CN109917416B - Cement stacking and modeling system and method - Google Patents
Cement stacking and modeling system and method Download PDFInfo
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- CN109917416B CN109917416B CN201910187703.2A CN201910187703A CN109917416B CN 109917416 B CN109917416 B CN 109917416B CN 201910187703 A CN201910187703 A CN 201910187703A CN 109917416 B CN109917416 B CN 109917416B
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Abstract
The invention belongs to the technical field of modeling, and provides a modeling system and a method of cement stacking materials, wherein the method comprises the following steps: s1, establishing a stock yard coordinate system and a radar coordinate system, S2, in the blanking process of the stock i, acquiring point cloud data of the outermost stock i and the outermost stock i-1 in the laser radar coordinate system in real time by the aid of the first laser radar and the second laser radar, and sending the point cloud data to the PLC; and S3, determining the position of the laser radar center in the stacking coordinate system by the PLC based on the detection of the positioning device and the detection data of the inclinometer, and simultaneously converting the point cloud data of the stacking i and the stacking i-1 in the laser radar coordinate system into the stacking coordinate system, namely establishing a stacking three-dimensional model. According to the invention, three-dimensional modeling is carried out on each layer of material pile, so that the material information of each material taking section can be accurately calculated, and the feedback control is carried out on the optimized ore blending system.
Description
Technical Field
The invention belongs to the technical field of modeling, and provides a cement stacking modeling system and method.
Background
The grade control of the conch limestone mine is always a key link of mine production, and the quality of the grade control limits the quality of products. The main basis of ore blending scheduling is 'stockpile section component index' of a storage yard, and if a mine only uses an online analyzer to analyze components, accurate control and reasonable scheduling are difficult to perform.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a cement pile modeling method which is used for carrying out three-dimensional digital modeling on the pile distribution and is convenient for accurate control and reasonable scheduling of the pile.
In order to accomplish the above object, a cement pile modeling system, a cement pile being transported to a stockyard by a stacker, the stacker comprising: cantilever and the fixed arm that the perpendicular to cantilever set up, the free end of cantilever is equipped with the unloading hole, is connected through the pivot between cantilever and the fixed arm, and the pivot is connected with running gear, and running gear is along the track walking of setting for, and cement pile modeling system includes:
the positioning device is arranged on the travelling mechanism;
the inclinometer is arranged on the cross arm;
the laser radar I and the laser radar II are arranged on two sides of the discharging hole;
and the PLC is connected with the positioning device, the inclinometer, the laser radar I and the laser radar II and is communicated with the upper computer.
The invention is realized in such a way that a cement stacking and modeling method comprises the following steps:
s1, establishing a stock yard coordinate system and a radar coordinate system,
s2, in the blanking process of the stacking material i, the first laser radar and the second laser radar acquire the stacking material i and the point cloud data of the stacking material i-1 on the outermost layer under the laser radar coordinate system in real time and send the point cloud data to the PLC;
and S3, determining the position of the laser radar center in the stacking coordinate system by the PLC based on the detection of the positioning device and the detection data of the inclinometer, and simultaneously converting the point cloud data of the stacking i and the stacking i-1 in the laser radar coordinate system into the stacking coordinate system, namely establishing a stacking three-dimensional model.
Further, the method for establishing the stacking coordinate system specifically comprises the following steps:
a vertical line is drawn from the starting end of the stacking material to the track, and the intersection point of the vertical line and the track is used as the origin O of a coordinate system of the stacking material coordinate system0With the perpendicular extending in the stacking direction as X of the stacking coordinate system0Axis, the extending direction of the stacking material is Y of the stacking material coordinate system0Axis, Z of the windrow coordinate system0Axis and X0Axis, Y0The axis is vertical.
Further, the method for establishing the radar coordinate system specifically comprises the following steps:
using radar center as origin O of radar coordinate system1Taking the propagation direction of the laser beam as Z of the radar coordinate system1Axis, Y1Axis and Y0With axes antiparallel, X1Axis and Z1Shaft and Y1The axis is vertical.
Further, step S3 specifically includes the following steps:
establishing an intermediate coordinate system, wherein the intermediate coordinate system takes the center of the radar as an origin O2，Z2Axis and X2The axes are each connected to Z0Axis and X0Axes being antiparallel, Y2Axis and Y0The axes are parallel in the same direction;
and converting the point cloud data of the stacking material i and the stacking material i-1 in the laser radar coordinate system into a stacking material coordinate system through an intermediate coordinate system.
