CN111912357A - Device, system and method for monitoring silo stockpile top surface appearance - Google Patents
Device, system and method for monitoring silo stockpile top surface appearance Download PDFInfo
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- CN111912357A CN111912357A CN202010607284.6A CN202010607284A CN111912357A CN 111912357 A CN111912357 A CN 111912357A CN 202010607284 A CN202010607284 A CN 202010607284A CN 111912357 A CN111912357 A CN 111912357A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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Abstract
The invention relates to the field of automatic monitoring, in particular to a device, a system and a method for monitoring the top surface appearance of silo stockpiles. The method mainly comprises the following steps: the device comprises a two-dimensional laser scanner, a scanning holder and a sealed box body; the two-dimensional laser scanner and the scanning holder are packaged in the sealed box body, the two-dimensional scanner comprises a light-passing window, monitoring light of the two-dimensional laser scanner reaches the top surface of the stacking material through the light-passing window, and reflected light of the monitoring light after being reflected by the top surface of the stacking material returns to the light-passing window; the scanning holder drives the two-dimensional laser scanner to rotate in a third dimension direction; including the window on the seal box, the window is located the seal box bottom surface, and the logical light window position on window and the two-dimensional laser scanner corresponds, and seal box is airtight sealed when the window is closed, and the monitoring light of two-dimensional laser scanner reaches the windrow top surface through the opening of window when the window is opened. The method can conveniently acquire the spatial positions of the detection points at a plurality of positions of the top surface of the stacking material, thereby acquiring the overall appearance of the top surface of the stacking material.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of automatic monitoring, in particular to a device, a system and a method for monitoring the top surface appearance of silo stockpiles.
[ background of the invention ]
The closed silo is adopted to store the materials, so that the secondary pollution to the surrounding environment in the storage process can be effectively reduced, the material waste in the turnover link can be reduced, and the problems of material quality reduction, large occupied area, difficult management and the like in the open-air stacking process are solved. The materials stored in the stockpile need to be monitored in real time, so that the stockpile can be conveniently mastered by the system, and the targeted supplement of the materials can be carried out according to the stock condition.
The existing technology for monitoring the appearance of the top surface of the stacking material is mainly video monitoring, but the technology can only judge whether the stacking material reaches a height warning point, cannot give the specific size and shape of the top surface of the stacking material, and has great limitation. Currently, the technology for monitoring the topography of the top surface of the stacking material is mainly an ultrasonic stacking material measuring method. The stacking monitoring equipment based on the ultrasonic detection technology is flexible to install and simple to use, and can realize non-contact and long-distance real-time monitoring. However, the technology has the defects of large measurement blind area, limited measurement depth, easy influence of dust, easy influence of factors such as temperature, sound pressure and wind power and poor reliability.
In view of this, how to overcome the defects existing in the prior art and solve the defects of poor reliability and the like existing in the existing various measurement methods is a problem to be solved in the technical field.
[ summary of the invention ]
In view of the above drawbacks or needs for improvement in the prior art, the present invention solves the problems of the prior art that the prior art cannot obtain the specific size and shape of the top surface of the pile, or has poor obtaining reliability.
The embodiment of the invention adopts the following technical scheme:
in a first aspect, the present invention provides a device for monitoring the top surface morphology of a silo dump, specifically comprising: the device comprises a two-dimensional laser scanner 10, a scanning cloud platform 20 and a sealed box body 30; the two-dimensional laser scanner 10 and the scanning holder 20 are packaged in the sealed box 30, the two-dimensional scanner 10 comprises a light-passing window 11, monitoring light of the two-dimensional laser scanner 10 reaches the top surface of the stacking material through the light-passing window 11, and reflected light of the monitoring light after being reflected by the top surface of the stacking material returns to the light-passing window 11; the scanning holder 20 drives the two-dimensional laser scanner 10 to rotate in the third dimension direction; the sealing box body 30 is provided with a window 31, the window 31 is located on the bottom surface of the sealing box body 30, the window 31 corresponds to the light-through window 11 on the two-dimensional laser scanner 10 in position, the sealing box body 30 is sealed in an airtight mode when the window 31 is closed, and monitoring light of the two-dimensional laser scanner 10 reaches the top surface of the stacking material through an opening of the window 31 when the window 31 is opened.
Preferably, the cleaning device also comprises a cleaning component 40 and a control switch 50; the cleaning member 40 and the control switch 50 are enclosed within the sealed case 30; a first control interface of the control switch 50 is connected to a control interface of the cleaning member 40, and a second control interface of the control switch 50 is coupled to a contamination recognition control interface of the two-dimensional laser scanner 10.
Preferably, the cleaning member 40 includes a water spray line 41 and an air spray line 42;
the water spraying end of the water spraying pipeline 41 and the air spraying end of the air spraying pipeline 42 are close to the light passing window 11 on the two-dimensional laser scanner 10; a water discharge unit 43 is further included to facilitate the discharge of water from the water spray line 41 out of the silo.
Preferably, the two-dimensional laser scanner 10 further comprises a temperature adjusting component 12; the control interface of the temperature adjusting part 12 is connected with the temperature detection control interface of the two-dimensional laser scanner 10.
