CN108007406A - Compartment localization method and system - Google Patents
Compartment localization method and system Download PDFInfo
- Publication number
- CN108007406A CN108007406A CN201711174198.5A CN201711174198A CN108007406A CN 108007406 A CN108007406 A CN 108007406A CN 201711174198 A CN201711174198 A CN 201711174198A CN 108007406 A CN108007406 A CN 108007406A
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- compartment
- point
- coordinate
- coordinate system
- inclination angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of compartment localization method and system, method to include：S1. in sample coordinate system, the side in compartment is scanned along default scan line, according to the scan data of each scanning element determine the inclination angle of at least one side in the compartment, specified point coordinate, the specified point includes starting point and end point；S2. according to the inclination angle of the side and the coordinate of specified point, positioning of the compartment in the sample coordinate system is determined.Simple with principle, positioning accuracy is high, and speed is fast, the advantages such as cost is low.
Description
Technical field
Gather and process field the present invention relates to coal charge, more particularly to a kind of coal charge gather and process in compartment localization method and system.
Background technology
In coal detection field, it is necessary first to transport vehicle from coal and gather and process coal sample, then by coal sample by detection device into
Row detection, to determine the quality of coal.When gathering and processing coal sample, automatic sampling is generally carried out by coal sampling equipment, this is just needed
The position in compartment is determined first.The prior art positions compartment generally by following two methods：First, image is passed through
Sensor obtains compartment in the image of sample area, by manually carrying out dragging frame, describes the profile in compartment by hand, determines car
The position in railway carriage or compartment, this method low precision, efficiency is low, and arbitrariness is also big, it is difficult to prevents the cheating in sampling process；2nd, pass through
The method of laser positioning, as shown in Figure 1, the laser sensor of two switching values of sampling, on the cart and trolley of sampling apparatus
Respectively fill one, cart is moved along Y direction, movement of the trolley along X-direction, the laser sensor on cart by X-direction into
Row detection, determines two location points of B, D, and the laser sensor on trolley is detected by Y direction, determines two positions of A, C
Point, so that it is determined that the positioning in compartment, this method is of high cost, and since cart and trolley will act, positioning time length, positioning
Efficiency is low, and can only be roughly definite compartment origin, can not accurately calculate the angle excursion in compartment.Application No.
201410147427.4 application for a patent for invention proposes a kind of compartment localization method, and this method determines stopping for vehicle by scanning
Rake angle, then the compartment specifications parameter by stopping rake angle position compartment, but this method presence needs compartment specification ginseng
Number is aided in, also, since carriage side is not complete plane, and there are error for sensor measurement data so that it is fixed
Position result has large error under some particular states；In addition, in this method, when automobile deflection to the left, compartment origin is
The second point (closest approach) scanned, when compartment deflection to the right, compartment origin is first point (first scan point), so to sweep
The second point (closest approach) retouched as compartment origin be not suitable for compartment to the right deflection when situation, it has not been convenient in same seat
The lower generation sampled point of mark system is sampled, and can not fully meet the demand that compartment is positioned and sampled.
The content of the invention
The technical problem to be solved in the present invention is that：For technical problem existing in the prior art, the present invention provides one
Kind principle is simple, and positioning accuracy is high, and speed is fast, the low compartment localization method of cost and system.
In order to solve the above technical problems, technical solution proposed by the present invention is：A kind of compartment localization method, including：
S1. in sample coordinate system, the side in compartment is scanned along default scan line, according to sweeping for each scanning element
Retouch data and determine the inclination angle of at least one side in the compartment, the coordinate of specified point, the specified point includes starting point and knot
Spot；
S2. according to the inclination angle of the side and the coordinate of specified point, determine the compartment in the sample coordinate system
Positioning.
Further, in step sl, by distance measuring sensor carry out ranging scan, according to the movement of distance measuring sensor away from
From the coordinate that definite scanning element is calculated with scanning distance；The inclination for determining side is calculated according to the coordinate of at least two scanning elements
Angle.
Further, the inclination angle is preferably according to the coordinate of whole scanning elements on the side, at smothing filtering
Calculate and determine after reason；Determined alternatively, the inclination angle is preferably calculated according to the coordinate of two endpoints on the side.
Further, in step S1, by judging the variation tendency of the scan data, turning for the variation tendency is judged
Break is flex point, and flex point both sides data scanning point is judged to adhere to two different sides separately.
Further, the preferred corresponding side with compared with long scan line in side described in step S1.
