CN109882706B - Height adjusting method for coal inventory system - Google Patents
Height adjusting method for coal inventory system Download PDFInfo
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- CN109882706B CN109882706B CN201910195134.6A CN201910195134A CN109882706B CN 109882706 B CN109882706 B CN 109882706B CN 201910195134 A CN201910195134 A CN 201910195134A CN 109882706 B CN109882706 B CN 109882706B
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Abstract
The invention relates to the field of coal inventory systems, in particular to a height adjusting method for a coal inventory system, which comprises the following steps: presetting a preset height difference between a scanning device and the top of the coal pile when the scanning device scans according to the scale of the coal pile; detecting the top of the coal pile, namely detecting the height of the top of the coal pile; and a height adjusting step, namely adjusting the position of the scanning device to be above the coal pile, so that the height difference between the scanning device and the top of the coal pile is equal to a preset height difference. Compared with the prior art, the method has the advantages that before scanning, the position of the scanning device is adjusted, the scanning device is located at the position where high-quality scanning and shooting can be conducted, high-quality scanning and shooting can be conducted each time, the coal inventory result is more accurate, and the stability is better.
Description
Technical Field
The invention relates to the field of coal inventory systems, in particular to a height adjusting method for a coal inventory system.
Background
Coal inventory, namely, the coal storage amount of the power plant is checked, and the power plant can make a feasible coal plan for power generation only after the coal inventory is made.
At present, coal inventory is mainly assisted by a scanning device, a bulldozer is used for piling the coal piles into a relatively regular shape, then the scanning device is used for scanning and measuring the coal piles to obtain the volume of the coal piles, and the volume is multiplied by the density of the coal piles to obtain the coal storage amount.
However, in the scanning process, the scanning device is basically directly mounted on a moving tool, such as a bucket wheel machine or a loading vehicle, and then the moving and scanning are performed, so that the coal pile can be scanned from multiple directions, but because the height of the scanner is random, the scanning quality is unstable and dead corners are easy to occur when the scanning device performs scanning. Moreover, the tops of many coal piles are not flat, and most of the coal piles have partial depressions or partial bulges, and if the scanning visual field is not good, the depressions or bulges at the tops of the coal piles cannot be measured, so that the measurement accuracy is unstable.
Disclosure of Invention
The invention provides a height adjusting method for a coal inventory system, aiming at the problems that the installation height of a scanner is random and the measurement accuracy is unstable in the existing coal inventory method.
The basic scheme provided by the invention is as follows:
a height adjustment method for a coal inventory system, comprising:
presetting a preset height difference between a scanning device and the top of the coal pile when the scanning device scans according to the scale of the coal pile;
detecting the top of the coal pile, namely detecting the height of the top of the coal pile;
and a height adjusting step, namely adjusting the position of the scanning device to be above the coal pile, so that the height difference between the scanning device and the top of the coal pile is equal to a preset height difference.
Basic scheme theory of operation and beneficial effect:
according to the scale of coal pile earlier, when predetermineeing scanning device and scan, with the preset difference in height between the coal pile top, survey the top height of coal pile again, later, move scanning device to the coal pile top and with the coal pile top between the difference in height equal to predetermine the difference in height, at this moment, scanning device possess better shooting angle, can carry out higher quality scanning shooting, the difficult dead angle that appears.
Compared with the prior art, the method has the advantages that before scanning, the position of the scanning device is adjusted, the scanning device is located at the position where high-quality scanning and shooting can be conducted, high-quality scanning and shooting can be conducted each time, coal inventory results are more accurate, and operation stability is better.
Further, in the height adjusting step, the scanning device is mounted on a telescopic device, and height adjustment is performed through the telescopic device.
With the telescoping device, carry out scanning device's height position adjustment like the telescopic link, compare with the height that uses unmanned aerial vehicle or artifical holding adjustment scanning device, scanning device can be stable after arriving ideal high position shoot at this height, unmanned aerial vehicle's flying height stability is difficult to be moved and is guaranteed, artifical holding then appears rocking the condition of shaking even easily, carry out height adjustment with the telescoping device, can guarantee subsequent scanning and shoot the quality.
