CN112945137A - Storage ore deposit scanning equipment based on single line laser radar and distancer - Google Patents
Storage ore deposit scanning equipment based on single line laser radar and distancer Download PDFInfo
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- CN112945137A CN112945137A CN202110135491.0A CN202110135491A CN112945137A CN 112945137 A CN112945137 A CN 112945137A CN 202110135491 A CN202110135491 A CN 202110135491A CN 112945137 A CN112945137 A CN 112945137A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a storage ore heap scanning device based on a single line laser radar and a range finder, which comprises a main body bracket, two sets of sensor fixing holders, a range finder, two single line laser radars, a control terminal, an optical reflecting plate and two parallel slide rails. The laser radar actively transmits electromagnetic wave pulses along a view field range perpendicular to the direction of the slide rail, simultaneously records the return time and the scanning angle after the pulses detect the target, then calculates the linear distance between the target and the laser radar according to the return time of the pulses, and calculates the contour coordinates of any point in the scanning view field range in the direction perpendicular to the slide rail through triangulation; the distance measuring instrument transmits pulses along the moving direction of the slide rail, and the sliding distance of the slide rail is obtained by recording echo signals; and finally, carrying out operations such as coordinate conversion, pairing, splicing and the like on the data acquired by the plurality of sensors, realizing one-to-one correspondence of the point cloud data and the distance data, and acquiring the surface three-dimensional point cloud of the storage ore heap. The method does not need multi-station scanning and point cloud registration, can solve the problems of data shielding, registration errors and the like, and has high data acquisition precision and high time efficiency.
Description
Technical Field
The invention relates to the technical field of spatial information application, in particular to storage ore heap scanning equipment based on a single-line laser radar and a range finder.
Background
The calculation of the storage amount of the ore heap influences the material deposit statistics and the mineral production capacity evaluation, and is an important content in the mine engineering construction. The size difficulty of the storage ore pile is high due to the limitation of storage environment, mine car production and other factors, and the influence of irregular mineral accumulation form, high updating frequency and other factors. The existing storage ore heap measuring equipment and the method for measuring and calculating the amount of the storage ore heap cannot meet the requirement of mine informatization production, and the research and development of intelligent ore heap measuring equipment are urgently needed, so that the high-precision three-dimensional information of the storage ore heap is rapidly and accurately acquired, and the informatization level of the storage plate amount is improved.
In recent years, laser radar equipment is widely used for warehouse inventory. ZHAO et al propose a method for generating a three-dimensional model of a multilayer stack using laser, experiments conducted in a laboratory environment show that the effect is good, but the volume calculation method is relatively slow; the method comprises the following steps that a ground laser scanner is adopted by the Zhujian army and the like to collect multi-station granary scanning data, registration and fusion are carried out on single-station scanning, a complete granary point cloud model is obtained, and errors are smaller than 5%; grazia Tucci contrasts and analyzes the difference between the laser radar technology and the digital photogrammetry technology in material three-dimensional information acquisition and digital surface modeling, and proves that the calculation error of the two methods on the storage plate amount is about 1%. The research shows that the feasibility of the laser radar technology for checking the warehouse volume is realized, but for the warehouse volume in a complex closed space, the existing laser radar equipment technology still has the problems of data acquisition loss, large multi-station point cloud registration difficulty, long data processing time consumption and the like caused by personnel unreachable or scene shielding. In addition, the traditional laser radar equipment is high in cost, and the popularization of the laser radar technology in the warehouse inventory application is limited.
Aiming at the requirements and difficulties in the storage ore pile inventory work, the invention designs the storage ore pile scanning equipment based on the single-line laser radar and the range finder. The invention has the advantages of low cost, high scanning precision and high speed, combines the single-line laser radar and the range finder to obtain the three-dimensional point cloud data of the ore heap, overcomes the limitation of the traditional single-point measurement mode, can effectively solve the problem of high-efficiency and accurate acquisition of the three-dimensional point cloud of the irregular ore heap under indoor and outdoor complex storage conditions, provides complete and accurate three-dimensional data for the square amount calculation of the stored ore heap, and improves the precision and the efficiency of the storage inventory.