Further, in step s 2, when the inclination angle is zero, the coordinate of the starting point and end point are passed through
Coordinate, and the length in predetermined compartment, width data are combined, determine positioning of the compartment in sample coordinate system.
Further, the step of further including definite compartment coordinate system：To be adopted in the specified point and the flex point with described
The nearest point of the origin of sample coordinate system is the origin of compartment coordinate system, using longer side as compartment coordinate system Y-axis.
Further, step S3 is further included, the computational length in the compartment is calculated according to positioning result and/or is calculated wide
Degree, and the length and/or width that pass through predetermined compartment are to verify the computational length and/or calculate the error of width
It is no to meet default required precision.
A kind of compartment alignment system, including distance measuring sensor, memory and processor；
The distance measuring sensor is used to be scanned compartment along default scan line, obtains the scanning number of each scanning element
According to；
The memory is used to store positioning control program, and such as claim 1 can be realized by performing the positioning control program
To 7 any one of them method of samplings；
The processor is used to perform the positioning control program in the memory.
Compared with prior art, the advantage of the invention is that：
1st, it is that can determine that compartment in sample coordinate system that the present invention, which only needs a distance measuring sensor to carry out single pass,
Accurate location, algorithm, principle are simple, and positioning accuracy is high, and speed is fast, and cost is low, and location efficiency is high.
2nd, the present invention verifies positioning result by default car data, so as to can effectively ensure that positioning result
Accuracy, ensure sampling process safely, be smoothed out.
3rd, the present invention is by the way that with the scan data of the side with compared with long scan line, side is calculated after carrying out smothing filtering
Slope, or the slope with the scan data calculating side of the two-end-point of the side with compared with long scan line, can effectively ensure that and counted
Obtained side slope has degree of precision, ensures the accurate of compartment positioning.
4th, the present invention selects point nearest from the origin of sample coordinate system using in specified point and flex point to be used as compartment coordinate system
Origin, convenient to be sampled in same sample coordinate system, convenient that controlling of sampling is carried out after being positioned to compartment, coordinate system turns
Change simply, it is easy to implement.
Brief description of the drawings
Fig. 1 positions schematic diagram for compartment in the prior art.
Fig. 2 is the flow diagram of the specific embodiment of the invention.
Fig. 3 is the positioning schematic diagram of the specific embodiment of the invention.
Marginal data：1st, guide rail；2nd, cart；3rd, trolley.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in figure 3, being compartment in the top view of sample area, the original using the initial position O of trolley 3 as sample coordinate system
Point, using guide rail direction as Y-axis, with the axial for X-axis of cart 2, it is XOY to determine sample coordinate system.Cart 2 is on guide rail 1 along Y-axis
Movement, trolley 3 move on cart 2 along X-axis.Certainly, sample coordinate system can set according to actual needs, be not limited to
Mode is stated, the present embodiment is only from the sample coordinate system of the angle Selection easy to explanation., can during using different sample coordinate systems
The principle changed by coordinate system is changed.
As shown in Fig. 2, the compartment localization method of the present embodiment, S1. is in sample coordinate system, along default scan line to car
The side in railway carriage or compartment is scanned, and the inclination angle, specific of at least one side in the compartment is determined according to the scan data of each scanning element
The coordinate of point, the specified point include starting point and end point；S2. according to the inclination angle of the side and the coordinate of specified point,
Determine positioning of the compartment in the sample coordinate system.In step sl, ranging scan, root are carried out by distance measuring sensor
The coordinate for determining scanning element is calculated according to the displacement distance and scanning distance of distance measuring sensor；According to the coordinate of at least two scanning elements
Calculate the inclination angle for determining side.
As shown in figure 3, in the present embodiment, distance measuring sensor is arranged on cart 2, distance measuring sensor is with cart along Y-axis
Movement, scan line are overlapped with Y-axis, and Y-axis coordinate of the distance measuring sensor in each location point can be determined according to the displacement of cart.Survey
It is scanned away from sensor according to X-direction, may thereby determine that the distance between each scanning element and distance measuring sensor, that is, scan
The X-axis coordinate of point.Such as E points, it can determine that its coordinate in sample coordinate system is (x by above-mentioned scanninge, ye).Pass through survey
Single pass away from sensor, can obtain the coordinate of whole scanning elements between BA and AD.In the present embodiment, by judging
The variation tendency of scan data is stated, judges the turning point of the variation tendency for flex point, by flex point both sides data scanning point
It is judged to adhering to two different sides separately.In Fig. 3 (a), in scanning process, first scanning element is determined as starting point, B
Point, is determined as end point, D points with last scanning element；When being scanned for BA sections, distance that distance measuring sensor scans
In the trend gradually reduced, and at AD sections, the span that distance measuring sensor scans is in be stepped up trend, accordingly, it can be determined that
The point of distance minimum is flex point in scanning element, A points.Pass through flex point A, you can to determine two the sides BA and AD in compartment.For
Vehicle stops positive situation, and as shown in Fig. 3 (b), it is parallel with Y-axis to stop exactly compartment side, therefore, in scanning process, does not have
Flex point, only exists starting point B, and end point A.