Further, in the height adjusting step, the scanning device is mounted on the top of the telescopic device.
Install scanning device at the telescoping device top, compare with installing scanning device in the telescoping device bottom, when having scanned a point and carrying out the scanning of next point, it is more convenient to remove, no matter transport or artifical transport with the load wagon, it is all comparatively convenient, if install scanning device in the telescoping device bottom, it is more difficult when removing next scanning point meeting, need set up special removal track or a scanning point at the roof and set up one set of setting, the cost is higher.
Further, in the presetting step, presetting a preset height difference in a controller; in the height adjustment step, an infrared sensor is installed on the scanning device, the telescopic device and the infrared sensor are electrically connected with the controller, and when the controller controls the telescopic device to extend, when a feedback signal of the infrared sensor is changed from a front obstacle to a front obstacle, the controller controls the telescopic device to continue to extend by a preset height difference, and then the telescopic device stops extending.
When the controller controls the telescopic device to extend, a feedback signal of the infrared sensor is changed from a front obstacle to a front obstacle-free obstacle, which indicates that the infrared sensor just exceeds the top of the coal pile at the moment, the controller controls the extending device to continue to extend by a preset height difference and then stop extending, and because the infrared sensor is installed on the scanning device, when the telescopic device stops extending, the height difference between the scanning device and the top of the coal pile is just equal to the preset height difference. Compared with manual height adjustment, the method is simpler and more efficient.
Further, the method also comprises a scanning step and a resetting step; in the presetting step, scanning time is prestored in a controller; scanning, namely controlling a scanning device to scan after the controller controls the telescopic device to stop stretching; in the resetting step, after the scanning device scans the preset scanning time, the controller controls the telescopic device to reset.
By adopting the mode, the scanning height of the scanning device can be intelligently adjusted, the resetting of the device can be automatically completed after the scanner finishes scanning, and the whole process is more intelligent and automatic.
Furthermore, a rotatable tripod head is arranged at the top of the telescopic device, the scanning device is arranged on the tripod head, and the tripod head is electrically connected with the controller; in the scanning step, the controller controls the holder to rotate.
In the scanning step, the controller controls the holder to rotate, the scanning device can scan and shoot from multiple angles, dead angles in the scanning step are avoided as much as possible, and the scanning result is more accurate.
Further, in the presetting step, the rotation angle and the rotation sequence of the holder and the preset time of single angle scanning are prestored in the controller; in the scanning step, the controller controls the scanning device to scan for a preset time and then controls the holder to rotate; in the resetting step, the controller controls the cradle head to rotate for the last time, controls the cradle head to reset after the scanning device scans the preset time, and controls the telescopic device to reset again.
Compare with manual controller control cloud platform rotation for, such mode is more intelligent, and the staff need not carry out other operations, only need with equipment move to scanning point can.
Further, in the presetting step, the rotation angle and the rotation sequence of the holder prestored in the controller are clockwise rotated by 45 degrees and then anticlockwise rotated by 90 degrees.
Because the coal pile is generally stacked close to a truncated cone, the cradle head rotates clockwise for 45 degrees scanning after the scanning device scans in the front direction, and then rotates anticlockwise for 90 degrees for scanning. Therefore, the scanning device respectively carries out scanning measurement from the front, the clockwise 45 degrees and the anticlockwise 45 degrees, the scanning range is wider, and the scanning dead angle can be avoided.
Further, the telescopic device is fixed on the loading vehicle.
Fix the telescoping device on the load wagon, when having scanned a point and carrying out the scanning of next point, remove the load wagon can, compare with manual handling telescoping device, it can be more convenient to remove.
Further, in the scanning step, a 3D scanning device is used for scanning.
The 3D scanning device has high measurement accuracy and high efficiency, and compared with a common laser scanning device, the real-time measurement effect is outstanding.
