CN107367738B - Dangerous chemical storage barrier monitoring method, device and system - Google Patents
Dangerous chemical storage barrier monitoring method, device and system Download PDFInfo
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- CN107367738B CN107367738B CN201710285412.8A CN201710285412A CN107367738B CN 107367738 B CN107367738 B CN 107367738B CN 201710285412 A CN201710285412 A CN 201710285412A CN 107367738 B CN107367738 B CN 107367738B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses a method, a device and a system for monitoring dangerous chemical storage obstacles, which are used for realizing real-time monitoring and early warning of the safe distance of a dangerous chemical storage stack. The monitoring method comprises the following steps: scanning a target warehouse and acquiring scanning data of the target warehouse; calculating a distance value difference value of two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance value difference value to obtain a filtering result; and determining adjacent scanning points which are not filtered out as obstacles according to the filtering result, and acquiring the position information of the obstacles. By adopting the technical scheme of the invention, the abnormal noise points in the point scanning point cloud data can be effectively removed through the denoising algorithm, and meanwhile, the integrity and the reliability of the normal point cloud data can be ensured, and the obstacle information in the target storage can be obtained.
Description
Technical Field
The invention relates to the field of dangerous chemical storage safety, in particular to a dangerous chemical storage obstacle monitoring method, device and system.
Background
Safety accidents in storage of hazardous chemicals often occur, so that the importance of the safety accidents is more and more increased in recent years. The related research of the storage of the hazardous chemical substances is continuously developed, wherein the laser scanning system carries out safety monitoring on the storage of the hazardous chemical substances, can digitize and clearly understand information, and becomes a research hotspot more and more. The point cloud obtained by laser scanning inevitably contains noise points. The noise points are caused by various reasons, such as rough surface, corrugation and smoothness of the object; measuring equipment defects of the system itself; the shaking of the stepping motor, the looseness of the fixed frame and the sensitivity of the laser range finder to laser signals. The method for judging the noise points mainly comprises a direct identification method, a distance judgment method and a chord high threshold value method.
In radar detection, range and difference ranking methods are used for detecting moving objects. In the research of restoring the landform, the difference method well keeps the original characteristics in the extraction of the loess plateau along the line. The ghost imaging recovery information can be efficiently screened by using a difference method. In the insulation fault detection of the circuit, a difference method is also used for checking a specific fault position. In the storage of hazardous chemicals, in the laser scanning monitoring system, the laser range finder scans repeatedly according to the set angle range in a circulating manner, and light can return when meeting objects. In the laser scanning process, the generated abnormal point may be an obstacle or a noise point, so that the effective removal of the noise point in the laser scanning process is a key problem for confirming the obstacle.
Disclosure of Invention
The invention mainly aims to disclose a method, a device and a system for monitoring dangerous chemical storage obstacles, which aim to effectively remove noise points in a laser scanning process and is a key problem for confirming the obstacles.
In order to achieve the above purpose, according to one aspect of the present invention, a method for monitoring hazardous chemical storage obstacles is disclosed, and the following technical scheme is adopted:
scanning target storage and acquiring scanning data of the target storage; calculating a distance value difference value of two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance value difference value to obtain a filtering result; and determining adjacent scanning points which are not filtered out as obstacles according to the filtering result, and acquiring the position information of the obstacles.
Further, the scanning the target warehouse and acquiring the scanning data of the target warehouse includes: and arranging a laser scanning monitoring array according to the area of the target storage and the ranging range of the laser range finder, so that the laser scanning monitoring array performs full-angle scanning on the target storage, and acquiring the scanning data of the target storage.
Further, the calculating a distance difference between two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance difference includes: when the laser scanning monitoring array receives the scanning data, controlling an encoder in the laser scanning monitoring array to record an angle value corresponding to a scanning point in the scanning data; sorting the scanning points according to the angle values; calculating the distance value difference of two adjacent scanning points by the following method; setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(s+1)-d(i)(1)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value; when s (i)'s (i +1) <0, (2) and (| s (i) | & & | s (i +1) |) > m (3), the scanning point of the (i +1) th is determined to be a noise point, and the noise point is filtered out, wherein m is a preset threshold.