Furthermore, the stacks of different layers are marked by different colors.
The invention establishes three-dimensional modeling for each layer of stockpile, can accurately calculate the material information of each material taking section and performs feedback control on an optimized ore blending system.
Drawings
FIG. 1 is a schematic structural diagram of a cement heap modeling system provided by an embodiment of the present invention;
FIG. 2 is a flow chart of a method for modeling a cement heap provided by an embodiment of the present invention;
1. cantilever, 2 fixed arm, 3 track, 4 running gear, 5 first lidar, 6 second lidar, 7 cement windrow.
Detailed Description
The following description of preferred embodiments of the invention will be made in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a cement heap modeling system according to an embodiment of the present invention, and for convenience of explanation, only a part related to the embodiment of the present invention is shown.
The cement stockpile 7 is transported to the stockyard by a stocker, and the stocker includes: cantilever 1 and the fixed arm 2 that perpendicular to cantilever 1 set up, the free end of cantilever 1 is equipped with the blowing hole, is connected through the pivot between cantilever 1 and the fixed arm 2, and the pivot is connected with running gear 4, and running gear 4 walks along the track 3 walking of setting for, and the cement windrow modeling system includes:
the positioning device is arranged on the travelling mechanism;
the inclinometer is arranged on the cross arm;
the laser radar I5 and the laser radar II 6 are arranged on two sides of the discharging hole;
and the PLC is in communication connection with the positioning device, the inclinometer, the laser radar I and the laser radar II, and is in communication with the upper computer.
Fig. 2 is a flowchart of a cement pile modeling method provided in an embodiment of the present invention, and the method specifically includes the following steps:
s1, establishing a stock yard coordinate system and a radar coordinate system;
the method for establishing the stacking coordinate system comprises the following steps:
a vertical line is drawn from the starting end of the stacking material to the track, and the intersection point of the vertical line and the track is used as the origin O of a coordinate system of the stacking material coordinate system0The perpendicular line extending in the stacking direction being X of the stacking coordinate system0The axis, the direction of extension of the pile being Y of the pile coordinate system0Axis, Z0Axis and X0Axis, Y0With axes perpendicular, e.g. O in FIG. 10As shown.
The method for establishing the radar coordinate system comprises the following steps:
using radar center as origin O of radar coordinate system1The propagation direction of the laser beam being Z1Axis, Y1Axis and Y0With axes antiparallel, X1Axis and Z1Shaft and Y1The axis is vertical;
s2, in the blanking process of the stacking material i, the first laser radar and the second laser radar acquire the point cloud data of the stacking material i and the stacking material i-1 on the outermost layer under the laser radar coordinate system in real time and send the point cloud data to the PLC;
in the embodiment of the invention, a cantilever of the stockpile moves back and forth in the stockpile field to enable the target material to be layered down to the stockpile field, assuming that the stockpile machine is covering the ith stockpile (called stockpile i) to the stockpile field currently, one of a laser radar I and a laser radar II is positioned behind the traveling of a discharge port and used for collecting point cloud data of the outmost stockpile i in the stockpile field in a laser radar coordinate system, and the other laser radar is positioned in front of the traveling of the discharge port and used for collecting point cloud data of the outmost stockpile i-1 (i-1 st stockpile) in the stockpile field in the laser radar coordinate system.
And S3, determining the position of the laser radar center in the stacking coordinate system by the PLC based on the detection of the positioning device and the detection data of the inclinometer, and simultaneously converting the point cloud data of the stacking i and the stacking i-1 in the laser radar coordinate system into the stacking coordinate system, namely establishing a stacking three-dimensional model.
In an embodiment of the invention, the positioning device is used for detecting that the cantilever is at Y0The moving distance in the direction, the inclinometer is used for detecting the inclination angle of the free end of the cantilever, and the Z position of the free end of the cantilever can be known based on the inclination angle0The distance of the direction deviating from the fixed end of the cantilever can be obtained based on the height of the fixed end of the cantilever from the stock yard, namely the height of the free end of the cantilever in Z0Height in the direction, since the length of the cantilever is constant, the free end of the cantilever is determined to be X0The distance in the direction is always the same.