Drawings
FIG. 1 is a flow chart of a first embodiment of a height adjustment method for a coal inventory system according to the present invention;
fig. 2 is a front structural view of a loading vehicle part in a second embodiment of the height adjustment method for a coal turning system according to the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a loading vehicle 1, a telescopic device 2, a cloud platform 3, a scanning device 4, a balance rod 5, a mounting seat 6, a supporting spring 7, a driving motor 8, a rotating rod 81 and an eccentric wheel 82.
Example one
As shown in fig. 1:
the height adjusting method for the coal inventory system comprises a presetting step, a coal pile top detecting step, a height adjusting step, a scanning step and a resetting step.
A presetting step, namely presetting a preset height difference between a scanning device and the top of a coal pile when the scanning device scans according to the scale of the coal pile, and storing the preset height difference into a controller; and the rotation angle and the rotation sequence of the holder and the single angle scanning time of the scanner are preset in the controller, in the embodiment, the rotation angle and the rotation sequence of the holder prestored in the controller rotate by 45 degrees clockwise, then rotate by 90 degrees counterclockwise, and the preset scanning time of each angle is 20 seconds. The height difference between the scanning device and the top of the coal pile can be set by a person skilled in the art according to the specific size of the coal pile. In this embodiment, the scanning device is A laser three-dimensional scanner custom-assembled by minwei vision automation equipment limited, guan, and the controller is an FX3G-60MT/ES-A model of mitsubishi brand, which supports autonomous programming, and has powerful functions and stable performance.
Detecting the top of the coal pile, namely detecting the top position of the coal pile; the scanning device is arranged at the top end of the telescopic device, specifically, a rotatable tripod head is welded at the top of the telescopic device, and the scanning device is fixed on the tripod head by bolts; the controller is used for controlling the extension device to extend, an infrared sensor is bonded on the scanning device, and the infrared sensor is electrically connected with the controller; when the feedback signal of the infrared sensor is changed from the obstacle in front to the obstacle-free object in front, the top of the coal pile is detected, and the scanning device is located at the top of the coal pile. In this embodiment, the cradle head is a heavy-duty digital cradle head HIW-E1 of military grade of haipu software industry ltd. The infrared sensor is an automatic brand BR100-DDT infrared sensor.
And a height adjusting step, namely after a feedback signal of the infrared sensor is changed from a state that an obstacle exists in the front into a state that no obstacle exists in the front, the controller controls the telescopic device to continue to extend for a preset height difference, and then the telescopic device stops extending. At this moment, the height difference between the scanning device and the top of the coal pile is just equal to the preset height difference, and the scanning device has a better scanning view angle and can better scan and measure the coal pile. The telescoping device in this embodiment is an electronic telescoping rod customized by jin Ge hardware electromechanical limited in Zhongshan city with a maximum stroke of 6 meters.
And scanning, namely after the controller controls the telescopic device to continue to extend for a preset height difference, controlling the scanning of the scanner and the rotation of the cradle head by a preset cradle head rotation angle, a preset rotation sequence and preset time for scanning at a single angle of the scanner. Because the rotational angle and the rotational sequence of the cradle head prestored in the controller rotate by 45 degrees clockwise, then rotate by 90 degrees anticlockwise, and the scanning time of a single angle is 20 seconds, the scanning device respectively performs 20 seconds of scanning measurement from the front, 45 degrees clockwise and 45 degrees anticlockwise, the scanning range is wider, and the scanning dead angle can be avoided. The scanning is carried out by using the 3D scanning device, the measuring accuracy and the efficiency of the 3D scanning device are high, and compared with a common laser scanning device, the real-time measuring effect is outstanding.
And resetting, namely after the scanning device respectively performs scanning measurement for 20 seconds from the front, 45 degrees clockwise and 45 degrees anticlockwise, controlling the cradle head to reset by the controller, and then controlling the telescopic device to reset. The whole scanning process is highly intelligent, and a worker only needs to move the equipment to a scanning point without performing other operations.
