultaneously, reaches the object of stockpile surface profile being carried out to Surface scan.
Wireless receiver (mobile terminal) is arranged on and drives on dolly, receives drive dolly steering order and two dimensional laser scanning instrument 1 steering order from wireless receiver (stiff end), controls dolly and moves and laser scanner 1 start and stop; Receive and drive dolly status signal and two dimensional laser scanning instrument 1 scan-data and status signal, be sent to wireless receiver (stiff end).
Wireless receiver (stiff end) is arranged on circular piling materials take-out cab, receive from traverse measurement control module (stock ground central control system 4 or local PLC) and drive dolly steering order and two dimensional laser scanning instrument 1 steering order, be sent to wireless receiver (mobile terminal); Receiving from wireless receiver (mobile terminal) drives dolly status signal and two dimensional laser scanning instrument 1 status signal to be sent to traverse measurement control module, receives two dimensional laser scanning instrument 1 scan-data and is sent to local data processing server 3.
Scan-data processing server 3 is arranged on circular piling materials take-out cab, by the data that the scanning original data processing received is the extended formatting that displayable view data and stock ground central control system 4 need, and be sent to stock ground central control system 4 by industrial network 5.
Circular material shed volume of material measuring system main composition as shown in Figure 2, wherein, drives the control module of dolly and two dimensional laser scanning instrument 1 to be completed by the local PLC of material shed; Or, drive the control module of dolly and two dimensional laser scanning instrument 1 to be completed by stock ground central control system 4, can select according to on-site actual situations.
The one that the embodiment of the present invention provides circular material shed volume of material measuring system, as shown in Figure 5, concrete operation step is:
In step 501, stock ground central control system 4 formulates volume of material measurement instruction according to the needs of material shed heap material extracting operation or fixed cycle, comprise material shed numbering (N), the start time (T) of measurement, start angle (α), termination point (β), and measurement instruction is sent to traverse measuring device control module.
In step 502, when arriving measurement instruction time T, traverse measuring device control module, according to the current location (γ) driving dolly in corresponding material shed, judges dolly moving direction and scanning start-stop position:
If drive dolly close to start angle (α), then drive dolly to move by the direction of γ → α, and set start angle (α) for scanning starting position, termination point (β) is scanning final position.
If drive dolly close to termination point (β), then drive dolly to move by the direction of γ → β, and set termination point (β) for scanning starting position, start angle (α) is scanning final position.
Then wireless receiver is passed through in the dolly enabled instruction of corresponding moving direction, be sent to driving dolly;
In step 503, traverse measuring device control module real-time reception drives car positioning feedback signal, when driving dolly to arrive scanning starting position, traverse measuring device control module sends sweep start instruction to two dimensional laser scanning instrument 1, and scanner 1 starts scanning.
In step 504, traverse measuring device control module real-time reception drives car positioning feedback signal, when driving dolly to arrive scanning final position, sends scanning halt instruction to two dimensional laser scanning instrument 1, send mobile halt instruction to driving dolly simultaneously, drive dolly to stay where one is, pending further orders.
In step 505, the raw data of present scan is sent to scan-data processing server 3 by wireless receiver by two dimensional laser scanning instrument 1.
In step 506, scan-data processing server 3 pairs of raw data are screened, matching etc., generate displayable view data, calculate and upgrade volume of material data, calculating the related data generated for controlling to pile material extracting operation, being sent to stock ground central control system 4, completing a cubing task.
Adopt measuring method of the present invention, do not take the heap material extracting operation time during measurement, in material shed, windrow arm and arm for taking material can normal operations, and measuring equipment can control flexibly, and measuring process is by impact and the restriction of heap material extracting operation.
What deserves to be explained is, the content such as information interaction, implementation between said apparatus and intrasystem module, unit, due to disposal route embodiment of the present invention based on same design, particular content can see in the inventive method embodiment describe, repeat no more herein.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, ReadOnlyMemory), random access memory (RAM, RandomAccessMemory), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a circular material shed bulk material volume measuring method, is characterized in that, arrange circular orbit at material shed top, and laser scanner carries out scanning survey while rail moving, and described method comprises:
Scanning survey data are sent to data processing server by wireless receiver by described laser scanner;
Described data processing server uses the described scanning survey Data Update received to be stored in local material data;
Described data processing server extracts the data needed for the central control system of stock ground, sends to stock ground central control system.
