CN109917416A - A kind of cement windrow modeling and method - Google Patents
A kind of cement windrow modeling and method Download PDFInfo
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- CN109917416A CN109917416A CN201910187703.2A CN201910187703A CN109917416A CN 109917416 A CN109917416 A CN 109917416A CN 201910187703 A CN201910187703 A CN 201910187703A CN 109917416 A CN109917416 A CN 109917416A
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- windrow
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Abstract
The invention belongs to modeling technique fields, provide the modeling and method of a kind of cement windrow, method includes the following steps: S1, establishes stockyard coordinate system and radar fix system, S2, in the blanking process of windrow i, laser radar one and laser radar two obtain the point cloud data of outermost windrow i and windrow i-1 under laser radar coordinate system in real time, and are sent to PLC controller；S3, PLC controller determine position of the laser radar center in windrow coordinate system based on the detection data of positioning device detection and inclinator, simultaneously windrow i and windrow i-1 are established into windrow threedimensional model in the case where the point cloud data in laser radar coordinate system changes into windrow coordinate system.The present invention can accurately calculate the material information of each feeding section, carry out feedback control to Optimization Ore Matching system by carrying out three-dimensional modeling to each layered material heap.
Description
Technical field
The invention belongs to modeling technique field, a kind of cement windrow modeling and method are provided.
Background technique
The Grade Control of conch limestone mine is the key link of mining production, the quality system of Grade Control all the time
About the quality of product.The main foundation of ore matching scheduling is stockyard " windrow segment components index ", if mine is only used in line analysis
Instrument carries out constituent analysis, it is difficult to accurately be controlled and rational management.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of cement windrow modeling methods, to material heap
Distribution carry out three-dimensional digital model, convenient for windrow be precisely controlled and rational management.
To achieve the goals above, a kind of cement windrow modeling, cement windrow are transmitted to rickyard by stacker,
Stacker includes: cantilever and the fixed arm perpendicular to cantilever setting, and the free end of cantilever is equipped with blanking hole, cantilever and fixed arm
Between connected by shaft, shaft connect with walking mechanism, the track travel that walking mechanism edge is set, cement windrow modeling
Include:
Positioning device in walking mechanism；
Inclinator on transverse arm；
Laser radar one and laser radar two set on tapping hole two sides；
The PLC controller connected with positioning device, inclinator, laser radar one and laser radar two, PLC controller with it is upper
Position machine communication.
The invention is realized in this way a kind of cement windrow modeling method, described method includes following steps:
S1, stockyard coordinate system and radar fix system are established,
S2, in the blanking process of windrow i, laser radar one and laser radar two obtain in real time outermost windrow i and
Point cloud data of the windrow i-1 under laser radar coordinate system, and it is sent to PLC controller；
S3, PLC controller determine laser radar center in heap based on the detection data of positioning device detection and inclinator
Expect the position in coordinate system, while the point cloud data of windrow i and windrow i-1 in laser radar coordinate system is changed into windrow and is sat
Under mark system, that is, establish windrow threedimensional model.
Further, the method for building up of windrow coordinate system is specific as follows:
Draw vertical line from the starting point of windrow to track, coordinate origin of the intersection point of vertical line and track as windrow coordinate system
O0, X of the vertical line extended along windrow direction as windrow coordinate system0The extending direction of windrow is the Y of windrow coordinate system by axis0
Axis, the Z of windrow coordinate system0Axis and X0Axis, Y0Axis is vertical.
Further, the method for building up of radar fix system is specific as follows:
Using radar center as the origin O of radar fix system1, it is the Z of radar fix system by the direction of propagation of laser beam1Axis,
Y1Axis and Y0Axis is antiparallel, X1Axis and Z1Axis and Y1Axis is vertical.
Further, step S3 specifically comprises the following steps:
Middle coordinate system is established, middle coordinate system is using radar center as origin O2, Z2Axis and X2Axis respectively with Z0Axis with
X0Axis is antiparallel, Y2Axis and Y0Axis cocurrent and parallel；
The point cloud data of windrow i and windrow i-1 under laser radar coordinate system is converted through middle coordinate system to windrow and is sat
Mark system.
Further, the windrow of different layers is identified using different colors.
The present invention establishes three-dimensional modeling to each layered material heap, the material information of each feeding section can be accurately calculated, to optimization
Ore blending system carries out feedback control.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cement windrow modeling provided in an embodiment of the present invention；
Fig. 2 is cement windrow modeling method flow chart provided in an embodiment of the present invention；
1. cantilever, 2. fixed arms, 3. tracks, 4. walking mechanisms, 5. first laser radars, 6. second laser radars, 7. water
Mud windrow.