The processing method of the scanning data of the scanner is a conventional means in the field, specifically, the scanning device feeds the scanning result back to the processor, the processor carries out three-dimensional modeling according to the received scanning data to obtain a three-dimensional model of the coal pile, calculates the volume of the three-dimensional model, and multiplies the volume by the pre-stored coal density to obtain the storage amount of the coal material. In the embodiment, the processor is of an intel brand BX80635E52650V2SR1a8 type, and the processor is stable in performance and particularly suitable for industrial application.
In this embodiment, the expansion device is welded to the loading vehicle. Like this, when having scanned a point and carrying out the scanning of next point, remove the load wagon can, compare with manual handling telescoping device, it can be more convenient to remove.
Compared with the prior art, the method has the advantages that before scanning, the position of the scanning device is adjusted, the scanning device is located at the position where high-quality scanning and shooting can be conducted, high-quality scanning and shooting can be conducted each time, coal inventory results are more accurate, and operation stability is better. And the scanning process is highly intelligent, and the worker only needs to move the loading vehicle to a scanning point, so that the labor and the trouble are saved.
Example two
As shown in fig. 2, compared with the first embodiment, the loading vehicle 1 of the present embodiment further includes a balance bar 5, a mounting seat 6, a support spring 7 and a driving motor 8.
The balance rods 5 are electric push rods, the number of the balance rods 5 is four, the bottoms of the balance rods 5 are welded on the loading vehicle 1, the balance rods 5 are electrically connected with the controller, and the bottoms of the four balance rods 5 are sequentially connected to form a rectangle; in this embodiment, the balance bar 5 is a 500 mm stroke electric push bar customized by elephant electric company ltd in zhongshan city.
The mounting seat 6 is a sealed hollow cuboid, four corners of the bottom surface of the mounting seat 6 are respectively hinged with the tops of the four balance rods 5, mercury is filled in the mounting seat 6, pressure sensors are welded on the side walls in the mounting seat 6, the four pressure sensors are respectively located at the intersection of the four side walls of the mounting seat 6, and when the mounting seat 6 is in a horizontal state, the pressure sensors are located above the mercury; the pressure sensor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the balance rod 5 on the same side as the pressure sensor to extend; in this embodiment, the pressure sensor is a core sensible brand GZP6857 model.
Four support springs 7 are arranged, one end of each support spring 7 is welded on the top surface of the mounting seat 6, and the other end of each support spring 7 is welded on the bottom surface of the telescopic device 2; the supporting spring 7 is an overweight load type die compression spring, and the telescopic device 2 can shake in a small amplitude when being supported and the telescopic device 2 is subjected to external force; in this embodiment, the supporting spring 7 is an overweight load type die compression spring customized by a large continuous large spring factory.
The driving motor 8 is welded on the mounting seat 6, an eccentric wheel 82 is welded on a rotating rod 81 of the driving motor 8, and when the telescopic device 2 is static, the eccentric wheel 82 rotates to be in contact with the telescopic device 2 and applies thrust to the telescopic device 2; the driving motor 8 is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the driving motor 8 to rotate.
The welding has inclination sensor on cloud platform 3, and inclination sensor horizontal installation is on cloud platform 3, and inclination sensor is connected with the controller electricity, and control telescoping device 2 rises to and surpasss the coal pile top and predetermine the high back, when inclination sensor's feedback angle is 90, control scanning device 4 scans of shooing. In this embodiment, the tilt sensor is a T1000 high-precision tilt sensor of nage microelectronics technologies, ltd.
After the coal material is piled up, some coal briquettes that can drop sometimes to ground, if load wagon 1 rolls on the coal briquette that drops, the automobile body of load wagon 1 can appear inclining, and telescoping device 2 on the load wagon 1 also can appear inclining thereupon, and under this kind of condition, not only the actual rise height of telescoping device 2 can have great error with the height of estimating compares, and scanning device 4 is along with the back of telescoping device 2 slope, and the scanning result also can have great error.