Further, the method for acquiring the preset threshold m comprises the following steps: if the laser scanning data simultaneously satisfy the formulas (2) and (3), the data point of the (i +1) th point is judged as a noise point; let m be 0.8 as the initial value, and substitute formula (3) to obtain: (ii) ventilation&&If s (i +1) |) is greater than 0.8, and m takes the value of 0.8, whether all the noise points are filtered is judged; when m is 0.8, all the noise points can not be filtered, an iterative algorithm is carried out, each iteration interval is 0.05, namely m is addedi+1＝mi-0.05 substitution (3), generating a new preset threshold; repeating the above equations (2) and (3) with the new preset threshold until all the noise points, i.e. m, are filtered outi+1 is the determined preset threshold.
Further, the acquiring the position information of the obstacle includes: extracting adjacent unfiltered scanning points, wherein the adjacent unfiltered scanning points comprise a first scanning point and a second scanning point; acquiring an angle value and a distance value of the first scanning point, and acquiring an angle value and a distance value of the second scanning point; and determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
According to another aspect of the invention, a dangerous chemical storage obstacle monitoring device is provided, and the following technical scheme is adopted:
a hazardous chemical storage barrier monitoring device includes: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for scanning a target warehouse and acquiring scanning data of the target warehouse; the filtering module is used for calculating a distance value difference value of two adjacent scanning points in the scanning data, filtering noise points in the scanning points according to the distance value difference value and obtaining a filtering result; and the determining module is used for determining adjacent scanning points which are not filtered out as obstacles according to the filtering result and acquiring the position information of the obstacles.
Further, the first obtaining module comprises: and the scanning module is used for arranging a laser scanning monitoring array according to the area of the target storage and the ranging range of the laser range finder, so that the laser scanning monitoring array scans the target storage to acquire the scanning data of the target storage.
Further, the filtration module comprises: the recording module is used for controlling an encoder to record an angle value corresponding to a scanning point in the scanning data when the scanning data is received by the laser scanning monitoring array; the sorting module is used for sorting the scanning points according to the angle values; a calculating module, configured to calculate the distance value difference between two adjacent scanning points: setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(s+1)-d(i),(1)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value; when s (i) <0 and (| s (i) | & & | (i) |) > m, determining the scanning point of the (i +1) th as a noise point and filtering the noise point; wherein m is a preset threshold value, and the m is 0.5.
Further, the determining module includes: the extraction module is used for extracting adjacent unfiltered scanning points, and the adjacent scanning points comprise a first scanning point and a second scanning point; the second acquisition module is used for acquiring the angle value and the distance value of the first scanning point and acquiring the angle value and the distance value of the second scanning point; and the third acquisition module is used for determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
According to another aspect of the invention, a hazardous chemical storage obstacle monitoring system is provided, and the following technical scheme is adopted:
a dangerous chemicals storage barrier monitoring system includes foretell monitoring devices.
