CN112082473A - Steel slag stock ground three-dimensional data acquisition imaging system and method - Google Patents

Steel slag stock ground three-dimensional data acquisition imaging system and method Download PDF

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CN112082473A
CN112082473A CN201910507167.XA CN201910507167A CN112082473A CN 112082473 A CN112082473 A CN 112082473A CN 201910507167 A CN201910507167 A CN 201910507167A CN 112082473 A CN112082473 A CN 112082473A
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laser scanner
dimensional
steel slag
data
stock ground
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夏艺萌
李斌
王敏学
骆亦琦
梁潇潇
李弢霖
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Hunan Fusheng Intelligent Technology Co ltd
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Hunan Fusheng Intelligent Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • 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
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21B—MANUFACTURE OF IRON OR STEEL
    • C21B3/00—General features in the manufacture of pig-iron
    • C21B3/04—Recovery of by-products, e.g. slag
    • G—PHYSICS
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies

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Abstract

The invention designs a steel slag stock ground three-dimensional data acquisition imaging system and a steel slag stock ground three-dimensional data acquisition imaging method aiming at the problem that the surface structure form of the steel slag stock ground cannot be timely, accurately and quickly acquired in the background technology. A three-dimensional data acquisition imaging system for a steel slag stock ground comprises a calculator, a control panel, an integrated laser scanner, a traveling system, communication equipment, a data storage, a three-dimensional modeling system and a three-dimensional model display, wherein the data storage, the three-dimensional modeling system and the three-dimensional model display are sequentially communicated; the calculator is in communication connection with the control panel, the control panel is in control connection with the integrated laser scanner and the traveling system respectively, and the integrated laser scanner and the traveling system are in data connection with the calculator through the communication equipment respectively; the calculator is also in data communication with a data store. The integrated laser scanner is fixed on a trolley of the traveling system. The invention has high automation degree, good implementation effect and low manufacturing cost, and is beneficial to batch production and implementation.

Description

Steel slag stock ground three-dimensional data acquisition imaging system and method
Technical Field
The invention relates to the field of steel slag treatment and recovery, in particular to a steel slag stock ground three-dimensional data acquisition imaging system and a steel slag stock ground three-dimensional data acquisition imaging method.
Background
With the development of the steel industry, the amount of steel slag is increased. At present, steel slag treatment processes are numerous, and most direct is that after being treated, hot-melt steel slag is excavated and loaded by a loader, an electric shovel and other equipment and then is transported to a slag disposal site. The piling of the steel slag not only occupies a large amount of cultivated land and pollutes the environment, but also can recycle 7 to 15 percent of steel in the steel slag. The steel slag which is generally required to be processed and recycled is recycled after being treated by the processes of crushing, screening, magnetic separation and the like. The steel slag can be used as smelting solvent, steel slag cement, building aggregate, agricultural fertilizer, soil conditioner and the like after being processed. Therefore, the treatment and the comprehensive utilization of the steel slag can generate great economic and social benefits.
In the prior art, the cold steel slag treatment method comprises the steps that steel slag cooled to normal temperature is directly poured into a grid sieve for screening, slag blocks smaller than 300mm fall on a conveyor, iron is removed from the surface of the steel slag through a belt type iron remover, and the steel slag enters a drum sieve for screening; and (3) crushing the slag blocks larger than 50mm in a crusher, conveying the slag blocks of 2050mm to a vibrating screen for screening, and directly conveying the slag blocks of smaller than 20mm away for stacking and burying. And the slag blocks larger than 300mm can not be directly screened, and are recycled to the lattice screen after being subjected to screening and drop hammer treatment. Because the area of the steel slag field is larger, generally about 1000 square meters or even larger, workers cannot accurately know the surface morphology of the steel slag by naked eyes, and large-size steel slag blocks are not convenient to crush. The processing cost of the large slag blocks with the size of more than 300mm entering the screening program is increased by geometric multiples, and the large slag blocks can only be stacked and buried, so that the processing not only causes waste, but also causes great waste for the production of iron and steel enterprises because metal materials and slag formers in the slag blocks cannot be fully separated. Therefore, how to timely, accurately and quickly acquire the surface structure form of the steel slag stock ground provides a basis for crushing large steel slag blocks, and the method is a technical problem to be solved urgently.