In this embodiment, when the loading vehicle 1 moves, if the loading vehicle 1 rolls on a dropped coal briquette, and the loading vehicle 1 tilts, the mounting seat 6 tilts together, the mercury in the mounting seat 6 is liquid, and after the mounting seat 6 tilts, the surface of the mounting seat still approaches to a plane, the contact area between the downward-tilting side of the mounting seat 6 and the mercury increases, the pressure sensor on the downward-tilting side contacts with the mercury and receives pressure, and after the pressure sensor feeds back a signal to the controller, the controller controls the balance bar 5 on the same side as the pressure sensor, that is, on the downward-tilting side to extend; after the stabilizer bar 5 on the downward inclined side is extended, the mount 6 is restored to a nearly horizontal state.
Because mercury is liquid, at mount pad 6 slope and the in-process that resumes the level, the surface of mercury can not keep absolute plane, but can make a round trip to rock, when making a round trip to rock, mercury can trigger a plurality of sensors, consequently, mount pad 6 resumes the horizontally in-process, and telescoping device 2, the scanning device 4 of mount pad 6 and top all can have the back and forth rocking of certain extent.
The cloud platform 3 is provided with an inclination angle sensor horizontally, and the controller controls the scanning device 4 to shoot and scan when the feedback angle of the inclination angle sensor is 90 degrees after the telescopic device 2 is controlled to ascend to exceed the preset height of the top of the coal pile. The feedback angle of the tilt sensor is 90 degrees, which indicates that the telescopic device 2 is in a vertical state at the moment, the difference between the height of the scanning device 4 and the preset height is very small, the scanning device 4 performs scanning and photographing at the moment, and the obtained result error is small.
Therefore, the built-in mercury of mount pad 6 is not water, because the density of mercury is more than water is big, when load carrier 1 inclines, the range and the frequency that mercury rocked back and forth all can be much less than water, promptly, compare with water, mercury is when load carrier 1 inclines, its surface can keep relatively stable, can not be in mount pad 6 quick big amplitude rocking back and forth shake even splash to mount pad 6 inner wall, lead to each pressure sensor to receive serious interference then, the controller receives chaotic feedback signal.
By using the method, even if the loading vehicle 1 rolls coal blocks or the traveling road of the loading vehicle 1 is uneven and inclined to a certain degree, accurate shooting and scanning can be carried out.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (6)
1. A height adjustment method for a coal inventory system, characterized by: the method comprises the following steps:
presetting a preset height difference between a scanning device and the top of the coal pile when the scanning device scans according to the scale of the coal pile;
detecting the top of the coal pile, namely detecting the height of the top of the coal pile;
a height adjusting step, wherein the position of the scanning device is adjusted to be above the coal pile, so that the height difference between the scanning device and the top of the coal pile is equal to a preset height difference;
in the height adjusting step, the scanning device is arranged at the top of the telescopic device, specifically, a rotatable cradle head is arranged at the top of the telescopic device, the scanning device is arranged on the cradle head, and the cradle head is electrically connected with the controller; in the scanning step, the controller controls the holder to rotate;
the telescopic device is fixed on the loading vehicle, and the loading vehicle is also provided with a balance rod, a mounting seat, a supporting spring and a driving motor;
the balancing rods are electric push rods, the number of the balancing rods is four, the bottoms of the balancing rods are welded on the loading vehicle, the balancing rods are electrically connected with the controller, and the bottoms of the four balancing rods are sequentially connected to form a rectangle;
the mounting seat is a sealed hollow cuboid, four corners of the bottom surface of the mounting seat are respectively hinged with the tops of the four balancing rods, mercury is filled in the mounting seat, pressure sensors are welded on the side walls in the mounting seat, the four pressure sensors are respectively positioned at the intersection of the side walls on the four sides of the mounting seat, and when the mounting seat is in a horizontal state, the pressure sensors are positioned above the mercury; the pressure sensor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the balance rod on the same side as the pressure sensor to extend;
four support springs are arranged, one end of each support spring is welded on the top surface of the mounting seat, and the other end of each support spring is welded on the bottom surface of the telescopic device; the supporting spring is an overweight load type die compression spring;
the driving motor is welded on the mounting seat, an eccentric wheel is welded on a rotating rod of the driving motor, and when the telescopic device is static, the eccentric wheel rotates to be in contact with the telescopic device and applies thrust to the telescopic device; the driving motor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the driving motor to rotate;
the welding has inclination sensor on the cloud platform, and inclination sensor horizontal installation is on the cloud platform, and inclination sensor is connected with the controller electricity, and after control telescoping device rose to surpass the coal pile top and predetermine the height, when inclination sensor's feedback angle was 90, control scanning device took a picture and scans.