Specific embodiment
A specific embodiment of the invention is made further detailed below against attached drawing by the description to optimum embodiment
Thin explanation.
Fig. 1 is that the structural schematic diagram of cement windrow modeling provided in an embodiment of the present invention only shows for ease of description
Part related to the embodiment of the present invention out.
Cement windrow 7 is transmitted to rickyard by stacker, and stacker includes: cantilever 1 and is arranged perpendicular to cantilever 1
The free end of fixed arm 2, cantilever 1 is equipped with tapping hole, is connected between cantilever 1 and fixed arm 2 by shaft, shaft and walking mechanism
4 connections, walking mechanism 4 are walked along the track 3 of setting, and cement windrow modeling includes:
Positioning device in walking mechanism；
Inclinator on transverse arm；
Laser radar 1 and laser radar 26 set on tapping hole two sides；
With positioning device, the PLC controller of two communication connection of inclinator, laser radar one and laser radar, PLC controller
It is communicated with host computer.
Fig. 2 is cement windrow modeling method flow chart provided in an embodiment of the present invention, and this method specifically comprises the following steps:
S1, stockyard coordinate system and radar fix system are established；
Windrow establishment of coordinate system method is as follows:
Draw vertical line from the starting point of windrow to track, coordinate origin of the intersection point of vertical line and track as windrow coordinate system
O0, the vertical line extended along windrow direction is the X of windrow coordinate system0Axis, the extending direction of windrow are the Y of windrow coordinate system0Axis, Z0
Axis and X0Axis, Y0Axis is vertical, O as shown in figure 10It is shown.
The method for building up of radar fix system is as follows:
Using radar center as the origin O of radar fix system1, the direction of propagation of laser beam is Z1Axis, Y1Axis and Y0Axis is reversed
In parallel, X1Axis and Z1Axis and Y1Axis is vertical；
S2, in windrow i blanking process, laser radar one and laser radar two obtain outermost windrow i and heap in real time
Expect point cloud data of the i-1 under laser radar coordinate system, and is sent to PLC controller；
In embodiments of the present invention, the cantilever of windrow makees round-trip counter-movement in rickyard, for by target material stratification
Down toward rickyard, it is assumed that stacker currently by the i-th layer heap material (referred to as windrow i) covering to rickyard, laser radar one and
A laser radar in laser radar two is located at the traveling rear of discharge port, is swashing for acquiring rickyard outermost layer windrow i
Point cloud data under optical radar coordinate system, a laser radar is located in front of the traveling of discharge port, outermost for acquiring rickyard
Point cloud data of the layer heap material i-1 (the (i-1)-th layer heap material) under laser radar coordinate system.
S3, PLC controller determine laser radar center in heap based on the detection data of positioning device detection and inclinator
Expect the position in coordinate system, while the point cloud data of windrow i and windrow i-1 in laser radar coordinate system is changed into windrow and is sat
Under mark system, that is, establish windrow threedimensional model.
In embodiments of the present invention, positioning device is for detecting cantilever in Y0The moving distance in direction, inclinator is for examining
The inclination angle for surveying cantilever free end, can know cantilever free end in Z based on above-mentioned inclination angle0Direction deviate cantilever fixing end away from
From the height based on cantilever fixing end away from rickyard is you can learn that height of the cantilever free end apart from rickyard, i.e. cantilever are free
End is in Z0Height on direction, since the length of cantilever is constant, assert cantilever free end in X0Distance on direction is always
It is identical.
In embodiments of the present invention, since laser radar is not perpendicular to ground installation, there are certain inclination angles, generally
15 °, therefore, in order to simplify radar fix system to the transformational relation of windrow coordinate system, middle coordinate system is introduced, middle coordinate system is
Using radar center as origin O2, Z2Axis and X2Axis respectively with Z0Axis and X0Axis is antiparallel, Y2Axis and Y0Axis cocurrent and parallel, by heap
Expect that the point cloud data of i and windrow i-1 under laser radar coordinate system is converted through middle coordinate system to windrow coordinate system.
In embodiments of the present invention, the windrow of different layers is identified using different colors.
The present invention establishes three-dimensional modeling to each layered material heap, the grade information of each feeding section can be accurately calculated, to optimization
Ore blending system carries out feedback control.
Obviously present invention specific implementation is not subject to the restrictions described above, as long as using method concept and skill of the invention
The improvement for the various unsubstantialities that art scheme carries out, it is within the scope of the present invention.