By adopting the technical scheme of the invention, the abnormal noise points in the point scanning point cloud data can be effectively removed through the denoising algorithm, and meanwhile, the integrity and the reliability of the normal point cloud data can be ensured, and the obstacle information in the target storage can be obtained. In order to prevent the occurrence of safety accidents of dangerous chemical storage, the laser scanning monitoring system is adopted to carry out safety monitoring on the dangerous chemical storage, and the effect is vivid and concrete. The laser scanning obtains a large amount of data, and besides the obstacle abnormal point, there is also a separate noise point. According to the test result, the expected purposes of removing noise points and retaining effective data of obstacles are achieved by the difference sorting denoising algorithm under the special environment of dangerous chemical stacking storage.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic view of a laser rangefinder according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for monitoring storage obstacles in hazardous chemicals according to an embodiment of the present invention;
FIG. 3 is a schematic view of a laser scanning array according to an embodiment of the present invention;
FIG. 4 is a scattergram for obstacle-free scanning according to an embodiment of the present invention;
FIG. 5 is a histogram of obstacle-free scan distances according to an embodiment of the present invention;
FIG. 6 is a graph of the difference between the scanning distance without obstacles according to an embodiment of the present invention;
FIG. 7 is a noise-reduction image without obstacle scanning scatter points according to an embodiment of the present invention;
FIG. 8 is a rectangular parallelepiped obstacle scanning scattergram according to an embodiment of the present invention;
FIG. 9 is a histogram of rectangular parallelepiped obstacle scanning distances according to an embodiment of the present invention;
FIG. 10 is a graph of a difference between scanning distances of a rectangular parallelepiped obstacle according to an embodiment of the present invention;
FIG. 11 is a rectangular obstacle scanning scatter point denoising map according to an embodiment of the present invention;
FIG. 12 is a scatter plot of a cylindrical obstacle scan according to an embodiment of the present invention;
FIG. 13 is a histogram of the distance of scanning cylindrical obstacles according to an embodiment of the present invention;
FIG. 14 is a graph of the scanning distance difference of the cylindrical obstacle according to the embodiment of the present invention;
FIG. 15 is a cylindrical obstacle scanning scatter plot denoising map according to an embodiment of the present invention;
FIG. 16 is a laser scanning scatter plot of walls and windows according to an embodiment of the present invention;
FIG. 17 is a graph illustrating de-noising of a wall and a window according to an embodiment of the present invention;
fig. 18 is a schematic structural diagram of a hazardous chemical substance storage obstacle monitoring device according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The laser distance measuring instrument is an instrument for measuring the distance to a target by using a certain parameter of modulated laser. The distance measuring method is divided into a phase method distance measuring instrument and a pulse method distance measuring instrument, the pulse type laser distance measuring instrument emits a pulse laser beam or a sequence of short pulse laser beams to a target when in work, a photoelectric element receives the laser beam reflected by the target, a timer measures the time from the emitting to the receiving of the laser beam, and the distance from an observer to the target is calculated. The phase-method laser range finder detects a distance by detecting a phase difference occurring when emitted light and reflected light propagate in a space. The laser range finder is light in weight, small in volume, simple to operate, fast and accurate, and has an error of only one fifth to one hundred times that of other optical range finders, in fig. 2, a rectangular strip object is an experimental laser scanning range finder, and scattered rays represent light emitted by laser.
An encoder (encoder) is a device that compiles, converts, and formats signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored. Encoders convert angular or linear displacements, called codewheels, into electrical signals, called coderulers. The encoder can be divided into a contact type and a non-contact type according to a reading mode; encoders can be classified into an incremental type and an absolute type according to their operation principles. The incremental encoder converts displacement into periodic electrical signals, and then converts the electrical signals into counting pulses, and the number of the pulses is used for expressing the magnitude of the displacement. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.
Fig. 2 is a flowchart of a method for monitoring storage obstacles in hazardous chemicals according to an embodiment of the present invention.
Referring to fig. 2, the method for monitoring the storage barrier of the hazardous chemical comprises the following steps:
s101: scanning a target warehouse and acquiring scanning data of the target warehouse;
s103: calculating a distance value difference value of two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance value difference value to obtain a filtering result;
s105: and determining adjacent scanning points which are not filtered out as obstacles according to the filtering result, and acquiring the position information of the obstacles.
In the above technical scheme of this embodiment, in step S101, a target warehouse is scanned and scan data of the target warehouse is acquired, the target warehouse is a scanned object, and under a special environment in a warehouse of hazardous chemical substances stacked in the target warehouse, an array formed by the laser range finders in fig. 1 is specifically adopted to perform all-directional scanning on the whole target warehouse, and the laser range finders adopt 650nm laser light sources, have a range finding precision of 1mm, a range finding range of 70 meters, an output power of less than 1mW, and a sampling frequency of 15 Hz.
In step S103, calculating a distance difference between two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance difference to obtain a filtering result; aiming at the problem that noise abnormal points appear in the laser ranging scanning point cloud data, a difference sorting denoising algorithm is adopted to remove the noise points. The algorithm is that after laser ranging data points obtained by scanning are sorted from small to large according to angle values, the distance values of two adjacent points sequentially take difference values, and then the distance difference values are compared with a preset domain value to filter noise point data.