In the embodiment of the invention, since the laser radar is not installed perpendicular to the ground, there is a certain inclination angle, generally 15 °, therefore, in order toSimplifying the conversion relation from a radar coordinate system to a stacking coordinate system, and introducing an intermediate coordinate system which takes the radar center as an origin O2，Z2Axis and X2The axes are each connected to Z0Axis and X0Axes being antiparallel, Y2Axis and Y0The axes are parallel in the same direction, and the point cloud data of the stacking material i and the stacking material i-1 in the laser radar coordinate system is converted into a stacking material coordinate system through an intermediate coordinate system.
In the embodiment of the invention, the stacks of different layers are marked by different colors.
The invention establishes three-dimensional modeling for each layer of material pile, can accurately calculate the grade information of each material taking section and performs feedback control on an optimized ore blending system.
It is clear that the specific implementation of the invention is not restricted to the above-described embodiments, but that various insubstantial modifications of the inventive process concept and technical solutions are within the scope of protection of the invention.
Claims (5)
1. A cement modeling method based on a cement stacking modeling system is disclosed, wherein cement stacking is transmitted to a stacking yard through a stacker, and the stacker comprises: cantilever and the fixed arm that the perpendicular to cantilever set up, the free end department of cantilever is equipped with the unloading hole, is connected through the pivot between cantilever and the fixed arm, and the pivot is connected with running gear, and running gear is along the track walking of setting for, and its characterized in that, cement pile modeling system includes: the positioning device is arranged on the travelling mechanism; the inclinometer is arranged on the cross arm; the laser radar I and the laser radar II are arranged on two sides of the discharging hole; the PLC is connected with the positioning device, the inclinometer, the laser radar I and the laser radar II and is communicated with the upper computer; the cement stacking modeling method based on the cement stacking modeling system comprises the following steps:
s1, establishing a stacking coordinate system and a radar coordinate system,
s2, in the blanking process of the stacking material i, the first laser radar and the second laser radar acquire the stacking material i at the outermost layer and the point cloud data of the stacking material i-1 under a radar coordinate system in real time and send the point cloud data to the PLC;
and S3, the PLC determines the position of the laser radar center in the stacking coordinate system based on the data of the positioning device and the inclinometer, and simultaneously converts the point cloud data of the stacking material i and the stacking material i-1 in the radar coordinate system into the stacking coordinate system, namely, the stacking material three-dimensional model is established.
2. The cement modeling method based on the cement-stocked building system according to claim 1, wherein the building method of the stockpile coordinate system is as follows:
a vertical line is drawn from the starting end of the stacking material to the track, and the intersection point of the vertical line and the track is used as the origin O of a coordinate system of the stacking material coordinate system0With the perpendicular extending in the stacking direction as X of the stacking coordinate system0Axis, the extending direction of the stacking material is Y of the stacking material coordinate system0Axis, Z of the windrow coordinate system0Axis and X0Axis, Y0The axis is vertical.
3. The cement modeling method based on the cement-stockpiling modeling system as claimed in claim 2, wherein the radar coordinate system is established by the following method:
using radar center as origin O of radar coordinate system1Taking the propagation direction of the laser beam as Z of the radar coordinate system1Axis, Y1Axis and Y0With axes antiparallel, X1Axis and Z1Shaft and Y1The axis is vertical.
4. The cement modeling method based on the cement-stockpiled modeling system as claimed in claim 2, wherein the step S3 specifically comprises the steps of:
establishing an intermediate coordinate system, wherein the intermediate coordinate system takes the center of the radar as an origin O2，Z2Axis and X2The axes are each connected to Z0Axis and X0Axes being antiparallel, Y2Axis and Y0The axes are parallel in the same direction;
and converting the point cloud data of the stacking material i and the stacking material i-1 in the radar coordinate system into a stacking material coordinate system through an intermediate coordinate system.
5. A cement modelling method based on a cement heap modelling system as claimed in any of claims 2 to 4 wherein different layers of the heap are labelled with different colours.
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| 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 |
| CN103913116B (en) * | 2014-03-10 | 2017-06-06 | 上海大学 | Large-scale stacking material volume both sides parallel measuring device and method |
| CN104724506B (en) * | 2015-04-14 | 2016-03-02 | 上海东源计算机自动化工程有限公司 | A kind of automatic material stacking and fetching system for bulk storage yard |
| CN106094702B (en) * | 2016-05-31 | 2020-07-07 | 中国神华能源股份有限公司 | Material pile modeling method and material pile modeling 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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