Preferably, the sealed box body 30 further comprises a protection window 32; the protection window 32 is located on the top surface of the sealed case 30, and the two-dimensional laser scanner 10 is kept in a light-out state when the protection window 32 is opened.
Preferably, the monitoring device 1, the monitoring control device 2 and the silo 3 are designed according to the device for monitoring the top surface topography of the silo stockpile provided by any one of the claims 1 to 5; the monitoring device 1 is arranged at the top part in the cabin of the silo 3, and a window 31 of the monitoring device 1 faces to the top surface of the stockpile in the silo 3; the monitoring control device 2 interacts with the monitoring device 1 through data signals and control signals, so that the stockpiling height of the silo 3 can be analyzed and monitored through the data acquired by the monitoring device 1.
Preferably, the monitor and control device 2 controls the two-dimensional laser scanner 10 in the monitor device 1 to open and close in real time or at regular time, and synchronously opens and closes the window 31
In another aspect, the present invention provides a system for monitoring the top surface topography of a silo dump, comprising: the device comprises a monitoring device 1, a monitoring control device 2 and a silo 3 which are designed according to the device for monitoring the top surface appearance of the silo stockpile provided by the first aspect; the monitoring device 1 is arranged at the top part in the cabin of the silo 3, and a window 31 of the monitoring device 1 faces to the top surface of the stockpile in the silo 3; the monitoring control device 2 interacts with the monitoring device 1 through data signals and control signals, so that the stockpiling height of the silo 3 can be analyzed and monitored through the data acquired by the monitoring device 1.
Preferably, the monitoring and controlling device 2 controls the two-dimensional laser scanner 10 in the monitoring device 1 to be turned on and off in real time or at regular time, and synchronously turns on or off the window 31.
In a third aspect, the present invention provides a method for monitoring the top surface topography of a silo dump. The system for monitoring the top surface topography of silo piles according to the second aspect deploys a monitoring device 1 in a silo 3; the two-dimensional laser scanner 10 in the monitoring device 1 sends a plurality of monitoring optical signals to the top of the stacking material under the control of the scanning holder 20; the two-dimensional laser scanner 10 acquires a reflected light signal obtained by reflecting the monitoring light signal by the top of the stacking material; the monitoring control device 2 obtains two-dimensional point cloud data of all areas at the top of the stacking material according to the reflected light signal data of the two-dimensional laser scanner 10; and the monitoring control device 2 acquires the appearance information of the top of the stockpile according to all the two-dimensional point cloud data.
Preferably, the acquiring of the topography information of the top of the pile comprises: establishing a three-dimensional polar coordinate system by taking the original point of the equipment coordinate system of the two-dimensional laser scanner 10 as the original point; calculating the three-dimensional space position of each detection point in the three-dimensional polar coordinate system according to the geometric relationship between the origin of the three-dimensional polar coordinate system and each detection point in the two-dimensional point cloud data; and performing three-dimensional fitting on the appearance of the top surface of the stacking material according to the three-dimensional space positions of all the detection points to obtain the appearance information of the top surface of the stacking material.
Preferably, the three-dimensional fitting of the topography of the top surface of the pile comprises: three-dimensional fitting is performed using the least squares approximation principle.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the utility model provides a device of monitoring of silo windrow top surface appearance uses through two-dimensional laser scanner and scanning cloud platform cooperation, and the convenient spatial position who acquires the probing point of windrow top surface multiple position to acquire the overall appearance of windrow top surface. The influence of the external environment on the monitoring accuracy is reduced by packaging all parts of the device and arranging a cleaning part and a heating part.
The invention provides a system for monitoring the top surface appearance of a silo stacking material, which is characterized in that the spatial position of a detection point obtained by a monitoring device is calculated by combining the position of a two-dimensional laser scanner, the three-dimensional spatial position of the detection point is obtained, and the specific size, shape and other data of the top surface appearance of the stacking material are obtained through three-dimensional fitting.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a device for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo dump according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of another apparatus for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a system for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a monitoring control device in a system architecture for monitoring a top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 12 is a flow chart of a method for monitoring the top surface topography of a silo heap in accordance with an embodiment of the present invention;
FIG. 13 is a schematic diagram of a probing coordinate system used in a method for monitoring the top surface topography of a silo pile according to an embodiment of the present invention;
FIG. 14 is a flow chart of another method for monitoring the top surface topography of a silo heap in accordance with an embodiment of the present invention;
wherein the reference numbers are as follows:
a monitoring device 1; the monitoring control device 2, the processor 2-1 and the memory 2-2; a silo 3;
a two-dimensional laser scanner 10, a light-passing window 11, a temperature adjusting member 12; a scanning head 20; a sealed box body 30, a window 31, a protection window 32 and a motor 33; a cleaning part 40, a water spraying pipeline 41, an air spraying pipeline 42, a water discharging part 43, a cleaning motor 44 and an electromagnetic valve 45; controlling the switch 50.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The present invention is a system structure of a specific function system, so the functional logic relationship of each structural module is mainly explained in the specific embodiment, and the specific software and hardware implementation is not limited.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The invention will be described in detail below with reference to the figures and examples.