In step S105, it is determined that the neighboring scanning points that are not filtered are obstacles according to the filtering result, and position information of the obstacles is obtained, and a large amount of data obtained by laser scanning, except for abnormal points of the obstacles, has individual noise points, so that the expected purpose of removing noise points and retaining effective data of the obstacles is achieved by a difference sorting denoising algorithm in step S103. In order to prevent the occurrence of safety accidents of dangerous chemical storage, the position information of the barrier is required to be acquired, and the safety monitoring of dangerous chemical storage is realized.
By adopting the technical scheme of the embodiment, the abnormal noise points in the point scanning point cloud data can be effectively removed through the denoising algorithm, the integrity and the reliability of the normal point cloud data can be guaranteed, the barrier information in the target storage can be obtained, and the effect is vivid and specific.
Preferably, the scanning the target warehouse and acquiring the scanning data of the target warehouse includes: and arranging a laser scanning monitoring array according to the area of the target storage and the ranging range of the laser range finder, so that the laser scanning monitoring array performs full-angle scanning on the target storage, and acquiring the scanning data of the target storage.
Fig. 3 is a schematic diagram of a laser scanning array according to an embodiment of the invention.
In this embodiment, an embodiment of an apparatus for scanning a target warehouse is provided, and a laser scanning array is arranged according to an area of the target warehouse, specifically, referring to fig. 3, a plurality of laser range finders are organically combined to form an integral laser scanning monitoring array. Each laser range finder rotates to scan a plane, the laser returns when encountering an object to measure the distance, and meanwhile, the encoder records the angle value. Therefore, the laser scanning array can be formed by combining a laser range finder, a rotary holder, an encoder and the like, and safety monitoring is carried out on the stacking distance, wherein the laser range finder adopts a 650nm laser light source, the range finding precision is 1mm, the range finding range is 70 meters, the output power is less than 1mW, and the sampling frequency is 15 Hz. Therefore, the all-dimensional rotary scanning without dead angles is realized in the storage.
Preferably, the calculating a distance difference between two adjacent scanning points in the scanning data and filtering the noise point in the scanning point according to the distance difference includes: when the laser scanning monitoring array receives the scanning data, controlling an encoder in the laser scanning monitoring array to record an angle value corresponding to a scanning point in the scanning data; sorting the scanning points according to the angle values; calculating the distance value difference of two adjacent scanning points by the following method; setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(s+1)-d(i)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value; when s (i)'s (i +1) <0 and (| s (i) | & & | s (i +1) |) > m, where m is a preset threshold, determining the scanning point of the (i +1) th as a noise point and filtering out the noise point.
Specifically, the laser scanner is fixed in position, and the light returns when it encounters an object by repeating the scanning cyclically in a set angular range. The light encounters different positions, and the obtained distance values are different. When the laser scanner measures the distance value, the encoder records the current angle value at the same time. Let the distance value of each point be d and the distance difference be s. Firstly, sorting the points obtained by scanning according to the numerical value of the angle value, and then calculating the distance value difference value of two adjacent points: s (i) ═ d (s +1) -d (i).
Wherein i is a serial number after the data points are arranged according to the size of the angle value. Normally, the laser scanning angle changes slightly, the distance value changes slightly, and the approximation does not change. The experimental encoder resolution was 360o/16384 ═ 0.02 degrees, i.e., a slight change in 0.02 degrees, and the change in distance value was slight in a short-distance scan in a warehouse with a maximum distance of 30 meters. When the laser range finder rotationally scans an obstacle, the distance value jumps. Generally, when the laser meets an obstacle, the laser will continuously change a few distance values and no jump will occur. A single distance value point jumps because the angular range is too small to be considered an obstacle, which is noise. If the surface of the object is in the shape of a fence, single points can jump at intervals to form regular jump zones. Therefore, the (i +1) th point is filtered when s (i) × s (i +1) <0, and (| s (i) | & & | s (i +1) |) > m, where m is a preset threshold value.