In the present embodiment, by the scanning element on side, simple mathematical computations are passed through, you can calculate and determine side
Inclination angle.For in theory, by the coordinate of any two scanning element on side, that is, the inclination angle of side is calculated, but
Due to distance measuring sensor error that may be present itself, and the surface of carriage side and Non-smooth surface, but in the presence of necessarily recessed
Convex, the data that distance measuring sensor measurement obtains accordingly also can there are certain fluctuation.Therefore in the present embodiment, the inclination angle
It is preferred that according to the coordinate of whole scanning elements on the side, determined by being calculated after the disposal of gentle filter.By complete on opposite side
The coordinate of portion's scanning element is smoothed, and obtains linear distributing scanning element, then calculates the inclination angle of the straight line, from disappearing
Except the influence that is brought to result of calculation of fluctuation, the precision of result of calculation is improved.Meanwhile for same error, between 2 points
Distance is bigger, and the error that inclination angle is calculated is smaller.In the present embodiment, inclination angle is preferably according to two endpoints on the side
Coordinate calculate determine.The preferred corresponding side with compared with long scan line in side.As shown in Fig. 3 (a), pass through the seat of specified point
Mark, A (xa, ya)、B(xb, yb)、C(xc, yc), it may be determined that BA is longer side, then can calculate BA by the relation of trigonometric function
Tiltangleθ 1=arctan ((xb-xa)/(yb-ya)).Same principle, can calculate the inclination angle of side AD.Since compartment is
Rectangle, can directly switch the inclination angle of the definite side AD of relation calculating according to geometry.
In the present embodiment, for the inclined situation in compartment, as shown in Fig. 3 (a) and 3 (c), starting point (Fig. 3 is being determined
(a) starting point is A in, and starting point is C in Fig. 3 (c)) coordinate and end point (end point is D in Fig. 3 (a), knot in Fig. 3 (c)
Spot is A) coordinate, and the inclination angle of any side (being BA and AD in Fig. 3 (a), be CB and BA in Fig. 3 (c)), according to car
The geometrical relationship in railway carriage or compartment, compartment are rectangle, you can determine positioning of the compartment in sample coordinate system, determine compartment in sample coordinate
Frame in system is ABCD.Such as Fig. 3 (a), it is determined that starting point B and end point D, and the inclination angle of BA, you can determine side
BA, since compartment is rectangle, the vertical relation between AD and BA, the vertical line of BA is done by D points can determine side AD, thus
It can determine that border ABCD of the compartment in sample coordinate system.
In the present embodiment, it is special, such as Fig. 3 (b), when the inclination angle is zero, pass through the coordinate of the starting point
With the coordinate of end point, and the length in predetermined compartment, width data are combined, determine the compartment in sample coordinate system
Positioning.The side in compartment is parallel with scan line in which case, and compartment one can only be determined by the scanning of distance measuring sensor
Bar side BA, and the starting point A and end point B of the side, can not determine the width in compartment, and therefore, it is necessary to by predefining
Box width data as supplement so as to determine positioning of the compartment in sample coordinate system, determine compartment in sample coordinate
Frame in system is ABCD.
In the present embodiment, step S3 is further included, computational length and/or the calculating in the compartment are calculated according to positioning result
Width, and by the length in predetermined compartment and/or width come the error verifying the computational length and/or calculate width
Whether default required precision is met.In the present embodiment, by the physical length in compartment and/or width to the compartment that is calculated
Length and/or width verified that location information is exported when error meets default required precision, and it is fixed otherwise to re-start
Position.With ensure will not because of positioning error it is excessive so that causing to damage to sample devices when coal charge is sampled, it is also ensured that
Sampled point is accurately sampled in sampling process.