Example 1:
when the silo is stored, in order to automatically monitor the stock and the change condition of the materials in the silo in real time, an automatic sensing device is needed to measure the top appearance of the materials. Due to the characteristics of the stacking materials, the currently commonly used ultrasonic stacking material measuring method has the problems of large measuring blind area, limited measuring depth, poor stability easily influenced by the environment and the like. The embodiment provides a device for monitoring the top surface appearance of a stacking material stored in a silo, which can automatically, quickly, accurately and stably obtain the stacking height of different materials in the silo.
The following describes a specific structure of the device for monitoring the top surface topography of a silo pile provided in this embodiment with reference to fig. 1:
the device for monitoring the top surface appearance of the silo stacking material comprises a two-dimensional laser scanner 10, a scanning cloud platform 20 and a sealing box body 30.
Due to the fluidity of the stockpile, the top of the stockpile in the silo may fluctuate, and therefore three-dimensional spatial position information of detection points at a plurality of different positions on the top surface of the stockpile needs to be acquired, and the acquired three-dimensional spatial position information is fitted to acquire specific geometric data of the specific morphology of the top surface of the stockpile. In the solution provided in this embodiment, a two-dimensional laser scanner 10 is used to obtain raw data of probe points at different positions on the top surface of the stack. The use of the two-dimensional laser scanner 10 has the advantage of high efficiency and high accuracy compared to the conventional single-point measurement method. The two-dimensional laser scanner 10 is an automated rapid measurement system combining a non-cooperative target laser range finder and an angle measurement system, and performs rapid scanning measurement on a measured object in a complex field and space, directly obtains data such as a horizontal direction, a zenith distance, an oblique distance, a reflection intensity and the like of the surface of the object contacted by monitoring light, automatically stores and calculates the data, and obtains two-dimensional point cloud data of the scanned target surface, in this embodiment, the two-dimensional point cloud data of the top surface of the stacking material. In a specific implementation scenario of this embodiment, the two-dimensional laser scanner 10 may select an appropriate model according to the detection range, the detection distance interval, the detection accuracy, and the like.
By using the two-dimensional laser scanner 10, only two-dimensional point cloud data of the top surface of the stack can be acquired. In order to acquire the three-dimensional spatial information of the detection point, the scanning platform 20 needs to be used. The two-dimensional laser scanner 10 is installed on the scanning cloud platform 20, and when the two-dimensional laser scanner 10 completed the point cloud scanning of two-dimensional plane, the scanning cloud platform 20 drove the rotation of two-dimensional laser scanner 10 in the third dimension direction, carried out many times measurement to the windrow surface, acquireed multiunit two-dimensional point cloud data to realize the acquisition of the three-dimensional point cloud data of windrow.
The device that this embodiment provided only needs one two-dimensional laser scanner 10 of installation and the one-dimensional scanning cloud platform 20 of extension, can accomplish the three-dimensional monitoring of windrow, and equipment structure is compact and easily installation and debugging. Meanwhile, the whole closed type storage and stacking monitoring can be covered by only one two-dimensional laser scanner 10, so that the closed type storage and stacking monitoring system is easy to manage and high in cost performance.
In some use scenarios of this embodiment, coal, ore or grain and the like are stored in the silo and may generate dust, and the dust is liable to interfere with and damage the optical devices and electronic devices of each component in the device, so that the measurement result is deviated, which affects the accuracy of monitoring, or causes equipment failure and affects the stability of the device. In order to avoid the influence of external environment such as dust on the device, the two-dimensional laser scanner 10 and the scanning holder 20 are enclosed in the sealed box 30. The sealed box 30 is in an airtight state in a closed state, so that dust, moisture, impurities and the like are prevented from entering the sealed box 30. In a preferred embodiment of the present invention, in order to ensure the airtight effect of the sealed box 30, the sealing performance of the sealed box 30 needs to meet the standards above IP67, and can meet the requirements of water resistance, dust resistance, and the like, and ensure the stable operation of each precision component inside the device.
Since the two-dimensional laser scanner 10 needs to emit laser light to the outside and obtain reflected light for measurement, the two-dimensional scanner 10 includes a light-passing window 11, monitoring light of the two-dimensional laser scanner 10 reaches the top surface of the stack through the light-passing window 11, and the reflected light of the monitoring light reflected by the top surface of the stack returns to the light-passing window 11. Meanwhile, the sealed box 30 includes a window 31, in order to enable the detection light of the two-dimensional laser scanner 10 failure to reach the top surface of the stack below, the window 31 is located on the bottom surface of the sealed box 30, and the window 31 corresponds to the light-passing window 11 on the two-dimensional laser scanner 10. The window 31 has two states of closing and opening, when the two-dimensional laser scanner 10 does not monitor, the window 31 is closed, the sealing box body 30 is sealed in an airtight mode, the dirt degree accumulated on the light-transmitting window 11 of the two-dimensional laser scanner 10 is reduced, the cleaning frequency of the light-transmitting window 11 is reduced, and the overall reliability and the service life of the device are improved; when monitoring is needed, the window 31 is opened, monitoring light of the two-dimensional laser scanner 10 reaches the top surface of the stacking material through the opening of the window 31, and reflected light of the monitoring light on the top surface of the stacking material is reflected back to the two-dimensional laser scanner 10 through the opening of the window 31, so that the two-dimensional laser scanner 10 obtains measurement data.