Disclosure of Invention
Aiming at the problem that the surface structure form of the steel slag stock ground cannot be timely, accurately and quickly obtained in the background art, the invention designs a steel slag stock ground three-dimensional data acquisition imaging system and a steel slag stock ground three-dimensional data acquisition imaging method. A steel slag stock ground three-dimensional data acquisition imaging system is arranged above a steel slag stock ground and comprises a calculator, a control panel, an integrated laser scanner, a traveling system, communication equipment, a data memory, a three-dimensional modeling system and a three-dimensional model display; the calculator is in communication connection with the control panel, the control panel is in control connection with the integrated laser scanner and the traveling system respectively, and the integrated laser scanner and the traveling system are in data connection with the calculator through the communication equipment respectively; the calculator is also in data communication with a data store; the data memory, the three-dimensional modeling system and the three-dimensional model display are sequentially in data communication; the integrated laser scanner is fixed on a trolley of the traveling system.
Further, the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating bracket for supporting the laser scanner, and a fixing bracket for fixing the rotating bracket on the traveling system; and the first angle controller and the second angle controller are arranged on the rotating bracket and used for controlling the rotation of the rotating bracket.
Further, the traveling system comprises a support frame, a cart and a trolley, wherein the cart is provided with a cart controller and a Y-axis encoder, and the trolley is provided with a trolley controller and an X-axis encoder.
Further, the integrated laser scanner head is also provided with a detachable dustproof safety cover.
Further, the traveling system is installed above the steel slag stock yard.
Further, the resolution of the first angle controller and the second angle controller is between 0.125 and 1.5 degrees.
A steel slag stock ground three-dimensional data acquisition imaging method comprises the following steps:
s1, establishing a three-dimensional coordinate system, and constructing a right-hand rectangular coordinate system by taking the projection of the initial position of the laser scanner on the ground as an original point (0, 0, 0), the initial position (0, 0, H) of the laser scanner, the advancing direction of the trolley (stock ground length direction) as an X axis, the advancing direction of the trolley (stock ground width direction) as a Y axis and the vertically upward direction as a Z axis; the starting position of the laser scanner is positioned in the middle of the width direction of one side of the steel slag stock ground; the travelling system is arranged above the steel slag stock yard, and the travelling height is H;
s2, setting a first trolley running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the stock yard width W, the stock yard length L and required measurement units, and calculating a trolley track and a laser scanner rotation track according to the running speed of the trolley and the single point position working time of the laser scanner; sending the trolley running track and the laser scanner rotating track command to a control panel;
s3, collecting and acquiring three-dimensional coordinates (X) of any data measurement point at the first timea,Ya,Za) At the moment, the X-axis encoder obtains the trolley displacement X of the overhead traveling crane systemCrown blockThe vertical included angle encoder obtains the included angle theta between the sensor and the Z axisaDistance measurement S of laser scanneraAccording to Xa＝XCrown block，Ya＝-Sa·sinθa，Za＝H-Sa·cosθaCalculating the three-dimensional coordinate (X) of any data measurement pointa,Ya,Za)；
S4, obtaining the point position three-dimensional coordinate (X) of the density measuring pointa,Ya,Za) Storing the data into a data memory;
s5, obtaining point three-dimensional coordinates (X)a,Ya,Za) Obtaining the projection coordinate A (X) of the point position coordinate on the horizontal planeA，YA，ZA) Wherein X isA＝Xa，Ya＝YA，ZA0, i.e. A (X)Crown block，Sa·sinθa0); the adjacent point positions of A are (A +1) and (B + 1); the projection of the A, (A +1) and the B +1) on the horizontal plane constructs a right-angle symmetrical triangle, and a TIN network (irregular triangulation network) is constructed by the corresponding a, (a +1) and (B + 1); a, (A +1), (B +1) and a, (a +1) and (B +1) are correspondingly connected to generate a pentahedron (a triangular prism with an inclined plane on the top surface and a plane on the ground); sequentially generating a seamless-connection pentahedron from all three adjacent points, and further generating a three-dimensional model of the steel slag stock ground;
s6, displaying three-dimensional image according to total field volume ∑ PiI is 1, 2, 3, 4, … … N, and calculating the total volume of the steel slag stock ground; wherein, Pi＝∫∫Zi(x,y)dxdyAnd N is the total number of triangles.