Third, the invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: the storage ore heap scanning equipment based on the single line laser radar and the range finder is designed aiming at the problems that the storage ore material inlet and outlet frequency is high, the ore heap geometry is complex, the space stacking is complicated and complicated, and the shielding is serious, so that the existing laser radar dish quantity equipment is high in cost, missing in data acquisition, low in time efficiency and the like. According to the invention, a single-line laser radar and a range finder are fixed on a slide rail, profile information of an object in the vertical direction is obtained by scanning the single-line laser radar in the sliding process, horizontal position information of the scanned object at any moment is obtained by the range finder, and three-dimensional information of a scanned object is obtained by integrating the vertical profile information and the horizontal position information, so that the three-dimensional information is used for constructing and estimating the square value of a three-dimensional point cloud model of a storage ore heap. The method does not need multi-station scanning and point cloud registration, can solve the problems of data shielding, registration error and the like, has high data acquisition precision and high time efficiency, can realize automation, greatly liberates labor force and improves the production efficiency of mines.
(II) technical scheme
In the traditional inventory estimation mode, key measurement information is lost due to the selection of a station and the shielding of ground objects, the measurement time is too long, and the working efficiency and the square quantity accounting precision are influenced. Aiming at the defects, the invention provides storage mineral aggregate scanning equipment based on the single-line laser radar and the range finder, which combines the distance information acquired by the range finder with the two-dimensional coordinate data of the single-line laser radar to accurately construct a three-dimensional space model of the target mineral aggregate. The method comprises the following concrete steps:
1) sensor integration: the equipment comprises a main body support, two groups of holders, a range finder, two single-line laser radars, a control terminal, an optical reflecting plate and two parallel sliding rails. The integrated mode is focused on solving the space integration of the laser radar sensor and the distance measuring instrument sensor, and the integrated mode mainly shows that: the range finder and the two single-line laser radars are arranged on the main body bracket through the cradle head and horizontally move along the parallel slide rail; the two laser radars are arranged side by side, so that the scanning sections of the two laser radars are coplanar and perpendicular to the sliding direction of the sliding rail; the angular bisector of the laser radar scanning area is vertically downward; the range finder and a laser radar are fixed on the same group of pan heads, the pulse emission direction is parallel to the direction of the slide rail, and the pulse emission direction irradiates on the reflector at the far end in front. The control terminal is located in the driving cab and controls the sensors through wired connection.
2) Three-dimensional information acquisition: the laser radar actively transmits electromagnetic wave pulses along a view field range perpendicular to the direction of the slide rail, simultaneously records the return time and the scanning angle after the pulses detect the target, then calculates the linear distance between the target and the laser radar according to the return time of the pulses, and calculates the contour coordinates of any point in the scanning view field range in the direction perpendicular to the slide rail through triangulation; the distance measuring instrument transmits pulses along the moving direction of the slide rail, and the sliding distance of the slide rail is obtained by recording echo signals; and finally, carrying out operations such as coordinate conversion, pairing, splicing and the like on the data acquired by the plurality of sensors, realizing one-to-one correspondence of the point cloud data and the distance data, and acquiring the surface three-dimensional point cloud of the storage ore heap.
(III) advantageous effects
1. And rapidly acquiring accurate three-dimensional point cloud data of irregular stockpiles in a storage complex scene.
2. Low cost and high automation level.
3. The three-dimensional point cloud acquisition efficiency is high, the precision is high, and no shielding exists.
Description of the drawings
FIG. 1 is an equipment integration schematic.
Fig. 2 a scanning cross-section of a dual lidar.
Fig. 3 is a front view of a three-dimensional scanning coordinate system.
Fig. 4 is a side view of a three-dimensional scanning coordinate system.
FIG. 5 is a schematic diagram of a multi-sensor data fusion approach.