Further, in order to facilitate the control of opening and closing the window 31, as shown in fig. 2, a motor 33 may be provided, the motor 33 drives the window 31 to move, so as to close and open the window 31, and the motion parameters such as start, stop, speed, etc. of the motor 33 are controlled by an external control signal. In a specific use scenario, as shown in fig. 3 and 4, according to the shape of the sealed box 30 and the window 31, the motor 33 may open and close the window 31 by using a linear motor to drive the window 31 to translate parallel to the plane where the window is located, or using a rotary motor to drive the window 31 to rotate parallel to the plane where the window is located. The motor 33 is used for driving the window 31 to open and close, so that the automation degree of the device can be improved, and the use convenience of the device can be improved. The valve is opened and closed in time, so that the exposure time of each component in the device can be reduced as far as possible under the condition of not shielding monitoring light, and the contamination of pollutants in the light-transmitting window 11 is reduced. In a specific implementation scenario of this embodiment, a control interface of the motor 33 may be connected to a start-stop control signal of the two-dimensional laser scanner 10, and when a signal for starting monitoring is sent, the motor 33 is controlled to open the window 31 first, and after the window 31 is opened in place, a start signal is sent to the two-dimensional laser scanner 10 to start scanning; on the contrary, when the signal for stopping monitoring is sent, the monitoring light of the two-dimensional laser scanner 10 is turned off first, and after the monitoring light is turned off, the closing signal is sent to the motor 33 to close the window 31, so that the monitoring light is prevented from being blocked by the window 31, and wrong data is acquired.
In some embodiments, the window 31 needs to be opened for a longer time, or the dust in the material pile is more, and more pollutants may be accumulated on the light-transmitting window 11. In order to further ensure the light transmission of the light transmission window 11 and reduce the influence of contaminants on the monitoring process, as shown in fig. 5, the device further comprises a cleaning component 40 and a control switch 50, wherein the cleaning component 40 cleans the light transmission window 11 under the control of the control switch 50. Since the cleaning member 40 and the control switch 50 include electronic components and precision moving devices, in order to ensure that the cleaning member 40 and the control switch 50 are not contaminated by dust from piled materials, they are also enclosed in the sealed case 30. A first control interface of the control switch 50 and a control interface of the cleaning member 40, and the control switch 50 is turned on to send signals for starting and stopping cleaning to the cleaning member 40. Two-dimensional laser scanner 10 internally mounted has the dirty discernment induction element and the dirty discernment warning procedure of logical light window 10, can acquire the dirty condition of logical light window 11 in real time, and it needs clean signal to lead to dirty discernment control interface transmission of light, control switch 50's second control interface and two-dimensional laser scanner 10's dirty discernment control interface coupling, when the dirty condition surpassed the alarm value of settlement, laser scanner 10 sends one and needs clean signal to control switch 2 in the system of silo windrow top surface appearance monitoring that embodiment 2 provided, the system sends clean instruction to control switch 50 through detecting control device 2, start cleaning device to the cleanness of logical light window 11. In another implementation scenario, when the laser scanner 10 and the control switch 50 are directly communicable with each other via the control signal, the contamination detection alarm program may directly send a cleaning instruction to the control switch 50 to start the cleaning device to clean the light-through window 11.
In a specific implementation scenario, in order to sufficiently clean the light-passing window 11, as shown in fig. 6, the cleaning component 40 includes an air-spraying pipeline 41, and when the control switch 50 receives a cleaning command, the water-spraying pipeline 41 is controlled to be opened to perform water-spraying cleaning on the light-passing window 11. In order to avoid the influence of water stains remaining on the light-passing window 11 after water spraying cleaning, the air spraying device further comprises an air spraying pipeline 42, after the water spraying pipeline 41 sprays water to the air-passing window 11 for cleaning, the air spraying pipeline 42 sprays air to the light-passing window 11 for cleaning, and the water stains and the remaining dirt on the light-passing window 11 are removed. Further, in order to meet the cleaning requirements of the light passing windows 11 of different shapes, which are provided in the two-dimensional laser scanners 11 of different models, both the water spray pipe 41 and the air spray pipe 42 need to have moving and rotating functions to clean all positions of the light passing windows 11. The moving and rotating functions also enable the water spray end of the water spray pipe 41 and the air spray end of the air spray pipe 42 to be cleaned close to the light passing window 11 when cleaning is required and to be away from the light passing window 11 to avoid blocking of monitoring light and reflected light when the two-dimensional laser scanner 10 is in operation. In a specific embodiment, as shown in fig. 7, the moving and selecting functions can be realized by driving the water spraying end and the air spraying end to move by the cleaning motor 44, and a control port of the cleaning motor is connected with the control switch 11 and receives a cleaning instruction of the control switch 11 to move the water spraying end and the air spraying end. In order to avoid the accumulation of cleaning water from the water spraying pipe 41 or the wetting of the piled materials, a water discharging part 43 is also needed, the water discharging part 43 is arranged on the surface of the inner side of the window 31, and the water sprayed from the water spraying pipe 41 can be discharged out of the silo in time. Further, in order to ensure that the clean water of water spray pipeline 41 spun is thoroughly discharged, avoid the inside humidity of sealed box 30 too big, make electronic equipment break down, can also increase drying device, outside drying device cleared away remaining steam and discharge the silo through modes such as stoving or air-dry, it is suitable to ensure the inside humidity of sealed box 30, can not remain ponding or too much steam.