Further, the required measurement unit is 0.05-0.2 m.
Further, the required measurement unit is 0.1 m.
Further, between steps S4 and S5, the method further includes:
step S4-2, setting a second cart running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the calculated plane coordinates, and calculating a cart track and a laser scanner rotation track according to the cart running speed and the single point position working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S4-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure BDA0002092205310000041
Distance Sa' from laser scanner
Figure BDA0002092205310000043
Ya′＝YCrown block，
Figure BDA0002092205310000042
Calculating the three-dimensional coordinate (X) of any data measurement pointa′,Ya′,Za′)；
Step S4-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
Further, between steps S5 and S6, the method further includes:
step S5-2, identifying error data; the trough that can lead to the fact the data distortion because of the blockking of crest at Y axle direction back to laser projector, according to the three-dimensional image that generates, the trough of discernment Y axle direction to send the trough data point to the calculator, set for the second time cart orbit and laser scanner rotation track: calculating the plane coordinates (l/2, Y) of the point location to be measured according to the trough positiona) Calculating the track of the cart and the rotation track of the laser scanner according to the running speed of the cart and the single point location working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S5-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure BDA0002092205310000045
LaserDistance Sa' of scanner is as follows
Figure BDA0002092205310000046
Ya′＝YCrown block，
Figure BDA0002092205310000044
Calculating the three-dimensional coordinate (X) of any data measurement pointa′,Ya′,Za′)；
Step S5-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
The invention has the beneficial effects that:
1. by combining the laser scanner and the travelling crane, the steel slag stock ground three-dimensional data acquisition imaging system and the steel slag stock ground three-dimensional data acquisition imaging method can realize three-dimensional modeling of a large-range steel slag stock ground, and make preparation for subsequent crushing and recycling of steel slag.
2. According to the method, the first angle controller is designed to acquire data of the laser scanner in the Y-axis direction, and the first acquisition of the full-field data is realized through the car controller; because the laser scanner does not have penetrating power, trough data acquisition may be distorted due to overhigh wave crests in troughs back to the laser scanner, the data acquisition in the X-axis direction is carried out on the laser scanner by designing the second angle controller, and the second acquisition of full-field data is realized through the large-scale controller; the data is real, the efficiency is high, and the influence on the body health of field operators caused by the environment perniciousness of the steel slag yard is avoided. The comprehensive evaluation method has the advantages of high automation degree, good implementation effect and low manufacturing cost, and is beneficial to batch production implementation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a steel slag stock ground three-dimensional data acquisition imaging method;
FIG. 2 is a schematic diagram of connection communication data transmission of a steel slag stock ground three-dimensional data acquisition imaging system.
Detailed Description
The invention is further described below with reference to the following figures and examples:
the present invention will be further described with reference to the accompanying drawings, which are intended to illustrate the scope of application and the operation of the device of the present invention, and not to limit the application of the related art to the invention in any way, and any derivative technology based on the technical principle of the device of the present invention shall be protected by the present invention.
Example 1
The steel slag stock ground three-dimensional data acquisition imaging system shown in figure 1 comprises a calculator, a control panel, an integrated laser scanner, a traveling system, communication equipment, a data storage, a three-dimensional modeling system and a three-dimensional model display, wherein the data storage, the three-dimensional modeling system and the three-dimensional model display are sequentially communicated with one another; the calculator is in communication connection with the control panel, the control panel is in control connection with the integrated laser scanner and the traveling system respectively, and the integrated laser scanner and the traveling system are in data connection with the calculator through the communication equipment respectively; the calculator is also in data communication with a data store. The integrated laser scanner is fixed on a trolley of the traveling system.
Further, the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating bracket for supporting the laser scanner, and a fixing bracket for fixing the rotating bracket on the traveling system; the first angle controller and the second angle controller are used for controlling the rotation of the rotating bracket.
Further, the traveling system comprises a support frame, a cart and a trolley, wherein the cart is provided with a cart controller and a Y-axis encoder, and the trolley is provided with a trolley controller and an X-axis encoder.
Further, the integrated laser scanner head is also provided with a detachable dustproof safety cover.
Further, the traveling system is installed above the steel slag stock yard.