Claims (6)
1. a kind of cement windrow modeling, cement windrow is transmitted to rickyard by stacker, stacker include: cantilever and
Perpendicular to the fixed arm of cantilever setting, the free end of cantilever is equipped with blanking hole, is connected between cantilever and fixed arm by shaft,
Shaft is connect with walking mechanism, track travel of the walking mechanism along setting, which is characterized in that cement windrow modeling includes:
Positioning device in walking mechanism；
Inclinator on transverse arm；
Laser radar one and laser radar two set on tapping hole two sides；
The PLC controller connected with positioning device, inclinator, laser radar one and laser radar two, PLC controller and host computer
Communication.
2. a kind of cement windrow modeling method based on cement windrow modeling described in claim 1, which is characterized in that described
Method includes the following steps:
S1, stockyard coordinate system and radar fix system are established,
S2, in the blanking process of windrow i, laser radar one and laser radar two obtain outermost windrow i and windrow in real time
Point cloud data of the i-1 under laser radar coordinate system, and it is sent to PLC controller；
S3, PLC controller determine that laser radar center is sat in windrow based on the detection data of positioning device detection and inclinator
Position in mark system, while the point cloud data of windrow i and windrow i-1 in laser radar coordinate system is changed into windrow coordinate system
Under, that is, establish windrow threedimensional model.
3. cement windrow modeling method as claimed in claim 2, which is characterized in that the method for building up of windrow coordinate system is specifically such as
Under:
Draw vertical line from the starting point of windrow to track, coordinate origin O of the intersection point of vertical line and track as windrow coordinate system0, edge
X of the vertical line that windrow direction extends as windrow coordinate system0The extending direction of windrow is the Y of windrow coordinate system by axis0Axis, windrow
The Z of coordinate system0Axis and X0Axis, Y0Axis is vertical.
4. cement windrow modeling method as claimed in claim 2, which is characterized in that the method for building up of radar fix system is specifically such as
Under:
Using radar center as the origin O of radar fix system1, it is the Z of radar fix system by the direction of propagation of laser beam1Axis, Y1Axis
With Y0Axis is antiparallel, X1Axis and Z1Axis and Y1Axis is vertical.
5. cement windrow modeling method as described in claim 1, which is characterized in that step S3 specifically comprises the following steps:
Middle coordinate system is established, middle coordinate system is using radar center as origin O2, Z2Axis and X2Axis respectively with Z0Axis and X0Axis
It is antiparallel, Y2Axis and Y0Axis cocurrent and parallel；
The point cloud data of windrow i and windrow i-1 under laser radar coordinate system is converted through middle coordinate system to windrow coordinate system.
6. the cement windrow modeling method as described in claim 2 to 5 any claim, which is characterized in that the windrow of different layers
It is identified using different colors.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101526617A (en) * | 2007-12-06 | 2009-09-09 | 上海交通大学 | Automatic detection method of two-dimensional laser scanning radar for shiploader article position |
| DE102010031145A1 (en) * | 2010-07-09 | 2012-01-12 | Robert Bosch Gmbh | Method for loading or unloading e.g. automatic warehouse using power fork-lift lorry, involves filling labeled stock pile with stored material, and removing stored material outsourced from labeled stock pile |
| CN103913116A (en) * | 2014-03-10 | 2014-07-09 | 上海大学 | Large-scale piled material volume two-side parallel measuring device and method |
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN106094702A (en) * | 2016-05-31 | 2016-11-09 | 中国神华能源股份有限公司 | A kind of stockpile modeling method and stockpile model building device |
| CN208439990U (en) * | 2018-03-05 | 2019-01-29 | 泰富国际工程有限公司 | A kind of automatic heap feeding device for bar shaped stock ground |
-
2019
- 2019-03-13 CN CN201910187703.2A patent/CN109917416B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101526617A (en) * | 2007-12-06 | 2009-09-09 | 上海交通大学 | Automatic detection method of two-dimensional laser scanning radar for shiploader article position |
| DE102010031145A1 (en) * | 2010-07-09 | 2012-01-12 | Robert Bosch Gmbh | Method for loading or unloading e.g. automatic warehouse using power fork-lift lorry, involves filling labeled stock pile with stored material, and removing stored material outsourced from labeled stock pile |
| CN103913116A (en) * | 2014-03-10 | 2014-07-09 | 上海大学 | Large-scale piled material volume two-side parallel measuring device and method |
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN106094702A (en) * | 2016-05-31 | 2016-11-09 | 中国神华能源股份有限公司 | A kind of stockpile modeling method and stockpile model building device |
| CN208439990U (en) * | 2018-03-05 | 2019-01-29 | 泰富国际工程有限公司 | A kind of automatic heap feeding device for bar shaped stock ground |
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