In order to control the opening and closing of the water spray pipe 41 and the air spray pipe 42, as shown in fig. 8, electromagnetic valves 45 are respectively provided on the water spray pipe 41 and the air spray pipe 42. The two electromagnetic valves 45 receive the control signals of the control switch 11 respectively to control the on-off of the water spray pipeline 41 and the air spray pipeline 42. The electromagnetic valve 45 is simple to control and has high response speed, so that the cleaning action can be conveniently and timely started and stopped. Further, the current passing through the various connections of the monitoring device may cause dust explosion due to the dust generated by the stockpile in the silo, and the water in the water spray line 41 may cause electrical short circuit explosion. Therefore, the electromagnetic valve 45 is preferably an explosion-proof electromagnetic valve to prevent dust and water from causing explosion and improve the safety of the system.
In some embodiments of the present embodiment, the use of the cleaning member 40 may not completely solve the problem of the contamination of the light-transmitting window 11, and this may be solved by cleaning with manual intervention. In order to ensure the safety of the manual cleaning, as shown in fig. 9, a protection window 32 dedicated to the manual cleaning is further included on the sealed box 30, and the protection window 32 is located on the top surface of the sealed box 30, i.e., on the back side of the light-passing window 11 of the two-dimensional laser scanner 10, so as to prevent the cleaning personnel from being directed to the monitoring light that may be emitted. In order to further ensure the safety of the cleaning personnel, the opening sensor of the protection window 32 is connected with the light opening control interface of the two-dimensional laser scanner 10, when the protection window 32 is opened, the protection window immediately sends out a light closing signal to the two-dimensional laser scanner 10, shields the light opening signal of the two-dimensional laser scanner 10, ensures that the two-dimensional laser scanner 10 keeps a light-out state, and can receive the opening signal for monitoring after the protection window 32 is closed. To further ensure safety and to avoid the protection window 32 being opened by mistake due to malfunction or equipment failure, the protection window 32 can be opened and closed only by a manual operation.
Since the two-dimensional laser scanner 10 is a precision instrument and requires a high temperature for the working environment, the temperature adjustment member 12 is also required. The two-dimensional laser scanner 10 is internally installed with a temperature detection device, and when the ambient temperature exceeds the working environment temperature range of the two-dimensional laser scanner 10, the control interface of the heating component 12 is connected with the temperature detection control interface of the two-dimensional laser scanner 10. When the temperature detecting device detects that the surrounding environment is low, a low-temperature alarm signal is sent to the temperature adjusting part 12, a heating system in the temperature adjusting part 12 is started, and environmental interference such as icing and fogging in the low-temperature environment is solved. When the temperature detecting device detects that the ambient temperature is high, it sends a high temperature alarm signal to the temperature adjusting component 12, and starts the cooling system in the temperature adjusting component 12 to prevent the ambient temperature from exceeding the upper limit of the working environment temperature range of the two-dimensional laser scanner 10.
Through the device and the structural combination that this embodiment provided, can use two-dimensional laser scanner and scanning cloud platform to cooperate, carry out comprehensive, accurate monitoring to silo windrow top surface appearance to the characteristic of windrow in the silo has set up cleaning element and has avoided pollutants such as dust in the windrow to the influence of monitoring data, has set up temperature regulation part and has avoided the influence of ambient temperature change to monitoring process, in order to obtain more accurate monitoring data.
Example 2:
on the basis of the device for monitoring the top surface morphology of the silo pile provided in the embodiment 1, the device for monitoring the top surface morphology of the silo pile can be integrated into an integral silo storage system, so that a system for monitoring the top surface morphology of the silo pile is provided.
Fig. 10 is a schematic structural diagram of a system for monitoring the top surface topography of a silo dump according to this embodiment.
The system comprises a monitoring device 1, a monitoring control device 2 and a silo 3 which are designed according to the device for monitoring the top surface topography of the silo stockpile provided in the embodiment 1.
The monitoring device 1 is arranged at the top of the cabin of the silo 3, and the window 31 of the monitoring device 1 faces the top surface of the stockpile in the silo 3. Since the window 31 and the light-transmitting window 11 of the two-dimensional laser scanner 10 correspond in position, when the window 31 faces the top surface of the stack, the light-transmitting window 11 of the two-dimensional laser scanner 10 can emit monitoring light to the top surface of the stack and receive reflected light from the top surface of the stack. In order to fully utilize the scanning range of the two-dimensional laser scanner 10, in a preferred scheme, the monitoring device 1 is arranged at the central position of the top of the silo 3 in a cabin, so that the monitoring data of all positions of the top surface of the stacking material can be conveniently acquired.