Further, the first angle controller and the second angle controller have a resolution of 0.125 °
Between 1.5 deg..
Example 2
As shown in fig. 2, the three-dimensional data acquisition and imaging method for the steel slag stock ground comprises the following steps:
s1, establishing a three-dimensional coordinate system, and constructing a right-hand rectangular coordinate system by taking the projection of the initial position of the laser scanner on the ground as an original point (0, 0, 0), the initial position (0, 0, H) of the laser scanner, the advancing direction of the trolley (stock ground length direction) as an X axis, the advancing direction of the trolley (stock ground width direction) as a Y axis and the vertically upward direction as a Z axis; the starting position of the laser scanner is positioned in the middle of the width direction of one side of the steel slag stock ground; the travelling system is arranged above the steel slag stock yard, and the travelling height is H;
s2, setting a first trolley running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the stock yard width W, the stock yard length L and required measurement units, and calculating a trolley track and a laser scanner rotation track according to the running speed of the trolley and the single point position working time of the laser scanner; sending the trolley running track and the laser scanner rotating track command to a control panel;
s3, collecting and acquiring three-dimensional coordinates (X) of any data measurement point at the first timea,Ya,Za) At the moment, the X-axis encoder obtains the trolley displacement X of the overhead traveling crane systemCrown blockThe vertical included angle encoder obtains the included angle theta between the sensor and the Z axisaDistance measurement by laser scannerSaAccording to Xa＝XCrown block，Ya＝-Sa·sinθa，Za＝H-Sa·cosθaCalculating the three-dimensional coordinate (X) of any data measurement pointa,Ya,Za)；
S4, obtaining the point position three-dimensional coordinate (X) of the density measuring pointa,Ya,Za) Storing the data into a data memory;
s5, obtaining point three-dimensional coordinates (X)a,Ya,Za) Obtaining the projection coordinate A (X) of the point position coordinate on the horizontal planeA，YA，ZA) Wherein X isA＝Xa，Ya＝YA，ZA0, i.e. A (X)Crown block，Sa·sinθa0); the adjacent point positions of A are (A +1) and (B + 1); the projection of the A, (A +1) and the B +1) on the horizontal plane constructs a right-angle symmetrical triangle, and a TIN network (irregular triangulation network) is constructed by the corresponding a, (a +1) and (B + 1); a, (A +1), (B +1) and a, (a +1) and (B +1) are correspondingly connected to generate a pentahedron (a triangular prism with an inclined plane on the top surface and a plane on the ground); sequentially generating a seamless-connection pentahedron from all three adjacent points, and further generating a three-dimensional model of the steel slag stock ground;
s6, displaying three-dimensional image according to total field volume ∑ PiI is 1, 2, 3, 4, … … N, and calculating the total volume of the steel slag stock ground; wherein, Pi＝∫∫Zi(x,y)dxdyAnd N is the total number of triangles.
Further, the required measurement unit is 0.05-0.2 m.
Further, the required measurement unit is 0.1 m.
Example 3
As shown in fig. 2, the method for acquiring and imaging three-dimensional data of a steel slag stock ground further includes, between steps S4 and S5, on the basis of implementation 2:
step S4-2, setting a second cart running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the calculated plane coordinates, and calculating a cart track and a laser scanner rotation track according to the cart running speed and the single point position working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S4-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure BDA0002092205310000071
Distance Sa' from laser scanner
Figure BDA0002092205310000073
Ya′＝YCrown block，
Figure BDA0002092205310000072
Calculating the three-dimensional coordinate (X) of any data measurement pointa′,Ya′,Za′)；
Step S4-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
Example 4
As shown in fig. 2, the method for acquiring and imaging three-dimensional data of a steel slag stock ground further includes, between steps S5 and S6, on the basis of implementation 2:
step S5-2, identifying error data; the wave trough which is back to the laser projector in the Y-axis direction can cause data distortion due to the blocking of the wave crest, the wave trough in the Y-axis direction is identified according to the generated three-dimensional image, the wave trough data point is sent to the calculator, and the data point is setDetermining a second cart running track and a laser scanner rotating track: calculating the plane coordinates (l/2, Y) of the point location to be measured according to the trough positiona) Calculating the track of the cart and the rotation track of the laser scanner according to the running speed of the cart and the single point location working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S5-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure BDA0002092205310000081
Distance Sa' from laser scanner
Figure BDA0002092205310000083
Ya′＝YCrown block，
Figure BDA0002092205310000082
Calculating the three-dimensional coordinate (X) of any data measurement pointa′,Ya′,Za′)；
Step S5-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A steel slag stock ground three-dimensional data acquisition imaging system is characterized in that: the device is arranged above a steel slag stock ground and comprises a calculator, a control panel, an integrated laser scanner, a traveling system, communication equipment, a data memory, a three-dimensional modeling system and a three-dimensional model display; the calculator is in communication connection with the control panel, the control panel is in control connection with the integrated laser scanner and the traveling system respectively, and the integrated laser scanner and the traveling system are in data connection with the calculator through the communication equipment respectively; the calculator is also in data communication with a data store; the data memory, the three-dimensional modeling system and the three-dimensional model display are sequentially in data communication; the integrated laser scanner is fixed on a trolley of the traveling system.