Preferably, m is 0.5.
The method for acquiring the preset threshold m comprises the following steps:
if the laser scanning data simultaneously satisfy the formulas (2) and (3), the data point of the (i +1) th point is judged as a noise point;
let m be 0.8 as the initial value, and substitute formula (3) to obtain:
(|s(i)|&&|s(i+1)|)＞0.8
when m takes a value of 0.8, judging whether all the noise points are filtered;
when m is 0.8, all the noise points can not be filtered, an iterative algorithm is carried out, each iteration interval is 0.05, namely m is addedi+1＝mi-0.05 substitution (3), generating a new preset threshold;
repeating the above equations (2) and (3) with the new preset threshold until all the noise points, i.e. m, are filtered outi+1 is the determined preset threshold.
In the present application, after repeated comparison of a plurality of values, m is 0.5, which is an appropriate preset threshold.
The following is a description of experimental data for the present application.
Referring to fig. 4, when there is no obstacle, the laser scans a set of data obtained by the wall surface, and the laser emitting port of the laser range finder is set as the origin. There are individual points that, unlike most data points, are considered noise points. The data points are sorted from small to large according to the size of the angle value. The angle value, i.e., the angle through which the X-axis rotates counterclockwise, is the amount of angle that the X-axis rotates when it coincides with the data point. A histogram of distance values of each point to the origin is shown in fig. 5. In fig. 5, some points are obviously different from the periphery, the distance difference between two adjacent points is obvious, and the distance difference between the adjacent points is also obvious. As shown in fig. 6, when the distance difference is converted into a graph, the difference changes greatly because the noise point is different from the adjacent data value, as compared with fig. 5. With a noise point, two anomalous adjacent data bar graphs are generated, with values of one positive and one negative, of similar magnitude. A noise-free plot can be obtained by filtering data points satisfying s (i) × s (i +1) <0 and (| s (i) | & | s (i +1) |) > m, as shown in fig. 7. When a rectangular parallelepiped obstacle is set, a set of data obtained by laser scanning is shown in fig. 8. A histogram of distance values of each point to the origin is shown in fig. 9. As can be seen from fig. 9, two points are clearly different from adjacent points. When the laser scanning encounters an obstacle, the distance value jumps and becomes another trend. Occasionally, two or more points, which are different from adjacent data points, belong to a single singular point. In the face of this, a single singular point is removed. The distance value difference is converted into a graph as shown in fig. 10. The two jumping points have opposite numerical values and obvious sizes, namely the single jumping point is a noise point. The noise-free map 11 can be obtained by filtering data points satisfying s (i) × s (i +1) <0 and (| s (i) | & | s (i +1) |) > m.
When a cylindrical obstacle is set, a set of data obtained by laser scanning is shown in fig. 12. A histogram of distance values of each point to the origin is shown in fig. 13. Similarly, when a cylindrical obstacle is encountered, the value jumps due to the obstacle, and if a single noise point exists, the data size of the cylindrical obstacle is different from that of two adjacent points. The difference in distance between the scatter points of the cylindrical obstacle scan is shown in fig. 14, and it is apparent that the bar graphs of six adjacent data are different. After denoising the scattered points scanned by the cylindrical obstacle, noise points are removed as shown in fig. 15.
When there is indoor radiator at the wall, when following the window railing, the thing that laser range finder scanned just includes, radiator, wall and the linking of window, railing and window glass. The effect of the difference denoising method in this special case is as follows, noise points are effectively removed, and data in the special case is retained, as shown in fig. 16 and 17, fig. 16 is a laser scanning scatter diagram of the wall and window joint, and fig. 17 is a diagram processed by the difference denoising algorithm.
In summary, the data statistical analysis result of the difference sorting denoising test is shown in table 1.