In order to process the measurement data of the monitoring device 1 and control the monitoring device 1, the system for monitoring the top topography of the silo material pile provided by the embodiment further needs to include a monitoring and controlling device 2. Fig. 11 is a schematic diagram of the monitoring and control device 2 used in the embodiment of the present invention. The monitoring and control device 2 includes one or more processors 2-1 and a memory 2-2. In FIG. 11, one processor 2-1 is taken as an example. The processor 2-1 and the memory 2-2 may be connected by a bus or other means, as exemplified by the bus connection in fig. 11. The memory 2-2 is a non-volatile readable storage medium, and can be used to store a non-volatile software program, a non-volatile computer-executable program, and data, such as measurement data acquired by the monitoring apparatus 1, a calculation program of the measurement data, a control program of the monitoring apparatus 1, and the like in the present embodiment. The processor 2-1 processes the data acquired by the monitoring device 1 by running non-volatile software programs, instructions and modules stored in the memory 2-2. The memory 2-2 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 2-1 may optionally include memory located remotely from processor 2-2, which may be connected to processor 2-1 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The monitoring control device 2 interacts with the monitoring device 1 through data signals and control signals, so that the stockpiling height of the silo 3 can be analyzed and monitored through the data acquired by the monitoring device 1. When the height of the stockpile is lower than a set value, the monitoring system prompts that the stockpile can be continuously added; when the height of the stockpile is higher than the set value, the monitoring system starts to alarm and can not continue to add the stockpile.
The monitoring device 1 transmits the detection data to the monitoring control device 2, and then transmits the detection data to the silo main control system through a data line. After receiving the detection data, the silo main control system calculates the appearance of the top surface of the stacking material or the volume of the stacking material and other related data and feeds the data back to the system and related personnel. In order to ensure real-time performance and rapidity of data transmission, in a preferred scheme, optical fibers are adopted as transmission media for data lines among the monitoring device 1, the monitoring control device 2 and the silo main control system 3.
The current passing through the various wires of the monitoring system may cause dust explosions as the stockpiles in the silo may generate dust. Therefore, various wiring between the monitoring device 1 and the monitoring control device 2 needs to use explosion-proof cables to avoid dust explosion and improve system safety.
Furthermore, the system for monitoring the top topography of the silo stockpile provided by the embodiment can be linked with the integral main control system of the silo, so as to obtain better monitoring and management effects. In some specific scenes, the monitoring system is connected with a feeding or discharging control system of the silo master control system, the monitoring system is automatically started to detect when feeding or discharging is started, the monitoring is automatically stopped when the feeding or discharging is finished, the feeding is automatically stopped when the stacking height is monitored to exceed the preset height, or the feeding is automatically started when the stacking height is monitored to be lower than the preset height, so that the real-time change of the stacking top surface height in the feeding and discharging processes is conveniently monitored, and different possible stacking height conditions are timely processed.
In different usage scenarios, the start-up time period of the testing device 1 may be controlled according to different requirements. When feeding or the ejection of compact, need carry out real-time supervision to the top surface appearance, at this moment, need the two-dimensional laser scanner 10 among the monitoring devices 1 of monitoring control device 2 control to open and close according to the signal of feeding and the ejection of compact, carry out real-time synchronous monitoring, avoid the feeding height to exceed the alert point. In daily use, in order to ensure the safety of the stacking, the monitoring and control device 2 is required to control the two-dimensional laser scanner 10 in the monitoring device 1 to be started at regular time, so as to perform daily monitoring on the top appearance of the stacking and find out possible problems in time. In order to ensure that the monitoring light path is smooth and avoid the accumulation of dirt caused by the long-term opening of the sealed box body 30, when the two-dimensional laser scanner 10 is opened and closed, the window 31 needs to be synchronously opened and closed, the light path is timely opened for monitoring, and the sealed box body 30 is timely sealed to prevent the dirt from entering.
By the silo material piling top appearance monitoring system, the data of the detecting points of the top surface of the silo material piling obtained by the silo material piling top appearance monitoring device can be analyzed and processed, and different processing can be carried out by matching with a main control system of the silo according to different appearance characteristics, so that the material piling in the silo can keep a proper height. Meanwhile, the monitoring device is started in real time or at regular time, so that the monitoring requirements of different use scenes are met.
Example 3:
on the basis of the device for monitoring the top topography of the silo pile provided in the embodiment 1 and the system for monitoring the top topography of the silo pile provided in the embodiment 2, the invention provides a method for monitoring the top topography of the silo pile by using the system for monitoring the top topography of the silo pile.
It will be understood by those skilled in the art that all or part of the steps in the processing procedure of the steps in embodiment 3 may be implemented by a program instructing relevant hardware in the system for monitoring the top topography of silo-pile, and the steps in embodiment 3 may be stored in a readable storage medium existing in each device in the monitoring apparatus 1 and the monitoring control apparatus 2 in the system for monitoring the top topography of silo-pile, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
As shown in fig. 12, the method for monitoring the top topography of the silo pile provided by the embodiment of the invention comprises the following specific steps:
step 101: the system for monitoring the top surface topography of a silo heap proposed according to example 2 deploys a monitoring device 1 in a silo 3.
Before monitoring the top surface morphology of the stockpile, the monitoring device 1 needs to be deployed at a proper position in the silo 3 according to the technical scheme in the embodiment 2 to acquire more accurate monitoring data and realize the best monitoring effect. After the monitoring device 1 is deployed, the system for monitoring the top surface morphology of the silo stockpile can use various components in the monitoring device 1 under the control of the monitoring control device 2 to complete the monitoring process according to the steps 102 to 105.