2. The steel slag stock ground three-dimensional data acquisition imaging system of claim 1, which is characterized in that: the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating support for supporting the laser scanner and a fixing support for fixing the rotating support on the traveling system; and the first angle controller and the second angle controller are arranged on the rotating bracket and used for controlling the rotation of the rotating bracket.
3. The steel slag stock ground three-dimensional data acquisition imaging system as claimed in any one of claims 1 to 2, wherein:
the traveling system comprises a support frame, a cart and a trolley, wherein the cart is provided with a cart controller and a Y-axis encoder, and the trolley is provided with a trolley controller and an X-axis encoder.
4. The steel slag stock ground three-dimensional data acquisition imaging system of claim 3, which is characterized in that: the integrated laser scanner head is also provided with a detachable dustproof safety cover.
5. The steel slag stock ground three-dimensional data acquisition imaging system of claim 4, which is characterized in that: the resolution of the first angle controller and the second angle controller is between 0.125 and 1.5 degrees.
6. A steel slag stock ground three-dimensional data acquisition imaging method is characterized by comprising the following steps:
s1, establishing a three-dimensional coordinate system, and constructing a right-hand rectangular coordinate system by taking the projection of the initial position of the laser scanner on the ground as an original point (0, 0, 0), the initial position (0, 0, H) of the laser scanner, the advancing direction of the trolley (stock ground length direction) as an X axis, the advancing direction of the trolley (stock ground width direction) as a Y axis and the vertically upward direction as a Z axis; the starting position of the laser scanner is positioned in the middle of the width direction of one side of the steel slag stock ground; the travelling system is arranged above the steel slag stock yard, and the travelling height is H;
s2, setting a first trolley running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the stock yard width W, the stock yard length L and required measurement units, and calculating a trolley track and a laser scanner rotation track according to the running speed of the trolley and the single point position working time of the laser scanner; sending the trolley running track and the laser scanner rotating track command to a control panel;
s3, collecting and acquiring three-dimensional coordinates (X) of any data measurement point at the first timea,Ya,Za) At the moment, the X-axis encoder obtains the trolley displacement X of the overhead traveling crane systemCrown blockThe vertical included angle encoder obtains the included angle theta between the sensor and the Z axisaDistance measurement S of laser scanneraAccording to Xa＝XCrown block，Ya＝-Sa·sinθa，Za＝H-Sa·cosθaCalculating the three-dimensional coordinate (X) of any data measurement pointa,Ya,Za)；
S4, obtaining the point position three-dimensional coordinate (X) of the density measuring pointa,Ya,Za) Storing the data into a data memory;
s5, obtaining point three-dimensional coordinates (X)a,Ya,Za) Obtaining the projection coordinate A (X) of the point position coordinate on the horizontal planeA，YA，ZA) Wherein X isA＝Xa，Ya＝YA，ZA＝0, i.e. A (X)Crown block，-Sa·sinθa0); the adjacent point positions of A are (A +1) and (B + 1); the projection of the A, (A +1) and the B +1) on the horizontal plane constructs a right-angle symmetrical triangle, and a TIN network (irregular triangulation network) is constructed by the corresponding a, (a +1) and (B + 1); corresponding points of A, (A +1), (B +1) and a, (a +1) and (B +1) are connected to generate a pentahedron (a triangular prism with an inclined plane on the top surface and a plane on the ground); sequentially generating a seamless-connection pentahedron from all three adjacent points, and further generating a three-dimensional model of the steel slag stock ground;
s6, displaying three-dimensional image according to total field volume ∑ PiI is 1, 2, 3, 4, … … N, and calculating the total volume of the steel slag stock ground; wherein, Pi＝∫∫Zi(x,y)dxdyAnd N is the total number of triangles.