TABLE 1 Difference ordering denoising statistics
Table 1D-value rankingdenoising statistics
As can be seen from Table 1, the difference sorting denoising can be performed well, individual special point conditions are deleted by mistake, but the overall conditions are good, in order to prevent safety accidents of hazardous chemical storage, a laser scanning monitoring system is adopted to perform safety monitoring on the hazardous chemical storage, and the effect is vivid and specific. A large amount of data obtained by laser scanning has individual noise points besides obstacle abnormal points, so a difference sorting denoising algorithm is researched and designed.
Preferably, the acquiring the position information of the obstacle includes: extracting adjacent unfiltered scanning points, wherein the adjacent unfiltered scanning points comprise a first scanning point and a second scanning point; acquiring an angle value and a distance value of the first scanning point, and acquiring an angle value and a distance value of the second scanning point; and determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
In the technical scheme of this embodiment, after the scanning point left after filtering is determined as the obstacle, the position information of the obstacle can still be obtained through the distance value and the angle value, so as to further monitor and process the obstacle in the hazardous chemical substance storage, and provide the safety of hazardous chemical substance management.
Fig. 18 is a schematic structural diagram of a hazardous chemical substance storage obstacle monitoring device according to an embodiment of the present invention.
Referring to fig. 18, the hazardous chemical substance storage obstacle monitoring device provided by the invention adopts the following technical scheme:
a hazardous chemical storage barrier monitoring device includes: the first acquisition module 180 is used for scanning a target warehouse and acquiring scanning data of the target warehouse; the filtering module 182 is configured to calculate a distance value difference between two adjacent scanning points in the scanning data, filter a noise point in the scanning point according to the distance value difference, and obtain a filtering result; and the determining module 184 is configured to determine, according to the filtering result, that neighboring scanning points that are not filtered out are obstacles, and acquire position information of the obstacles.
Optionally, the first obtaining module 180 includes: and the scanning module (not shown) is used for arranging a laser scanning monitoring array according to the area of the target storage and the ranging range of the laser range finder, so that the laser scanning monitoring array scans the target storage to acquire the scanning data of the target storage.
Optionally, the filtering module 182 comprises: a recording module (not shown in the figure) for controlling an encoder to record an angle value corresponding to a scanning point in the scanning data when the scanning data is received by the laser scanning monitoring array; a sorting module (not shown) for sorting the scanning points according to the angle values; a calculation module (not shown) for calculating the distance value difference between two adjacent scanning points: setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(s+1)-d(i),(1)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value; when s (i) <0 and (| s (i) | & & | (i) |) > m, determining the scanning point of the (i +1) th as a noise point and filtering the noise point; wherein m is a preset threshold value, and the m is 0.5.
Optionally, the determining module 184 includes: an extracting module (not shown) for extracting neighboring scanning points that are not filtered, wherein the neighboring scanning points include a first scanning point and a second scanning point; a second obtaining module (not shown in the figure) for obtaining the angle value and the distance value of the first scanning point, and obtaining the angle value and the distance value of the second scanning point; and a third obtaining module (not shown in the figure) for determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
The hazardous chemical storage barrier monitoring system provided by the invention comprises the monitoring device.
By adopting the technical scheme of the invention, the abnormal noise points in the point scanning point cloud data can be effectively removed through the denoising algorithm, and meanwhile, the integrity and the reliability of the normal point cloud data can be ensured, and the obstacle information in the target storage can be obtained. In order to prevent the occurrence of safety accidents of dangerous chemical storage, the laser scanning monitoring system is adopted to carry out safety monitoring on the dangerous chemical storage, and the effect is vivid and concrete. The laser scanning obtains a large amount of data, and besides the obstacle abnormal point, there is also a separate noise point. According to the test result, the expected purposes of removing noise points and retaining effective data of obstacles are achieved by the difference sorting denoising algorithm under the special environment of dangerous chemical stacking storage.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (6)
1. A method for monitoring dangerous chemical storage obstacles is characterized by comprising the following steps:
scanning a target warehouse and acquiring scanning data of the target warehouse;
calculating a distance value difference value of two adjacent scanning points in the scanning data and filtering noise points in the scanning points according to the distance value difference value to obtain a filtering result;
determining adjacent scanning points which are not filtered out as obstacles according to the filtering result, and acquiring position information of the obstacles;
wherein, the scanning the target warehouse and acquiring the scanning data of the target warehouse comprises:
arranging a laser scanning monitoring array according to the area of the target storage and the ranging range of the laser range finder, so that the laser scanning monitoring array performs full-angle scanning on the target storage to acquire scanning data of the target storage;
wherein, the calculating the distance difference between two adjacent scanning points in the scanning data and filtering the noise point in the scanning point according to the distance difference comprises:
when the laser scanning monitoring array receives the scanning data, controlling an encoder in the laser scanning monitoring array to record an angle value corresponding to a scanning point in the scanning data;
sorting the scanning points according to the angle values;
calculating the distance value difference of two adjacent scanning points by the following method;
setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(i+1)-d(i) (1)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value;
when s (i +1) <0 (2),
and (| s (i) | & & | s (i +1) |) > m (3),
determining the scanning point of the (i +1) th as a noise point, and filtering the noise point;
wherein m is a preset threshold.