Step 102: the two-dimensional laser scanner 10 in the monitoring device 1 sends out multiple monitoring light signals to the top of the stacking material under the control of the scanning holder 20.
Step 103: the two-dimensional laser scanner 10 acquires a reflected light signal obtained by reflecting the monitoring light signal by the top of the pile.
Step 104: the monitoring and control device 2 obtains two-dimensional point cloud data of all areas on the top of the stacking material according to the reflected light signal data of the two-dimensional laser scanner 10.
In steps 102 and 103, the two-dimensional laser scanner 10 in the monitoring device 1 emits monitoring light and receives reflected light to realize the initial acquisition of the relevant data of the morphology monitoring, and then the two-dimensional point cloud data of the top of the stacking material is obtained through calculation in step 104 and is used as the basic data of the morphology monitoring. The two-dimensional laser detector 10 rotates rapidly and orderly through two synchronous reflectors, sequentially scans narrow laser pulses emitted by a laser pulse emitter over a detected area, measures the time (or phase difference) that each laser pulse passes through the surface of a detected object and returns to the detector to calculate the distance, meanwhile, a precise clock control encoder is arranged in the two-dimensional laser detector, and synchronously measures the observation value of the transverse scanning angle and the observation value of the longitudinal scanning angle of each laser pulse to obtain the two-dimensional coordinates of each detection point in the two-dimensional point cloud.
Step 105: and the monitoring control device 2 acquires the appearance information of the top of the stockpile according to all the two-dimensional point cloud data.
After the two-dimensional point cloud data of all areas on the top of the stacking material are obtained, the two-dimensional space data of all detection points in the point cloud can be integrated, the three-dimensional appearance of the top surface of the stacking material is fitted, and accurate appearance information of the top surface of the stacking material is obtained.
Specifically, as shown in fig. 14, the three-dimensional topography of the top surface of the heap may be fitted by the following steps.
Step 201: a three-dimensional polar coordinate system is established with the origin of the device coordinate system of the two-dimensional laser scanner 10 as the origin.
As shown in fig. 13, in the schematic diagram of the detection coordinate system of the monitoring method provided in this embodiment, since the two-dimensional laser scanner 10 and the scanning platform 20 need to be calculated according to the angle data when they are matched, a polar coordinate system is used in the calculation process for simplicity and convenience of calculation. The origin of the device coordinate system of the two-dimensional laser scanner 10 is set as the origin of the polar coordinate system, the scanning plane of the two-dimensional laser scanner 10 is taken as the x0z plane, the track direction in which the scanning pan/tilt head 20 drives the two-dimensional laser scanner 10 to rotate is taken as the y axis, and the xyz axis is defined in the right-hand coordinate system.
Step 202: and calculating the three-dimensional space position of each detection point in the three-dimensional polar coordinate system according to the geometric relationship between the origin of the three-dimensional polar coordinate system and each detection point in the two-dimensional point cloud data.
The three-dimensional spatial location of each detection point in the two-dimensional point cloud may be determined by three parameters
To describe. Wherein r is the linear distance between the detection point and the scanning laser radar, theta is the included angle between the detection point straight line and the z axis, the detection point straight line is the straight line passing through the origin of the polar coordinate system and the detection point,
the included angle between the projection of the straight line of the detection point in the plane x0y and the x axis is shown. The spatial positions of the detection points can be uniquely determined through the three parameters, the spatial positions of all the detection points are combined, three-dimensional point cloud data of the morphology of the top surface of the stacking material can be obtained, and data such as coordinates of the highest point and the lowest point of the top of the stacking material, the volume of the stacking material and the like are further obtained.
Step 203: and performing three-dimensional fitting on the appearance of the top surface of the stacking material according to the three-dimensional space positions of all the detection points to obtain the appearance information of the top surface of the stacking material.
In actual testing, r is a function of θ and
can be set to r is θ and
in conjunction with mathematical modeling and theoretical analysis, the surface fitting is formulated as equation 1:
wherein A is0、A1、A2、A3Are fitting coefficients.
During actual detection, a series of discrete measured data points can be obtained through two-dimensional rotation of the laser radar and third-dimensional rotation of the one-dimensional holder
Substituting the measured data points into formula 1, fitting by using the least square approximation principle, and obtaining the most ideal coefficient value as shown in formula 2.
In order to improve the detection efficiency and reduce the detection time each time, the number of actual testing points should be reduced as much as possible, and the surface condition and the stacking volume of the stacking material are simulated through the fitting result of the formula 2. After the curved surface fitting is carried out, three-dimensional data of the appearance of the top of the stacking material can be obtained according to the fitted curved surface equation, and the heights of different positions of the top of the stacking material can be accurately monitored.