Fifth, detailed description of the invention
1. Sensor integration
Fig. 1 is a side view and a top view of the equipment structure of the invention, which comprises a main body bracket 1, two groups of holders 2 and 3, a range finder 4, two single- line laser radars 5 and 6, a control terminal 7, an optical reflecting plate 8 and two horizontal parallel sliding rails 9 and 10. The main body bracket 1 is erected on the sliding rails 9 and 10, and horizontal sliding in the left and right directions is realized through pulleys at two ends; the distance measuring instrument 4 is fixed on the holder 2, the single- line laser radars 5 and 6 are respectively fixed under the holders 2 and 3, and a protective cover is arranged to prevent the sensor from being interfered by mineral dust; the distance measuring instrument 4 and the laser radars 5 and 6 are fixed at the relative positions on the cloud platforms 2 and 3, are arranged on the main body bracket 1 and horizontally move along the slide rails 9 and 10; the laser radars 5 and 6 are arranged side by side, the leveling and rotating devices of the cloud platforms 2 and 3 are adjusted to correct the postures of the distance measuring instrument 4 and the single- line laser radars 5 and 6, the scanning sections of the laser radars 5 and 6 are ensured to be coplanar and perpendicular to the extending directions of the sliding rails 9 and 10, and the pulse emitting direction of the distance measuring instrument 4 is parallel to the sliding direction of the main body bracket 1 and vertically irradiates the optical reflector 8 at the far end in front; the control terminal 7 can use various types of computers, is placed in a driving cab to facilitate operation of a person, and transmits data with the sensors 4, 5 and 6 through three data transmission lines.
2. Three-dimensional information collection
In the data acquisition process, the cloud platform carries the integrated sensor to horizontally slide along the slide rail to realize the overall push-and-draw of the ore pile below, and the two-dimensional plane data obtained by scanning and the distance data of the range finder are combined to construct a three-dimensional point cloud model of the target object. The method specifically comprises the following steps:
step 1: and (3) constructing a coordinate system: as shown in fig. 3 and 4, a local coordinate system is constructed for the laser radars 5 and 6, specifically, a right-handed coordinate system O-X ' Y ' Z ' and O-X "Y" Z "is constructed by respectively taking pulse emitting ports of the laser radars 5 and 6 as original points O ' and O", taking the placing direction parallel to the main body support 1 as X ' and X "axes, taking the extending direction parallel to the slide rails 9 and 10 as Y ' and Y" axes, and taking the extending direction perpendicular to the ground as Z ' and Z "axes; and constructing a left-hand coordinate system O-XYZ for the point cloud three-dimensional model, wherein the directions of an X axis and a Y axis are the same as the direction of a coordinate system O-X ' Y ' Z ', the direction vertical to the ground is the Z axis, a coordinate origin is positioned on the intersection line of the plane where the optical reflecting plate is positioned and the ground, and the coordinate of the X axis of a pulse transmitting port of the laser radar 5 is taken as 0 to determine the coordinate origin. The X and Z coordinates are obtained by a lidar sensor and the Y coordinate is obtained by a range finder.
Step 2: scanningPresetting parameters: the erection height of the laser radars 5 and 6 is set to be 0, the scanning range is set to be 180 degrees, and test scanning is carried out. The height of the obtained ground point is-h, so that the accurate erection height h of the laser radars can be obtained, and the relative distance between the two laser radars and the distance between each laser radar and the edge of the warehouse can be obtained, so that the scanning angle alpha of the two laser radars in actual working is set according to the relative distance1、α2And the boundary line x1、x2And x3Wherein x is1＜x2＜x3Three straight lines perpendicular to the X-axis.
And step 3: and (3) coordinate calculation: for a point A in the space, converting the polar coordinate systems of the laser radars 5 and 6 into a space rectangular coordinate system O-XYZ according to the formula (1), wherein s 'and s' are the distances from the pulse transmitting centers of the laser radars 5 and 6 to the target point A respectively, and d is the horizontal distance of the distance meter 4 for acquiring the sliding of the pan-tilt on the slide rail.