2. The monitoring method according to claim 1, wherein the preset threshold m is obtained by:
if the laser scanning data simultaneously satisfy the formulas (2) and (3), the data point of the (i +1) th point is judged as a noise point;
let m be 0.8 as the initial value, and substitute formula (3) to obtain:
(|s(i)|&&|s(i+1)|)＞0.8
when m takes a value of 0.8, judging whether all the noise points are filtered;
when m is 0.8, all the noise points can not be filtered, an iterative algorithm is carried out, each iteration interval is 0.05, namely m is addedi+1＝mi-0.05 substitution (3), generating a new preset threshold;
repeating the above equations (2) and (3) with the new preset threshold until all the noise points, i.e. m, are filtered outi+1 is the determined preset threshold.
3. The monitoring method of claim 1, wherein the obtaining the location information of the obstacle comprises: lifting device
Taking adjacent unfiltered scanning points, wherein the adjacent scanning points comprise a first scanning point and a second scanning point;
acquiring an angle value and a distance value of the first scanning point, and acquiring an angle value and a distance value of the second scanning point;
and determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
4. A monitoring device for dangerous chemical storage obstacles is characterized in that,
the method comprises the following steps:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for scanning a target warehouse and acquiring scanning data of the target warehouse;
the filtering module is used for calculating a distance value difference value of two adjacent scanning points in the scanning data, filtering noise points in the scanning points according to the distance value difference value and obtaining a filtering result;
the determining module is used for determining adjacent scanning points which are not filtered out as obstacles according to the filtering result and acquiring the position information of the obstacles;
wherein the first obtaining module comprises: the array is used for scanning the target storage by the laser scanning monitoring array to acquire scanning data of the target storage;
wherein the filter module comprises:
the recording module is used for controlling an encoder to record an angle value corresponding to a scanning point in the scanning data when the scanning data is received by the laser scanning monitoring array;
the sorting module is used for sorting the scanning points according to the angle values;
a calculating module, configured to calculate the distance value difference between two adjacent scanning points:
setting the distance value of each scanning point as d, the distance difference as s, and the distance value difference between two adjacent points as:
s(i)＝d(i+1)-d(i), (1)
wherein i is a serial number of the scanning points which are arranged according to the size of the angle value;
when s (i) <0 and (| s (i) | & & | (i) |) > m, determining the scanning point of the (i +1) th as a noise point and filtering the noise point;
wherein m is a preset threshold value, and the m is 0.5.
5. The monitoring device of claim 4, wherein the determining module comprises:
the extraction module is used for extracting adjacent unfiltered scanning points, and the adjacent scanning points comprise a first scanning point and a second scanning point;
the second acquisition module is used for acquiring the angle value and the distance value of the first scanning point and acquiring the angle value and the distance value of the second scanning point;
and the third acquisition module is used for determining the position information of the obstacle according to the angle value and the distance value of the first scanning point and the angle value and the distance value of the second scanning point.
6. A hazardous chemical storage barrier monitoring system, comprising a monitoring device according to any one of claims 4 to 5.
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