In the present embodiment, the step of further including definite compartment coordinate system：With in the specified point and the flex point with institute
The nearest point of origin for stating sample coordinate system is the origin of compartment coordinate system, using longer side as compartment coordinate system Y-axis.Compartment
Coordinate system is X`O`Y`, so as to establish the transformational relation between sample coordinate system and compartment coordinate system, (x, y)=F (x`, y
`), (x`, y`) is the coordinate in compartment coordinate system, and (x, y) is the coordinate in sample coordinate system, and F is transfer function.Thus, it is right
In the sampled point determined according to compartment coordinate, in that context it may be convenient to the point in sample coordinate system is converted to by transfer function, so that
Driving sampling apparatus accurately samples sampled point.
The compartment alignment system of the present embodiment, including distance measuring sensor, memory and processor；The distance measuring sensor is used
Compartment is scanned in along default scan line, obtains the scan data of each scanning element；The memory, which is used to store, to be positioned
Program is controlled, the method for sampling can be realized by performing the positioning control program；The processor is used to perform described deposit
Positioning control program in reservoir.
Above-mentioned simply presently preferred embodiments of the present invention, not makees the present invention limitation in any form.It is although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, should all fall
In the range of technical solution of the present invention protection.
Claims (9)
- A kind of 1. compartment localization method, it is characterised in that：S1. in sample coordinate system, the side in compartment is scanned along default scan line, according to the scanning number of each scanning element According to the inclination angle of the definite at least one side in compartment, the coordinate of specified point, the specified point includes starting point and end point；S2. according to the inclination angle of the side and the coordinate of specified point, determine that the compartment is determined in the sample coordinate system Position.
- 2. compartment localization method according to claim 1, it is characterised in that：In step sl, by distance measuring sensor into Row ranging scan, the coordinate for determining scanning element is calculated according to the displacement distance of distance measuring sensor and scanning distance；According at least two The coordinate of a scanning element calculates the inclination angle for determining side.
- 3. compartment localization method according to claim 2, it is characterised in that：The inclination angle is preferably according on the side The coordinate of whole scanning elements, is determined by being calculated after the disposal of gentle filter；Alternatively, the inclination angle is preferably according on the side The coordinate of two endpoints, which calculates, to be determined.
- 4. compartment localization method according to claim 3, it is characterised in that：In step S1, by judging the scanning number According to variation tendency, judge the turning point of the variation tendency for flex point, flex point both sides data scanning point be determined as minute Belong to two different sides.
- 5. compartment localization method according to claim 4, it is characterised in that：The preferred correspondence in side described in step S1 has Compared with the side of long scan line.
- 6. compartment localization method according to claim 5, it is characterised in that：In step s 2, when the inclination angle is zero When, by the coordinate of the starting point and the coordinate of end point, and the length in predetermined compartment, width data are combined, really Fixed positioning of the compartment in sample coordinate system.
- 7. compartment localization method according to claim 6, it is characterised in that the step of further including definite compartment coordinate system： Origin using point nearest with the origin of the sample coordinate system in the specified point and the flex point as compartment coordinate system, with compared with Long side is compartment coordinate system Y-axis.
- 8. compartment localization method according to any one of claims 1 to 7, it is characterised in that：Step S3 is further included, according to fixed Position result calculates the computational length in the compartment and/or calculates width, and the length and/or width for passing through predetermined compartment To verify the computational length and/or calculate the error of width whether meet default required precision.
- A kind of 9. compartment alignment system, it is characterised in that：Including distance measuring sensor, memory and processor；The distance measuring sensor is used to be scanned compartment along default scan line, obtains the scan data of each scanning element；The memory is used to store positioning control program, and performing the positioning control program can realize such as claim 1 to 7 times The method of sampling described in one；The processor is used to perform the positioning control program in the memory.
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| CN201711174198.5A CN108007406A (en) | 2017-11-22 | 2017-11-22 | Compartment localization method and system |
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| CN201711174198.5A CN108007406A (en) | 2017-11-22 | 2017-11-22 | Compartment localization method and system |
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| CN108801152A (en) * | 2018-05-29 | 2018-11-13 | 湖南三德科技股份有限公司 | A kind of measurement method and device of automobile dimension |
| CN109399250A (en) * | 2018-11-28 | 2019-03-01 | 青岛万龙智控科技有限公司 | Lift truck calibration system and method |
| CN112347664A (en) * | 2021-01-11 | 2021-02-09 | 苏州澳昆智能机器人技术有限公司 | Modeling method and device for irregular loading space |
| CN112857221A (en) * | 2021-01-15 | 2021-05-28 | 海伯森技术（深圳）有限公司 | Scanning method and device for quickly positioning spherical extreme point |
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