And 4, step 4: data pairing: in the actual measurement process, the working frequencies of the laser radars 5 and 6 and the range finder 4 are kept consistent and set to be 50hz, and due to the influence of the material of the reflector and the instability of the sensor, the data volume of various sensors collected every second is not fixed and floats between 50 frames and 55 frames. In contrast, the invention adopts a hard coupling method to match the original data acquired by the two sensors, namely the number f of data frames acquired by the two laser radars 5 and 6 is matched every 0.5 second1、f2And the number of frames f of data acquired by the distance meter 43Make statistics of1、f2The smaller one of the three sensors is used as the reference frequency f in the time period, interpolation adjustment is carried out on the data acquired by the other two sensors, the number of data frames acquired by the three sensors in the same time period is equal to f, and the information acquired by the sensors 4, 5 and 6 is in one-to-one correspondence according to the data recording sequence.
And 5: point cloud splicing: because the relative positions of the two laser radars 5 and 6 are kept fixed, the data fusion is carried out in a splicing mode according to the graph 5, and the data fusion is not carried outPoint cloud matching processing is required, and data processing efficiency is greatly improved. The specific implementation is as follows: according to the previously set dividing line x1、x2And x3Cutting two-dimensional profile data which are respectively acquired by two laser radars and are positioned on an O-XZ plane, wherein the data retention area of the laser radar 5 is [ x ]1,x2]The data retention area of the laser radar 6 is [ x ]2,x3](ii) a After cutting, according to the data recording sequence, data fusion is carried out by matching one distance data of the distance measuring instrument 4 with the formats of one piece of point cloud data of each of the radars 5 and 6, and a three-dimensional model of the ore heap is constructed.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a storage mineral aggregate scanning equips based on single line laser radar and distancer which characterized in that, main part support 1, two sensor fixed cloud platforms 2, 3, a distancer 4, two single line laser radar 5, 6, a control terminal 7, an optical reflecting plate 8, two parallel slide rails 9, 10.
2. The warehousing mineral scanning equipment based on the single-line laser radar and the range finder as claimed in claim 1, wherein the main body bracket 1 is erected on the slide rails 9, 10, and horizontal sliding in the left and right direction is realized through pulleys at two ends; the distance measuring instrument 4 is fixed on the holder 2, the single-line laser radars 5 and 6 are respectively fixed under the holders 2 and 3, and a protective cover is arranged to prevent the sensor from being interfered by mineral dust; the distance measuring instrument 4 and the laser radars 5 and 6 are fixed at the relative positions on the cloud platforms 2 and 3, are arranged on the main body bracket 1 and horizontally move along the slide rails 9 and 10; the laser radars 5 and 6 are arranged side by side, the leveling and rotating devices of the cloud platforms 2 and 3 are adjusted to correct the postures of the distance measuring instrument 4 and the single-line laser radars 5 and 6, the scanning sections of the laser radars 5 and 6 are ensured to be coplanar and perpendicular to the extending directions of the sliding rails 9 and 10, and the pulse emitting direction of the distance measuring instrument 4 is parallel to the sliding direction of the main body bracket 1 and vertically irradiates the optical reflector 8 at the far end in front; the control terminal 7 can use various types of computers, is placed in a driving cab to facilitate operation of a person, and transmits data with the sensors 4, 5 and 6 through three data transmission lines.