Through steps 101 to 105, and steps 201 to 203, the device for monitoring the top surface morphology of the silo pile provided in embodiment 1 and the system for monitoring the top surface morphology of the silo pile provided in embodiment 2 can be used to monitor the top surface morphology of the pile in the silo, so as to conveniently and accurately obtain the state of the top surface morphology of the pile, provide safety indication and storage state indication for feeding and discharging materials in the silo, avoid potential safety hazards or abnormal operation of a feeding and discharging system caused by the fact that the top surface height of the pile exceeds a safety height threshold, and obtain storage state data such as the volume of the pile.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a device of monitoring of silo windrow top surface appearance which characterized in that:
the device comprises a two-dimensional laser scanner (10), a scanning cloud platform (20) and a sealed box body (30);
the two-dimensional laser scanner (10) and the scanning holder (20) are packaged in the sealed box body (30), the two-dimensional scanner (10) comprises a light passing window (11), monitoring light of the two-dimensional laser scanner (10) reaches the top surface of the stacking material through the light passing window (11), and reflected light of the monitoring light after being reflected by the top surface of the stacking material returns to the light passing window (11);
the scanning cloud deck (20) drives the two-dimensional laser scanner (10) to rotate in a third dimension direction;
the sealing box body (30) is provided with a window (31), the window (31) is located on the bottom surface of the sealing box body (30), the window (31) corresponds to a light-passing window (11) on the two-dimensional laser scanner (10), the sealing box body (30) is sealed in an airtight mode when the window (31) is closed, and monitoring light of the two-dimensional laser scanner (10) reaches the top surface of the stacking material through an opening of the window (31) when the window (31) is opened.
2. The apparatus of claim 1, wherein the apparatus for monitoring the top surface topography of the silo heap is further configured to:
also comprises a cleaning component (40) and a control switch (50);
the cleaning component (40) and the control switch (50) are encapsulated in the sealed box body (30);
a first control interface of the control switch (50) is connected with a control interface of the cleaning component (40), and a second control interface of the control switch (50) is coupled with a dirt identification control interface of the two-dimensional laser scanner (10).
3. The apparatus of claim 2, wherein the apparatus for monitoring the top surface topography of the silo heap is further configured to:
the cleaning part (40) comprises a water spraying pipeline (41) and an air spraying pipeline (42);
the water spraying end of the water spraying pipeline (41) and the air spraying end of the air spraying pipeline (42) are close to a light passing window (11) on the two-dimensional laser scanner (10);
and a water discharging component (43) is further included so as to discharge water sprayed by the water spraying pipeline (41) out of the silo.
4. The apparatus of claim 1, wherein the apparatus for monitoring the top surface topography of the silo heap is further configured to:
the two-dimensional laser scanner (10) further comprises a temperature adjusting component (12);
the control interface of the temperature adjusting component (12) is connected with the temperature detection control interface of the two-dimensional laser scanner (10).
5. The apparatus of claim 1, wherein the apparatus for monitoring the top surface topography of the silo heap is further configured to:
the sealed box body (30) also comprises a protective window (32);
the protection window (32) is positioned on the top surface of the sealed box body (30), and the two-dimensional laser scanner (10) keeps a light-out state when the protection window (32) is opened.
6. A system for monitoring the top surface appearance of silo stockpiles is characterized in that:
monitoring device (1), monitoring control device (2) and silo (3) comprising a device design for monitoring the top surface topography of a silo heap as set forth in any one of claims 1 to 5;
the monitoring device (1) is arranged at the top of the cabin of the silo (3), and a window (31) of the monitoring device (1) faces to the top surface of the stockpile in the silo (3);
the monitoring control device (2) and the monitoring device (1) carry out interaction of data signals and control signals, so that the stockpiling height of the silo (3) can be analyzed and monitored through the data obtained by the monitoring device (1).
7. The system for monitoring the top surface topography of a silo heap of claim 6 wherein:
the monitoring control device (2) controls the two-dimensional laser scanner (10) in the monitoring device (1) to be opened and closed in real time or at regular time, and synchronously opens or closes the window (31).
8. A method for monitoring the top surface appearance of silo stockpiles is characterized by comprising the following steps:
the system for monitoring the top surface topography of a silo heap as set forth in any one of claims 6 to 7 deploys the monitoring device (1) in the silo (3);
a two-dimensional laser scanner (10) in the monitoring device (1) sends a plurality of monitoring optical signals to the top of the stacking material under the control of a scanning holder 20;
a two-dimensional laser scanner (10) acquires a reflected light signal obtained by reflecting a monitoring light signal by the top of the stacking material;
the monitoring control device (2) obtains two-dimensional point cloud data of all areas on the top of the stacking material according to the reflected light signal data of the two-dimensional laser scanner (10);
and the monitoring control device (2) acquires the appearance information of the top of the stockpile according to all the two-dimensional point cloud data.
9. The method of claim 8, wherein the obtaining topographical information of the top of the heap comprises:
establishing a three-dimensional polar coordinate system by taking an original point of an equipment coordinate system of the two-dimensional laser scanner (10) as an original point;
calculating the three-dimensional space position of each detection point in the three-dimensional polar coordinate system according to the geometric relationship between the origin of the three-dimensional polar coordinate system and each detection point in the two-dimensional point cloud data;
and performing three-dimensional fitting on the appearance of the top surface of the stacking material according to the three-dimensional space positions of all the detection points to obtain the appearance information of the top surface of the stacking material.
10. The method of monitoring the topography of a silo windrow top surface of claim 9, wherein the three-dimensional fitting of the topography of the windrow top surface comprises:
three-dimensional fitting is performed using the least squares approximation principle.
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Application publication date: 20201110 |