2. The height adjustment method for a coal inventory system as claimed in claim 1, wherein: in the presetting step, presetting a preset height difference in a controller; in the height adjustment step, an infrared sensor is installed on the scanning device, the telescopic device and the infrared sensor are electrically connected with the controller, and when the controller controls the telescopic device to extend, when a feedback signal of the infrared sensor is changed from a front obstacle to a front obstacle, the controller controls the telescopic device to continue to extend by a preset height difference, and then the telescopic device stops extending.
3. The height adjustment method for a coal inventory system as claimed in claim 2, wherein: also comprises a scanning step and a resetting step; in the presetting step, scanning time is prestored in a controller; scanning, namely controlling a scanning device to scan after the controller controls the telescopic device to stop stretching; in the resetting step, after the scanning device scans the preset scanning time, the controller controls the telescopic device to reset.
4. The height adjustment method for a coal inventory system as claimed in claim 3, wherein: in the presetting step, the rotation angle and the rotation sequence of the holder and the preset time of single angle scanning are prestored in the controller; in the scanning step, the controller controls the scanning device to scan for a preset time and then controls the holder to rotate; in the resetting step, the controller controls the cradle head to rotate for the last time, controls the cradle head to reset after the scanning device scans the preset time, and controls the telescopic device to reset again.
5. The height adjustment method for a coal inventory system as claimed in claim 4, wherein: in the presetting step, the rotation angle and the rotation sequence of the holder prestored in the controller are clockwise rotated by 45 degrees and then anticlockwise rotated by 90 degrees.
6. The height adjustment method for a coal inventory system as claimed in claim 1, wherein: in the scanning step, a 3D scanning device is used for scanning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195134.6A CN109882706B (en) | 2019-03-14 | 2019-03-14 | Height adjusting method for coal inventory system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910195134.6A CN109882706B (en) | 2019-03-14 | 2019-03-14 | Height adjusting method for coal inventory system |
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| CN109882706B true CN109882706B (en) | 2020-12-08 |
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| CN114018440B (en) * | 2021-11-05 | 2023-06-13 | 华能(福建漳州)能源有限责任公司 | Closed strip-shaped coal yard monitoring device |
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| CN203177804U (en) * | 2013-03-22 | 2013-09-04 | 中国计量学院 | Information acquisition support mechanism carrying out coal estimating by employing mesh surface structured light |
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| US10502362B2 (en) * | 2015-07-06 | 2019-12-10 | Reel Tech Co., Ltd | Lifting apparatus for highly mounted equipment |
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- 2019-03-14 CN CN201910195134.6A patent/CN109882706B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203177804U (en) * | 2013-03-22 | 2013-09-04 | 中国计量学院 | Information acquisition support mechanism carrying out coal estimating by employing mesh surface structured light |
| CN203177805U (en) * | 2013-03-22 | 2013-09-04 | 中国计量学院 | System measuring weight of stacked object by utilizing net-shaped surface structured light |
| US10502362B2 (en) * | 2015-07-06 | 2019-12-10 | Reel Tech Co., Ltd | Lifting apparatus for highly mounted equipment |
| CN205427629U (en) * | 2015-12-18 | 2016-08-03 | 南京卓越能源技术有限公司 | Fixed circular coal yard monitoring device |
| CN206918600U (en) * | 2017-06-14 | 2018-01-23 | 湖南三德科技股份有限公司 | A kind of mounting platform device for coal yard material checking instrument |
| CN108466248A (en) * | 2018-04-26 | 2018-08-31 | 袁宗杰 | Lathe foot pedal and lathe |
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