2. according to circular material shed bulk material volume measuring method according to claim 1, it is characterized in that, circular orbit, with annular safety trolley, is powered for giving scanner and scanner driving arrangement.
3., according to circular material shed bulk material volume measuring method according to claim 1, it is characterized in that, laser scanner is arranged on driving arrangement, and driving arrangement is provided with locating device; Described locating device is for controlling described driving arrangement to appointment position to be scanned.
4. according to circular material shed bulk material volume measuring method according to claim 3, it is characterized in that: driving arrangement, laser scanner, locating and detecting device carry out exchanges data by wireless network and stock ground central control system or data server.
5. circular material shed bulk material volume measuring method according to claim 4, is characterized in that, described data processing server is also for receiving the sector scanning instruction of operating personnel, and described method also comprises:
Sector scanning instruction transformation is the locating information of driving arrangement by described data processing server, and by wireless network, described locating information is sent to driving arrangement, so that described driving arrangement and laser scanner complete the material scanning in described locating information.
6. circular material shed bulk material volume measuring method according to claim 5, it is characterized in that, described locating information is specially the coordinate figure of driving arrangement on described circular orbit.
7. circular material shed bulk material volume measuring method according to claim 6, it is characterized in that, described driving arrangement also has distance exam function, concrete:
When described driving arrangement receives locating information, according to the changing coordinates of laser scanner, calculate the position the most contiguous with coordinate in described locating information, described method specifically comprises:
When the changing coordinates of laser scanner is between the coordinate that described locating information comprises, calculate the distance with described locating information two extreme coordinates, and from its most contiguous coordinate scan;
When the changing coordinates of laser scanner is in outside the coordinate that described locating information comprises, calculate the distance of described locating information two extreme coordinates, and from its most contiguous coordinate scan.
8. a circular material shed bulk material volume measuring system, is characterized in that, arrange circular orbit at material shed top, and laser scanner carries out scanning survey while rail moving, and described system comprises:
Scanning survey data are sent to data processing server by wireless receiver by described laser scanner;
Described data processing server uses the described scanning survey Data Update received to be stored in local material data;
Described data processing server extracts the data needed for the central control system of stock ground, sends to stock ground central control system.
9. circular material shed bulk material volume measuring system according to claim 8, it is characterized in that, described system also comprises:
Sector scanning instruction transformation is the locating information of driving arrangement by described data processing server, and by wireless network, described locating information is sent to driving arrangement, so that described driving arrangement and laser scanner complete the material scanning in described locating information.
10. according to circular material shed bulk material volume measuring system according to claim 8, it is characterized in that: data processing server is also for resolving measurement instruction, the state of monitoring driving equipment and laser scanner, sends driving arrangement and laser scanner steering order.
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| CN108180849A (en) * | 2017-12-25 | 2018-06-19 | 上海昂丰装备科技有限公司 | Stacking height detection device and detection method in a kind of garbage pool |
| CN110136264A (en) * | 2019-05-30 | 2019-08-16 | 北京中盛博方环保工程技术有限公司 | The modeling method and system of stock ground material based on 3 D laser scanning |
| CN112193754A (en) * | 2020-10-30 | 2021-01-08 | 沈阳科维润工程技术有限公司 | Device and system for measuring bulk cargo field pile emptying volume |
| TWI717815B (en) * | 2019-08-26 | 2021-02-01 | 中國鋼鐵股份有限公司 | Reserve calculation method for automatic material pile scanning |
| CN113295232A (en) * | 2020-08-05 | 2021-08-24 | 中冶长天国际工程有限责任公司 | Material pile stock system and method for stock yard |
| CN114655722A (en) * | 2022-03-21 | 2022-06-24 | 淮河能源电力集团有限责任公司 | Scanning system for circular storage stock ground inventory |
| CN115839757A (en) * | 2022-12-01 | 2023-03-24 | 武汉煜炜光学科技有限公司 | Material management method and system |
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Application publication date: 20151111 |