7. The steel slag stock ground three-dimensional data acquisition imaging method as claimed in claim 6, wherein the required measurement unit is 0.05-0.2 m.
8. The steel slag stock ground three-dimensional data acquisition imaging method as claimed in claim 7, wherein the required measurement unit is 0.1 m.
9. The steel slag stock ground three-dimensional data acquisition imaging method as claimed in claim 6, further comprising between steps S4 and S5:
step S4-2, setting a second cart running track and a laser scanner rotating track: calculating plane coordinates (X, Y) of all point positions to be measured according to the calculated plane coordinates, and calculating a cart track and a laser scanner rotation track according to the cart running speed and the single point position working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S4-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure FDA0002092205300000031
Distance Sa' from laser scanner
Figure FDA0002092205300000032
Ya′＝YCrown block，
Figure FDA0002092205300000033
Calculating the three-dimensional coordinate (X) of any data measurement pointa′,Ya′,Za′)；
Step S4-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
10. The steel slag stock ground three-dimensional data acquisition imaging method as claimed in claim 6, further comprising between steps S5 and S6:
step S5-2, identifying error data; according to the generated three-dimensional image, the wave trough in the Y-axis direction is identified, the wave trough data point is sent to a calculator, and the second-time cart running track and the laser scanner rotation are setMoving track: calculating the plane coordinates (l/2, Y) of the point location to be measured according to the trough positiona) Calculating the track of the cart and the rotation track of the laser scanner according to the running speed of the cart and the single point location working time of the laser scanner; sending the running track of the cart and the rotating track command of the laser scanner to a control panel; during the second data acquisition, the starting position of the laser scanner is positioned in the middle of one side of the steel slag stock ground in the length direction;
step S5-3, collecting and obtaining the three-dimensional coordinates (X) of any one data measurement point at the second timea′,Ya′,Za') at this time, the cart displacement Y of the overhead traveling crane system is obtained by the Y-axis encoderCrown blockThe included angle between the sensor and the X-axis is obtained by the horizontal included angle encoder
Figure FDA0002092205300000034
Distance Sa' from laser scanner
Figure FDA0002092205300000035
Ya′＝YCrown block，
Figure FDA0002092205300000036
Calculating the three-dimensional coordinate (X) of any measuring point positiona′,Ya′,Za′)；
Step S5-4, synthesizing data; the method comprises the following steps: when Z is at any pointa' greater than ZaWhen the current is over; will (X)a,Ya,Za) Is replaced by (X)a′,Ya′,Za′)；
The point position three-dimensional coordinates (X) of the obtained density measurement pointsa′,Ya′,Za') into the data store.
CN201910507167.XA 2019-06-12 2019-06-12 Steel slag stock ground three-dimensional data acquisition imaging system and method Pending CN112082473A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114231683A (en) * 2021-11-24 2022-03-25 中冶赛迪工程技术股份有限公司 Blast furnace slag tapping weight detection method and system
CN115512345A (en) * 2022-09-21 2022-12-23 浙江安吉天子湖热电有限公司 Traveling crane fixed coal inventory system and coal inventory method
WO2024060288A1 (en) * 2022-09-21 2024-03-28 中冶南方工程技术有限公司 Method for automatically grabbing slag with granulated blast furnace slag grab crane by means of blast furnace bottom filtration method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114231683A (en) * 2021-11-24 2022-03-25 中冶赛迪工程技术股份有限公司 Blast furnace slag tapping weight detection method and system
CN115512345A (en) * 2022-09-21 2022-12-23 浙江安吉天子湖热电有限公司 Traveling crane fixed coal inventory system and coal inventory method
WO2024060288A1 (en) * 2022-09-21 2024-03-28 中冶南方工程技术有限公司 Method for automatically grabbing slag with granulated blast furnace slag grab crane by means of blast furnace bottom filtration method

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