3. The warehousing mineral material scanning equipment based on the single line laser radar and the range finder as claimed in claim 1, wherein the three-dimensional information collection comprises the following steps:
1) and (3) coordinate conversion: constructing local coordinate systems for the laser radars 5 and 6, specifically, constructing right-handed coordinate systems O-X 'Y' Z 'and O-X' Y 'Z' by respectively taking pulse emitting ports of the laser radars 5 and 6 as original points O 'and O', taking the placing direction parallel to the main body support 1 as X 'and X' axes, taking the extending directions parallel to the slide rails 9 and 10 as Y 'and Y' axes, and taking the extending directions perpendicular to the ground downwards as Z 'and Z' axes; and constructing a left-hand coordinate system O-XYZ for the point cloud three-dimensional model, wherein the directions of an X axis and a Y axis are the same as the direction of a coordinate system O-X ' Y ' Z ', the direction vertical to the ground is the Z axis, a coordinate origin is positioned on the intersection line of the plane where the optical reflecting plate is positioned and the ground, and the coordinate of the X axis of a pulse transmitting port of the laser radar 5 is taken as 0 to determine the coordinate origin. The X and Z coordinates are obtained through a laser radar sensor, and the Y coordinate is obtained through a distance meter;
2) presetting parameters: the erection height of the laser radars 5 and 6 is set to be 0, the scanning range is set to be 180 degrees, and test scanning is carried out. The height of the obtained ground point is-h, so that the accurate erection height h of the laser radars can be obtained, and the relative distance between the two laser radars and the distance between each laser radar and the edge of the warehouse can be obtained, so that the scanning angle alpha of the two laser radars in actual working is set according to the relative distance1、α2And the boundary line x1、x2And x3Wherein x is1＜x2＜x3Three straight lines perpendicular to the X-axis.
3) And (3) coordinate calculation: for one point A in the space, converting a polar coordinate system of two laser radars into a space rectangular coordinate system XYZ according to the formula (1), wherein s 'and s' are the distances from pulse transmitting centers of the two laser radars to a target point respectively, and d is the distance from a travelling crane to a wall, which is acquired by a distance meter;
4) data pairing: in the actual measurement process, the laser radar and the range finder are set to be at 50hz working frequency, the quantity of acquired raw data per second floats between 50 and 55 frames due to the influence of the material of a reflector and the instability of the sensor, the invention adopts a hard coupling method to match the raw data acquired by the two sensors, and the number of data frames f acquired by the two laser radars is adjusted every 0.5 second1、f2And the number of frames f of data acquired by the distance meter3Make statistics of1、f2The smaller of the three sensors is used as a reference frequency f in the time period, interpolation trimming is carried out on data of another laser radar and range finder with data volume higher than the reference frequency, the number of data frames acquired by the three sensors in the same time period is equal to f, and information acquired by the sensors 4, 5 and 6 is in one-to-one correspondence according to a data recording sequence;
5) point cloud splicing: because the relative positions of the two laser radars 5 and 6 are kept fixed, the data fusion is carried out in a splicing mode according to the graph 5, point cloud matching processing is not needed, and the data processing efficiency is greatly improved. The specific implementation is as follows: according to the previously set dividing line x1、x2And x3Cutting two-dimensional profile data which are respectively acquired by two laser radars and are positioned on an O-XZ plane, wherein the data retention area of the laser radar 5 is [ x ]1,x2]The data retention area of the laser radar 6 is [ x ]2,x3](ii) a After cutting, according to the data recording sequence, data fusion is carried out by matching one distance data of the distance measuring instrument 4 with the formats of one piece of point cloud data of each of the radars 5 and 6, and a three-dimensional model of the ore heap is constructed.
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| CN116665139B (en) * | 2023-08-02 | 2023-12-22 | 中建八局第一数字科技有限公司 | Method and device for identifying volume of piled materials, electronic equipment and storage medium |
| CN116665139A (en) * | 2023-08-02 | 2023-08-29 | 中建八局第一数字科技有限公司 | Method and device for identifying volume of piled materials, electronic equipment and storage medium |
| CN117314903A (en) * | 2023-11-28 | 2023-12-29 | 四川港投云港科技有限公司 | 3D point cloud data processing method for bulk commodity indoor warehouse laser radar |
| CN117314903B (en) * | 2023-11-28 | 2024-03-15 | 四川港投云港科技有限公司 | 3D point cloud data processing method for bulk commodity indoor warehouse laser radar |
| CN117309898A (en) * | 2023-11-30 | 2023-12-29 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
| CN117309898B (en) * | 2023-11-30 | 2024-03-26 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
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