CN112945137B - Storage ore heap scanning method based on single-line laser radar and range finder equipment - Google Patents
Storage ore heap scanning method based on single-line laser radar and range finder equipment Download PDFInfo
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- CN112945137B CN112945137B CN202110135491.0A CN202110135491A CN112945137B CN 112945137 B CN112945137 B CN 112945137B CN 202110135491 A CN202110135491 A CN 202110135491A CN 112945137 B CN112945137 B CN 112945137B
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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
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 a storage ore heap scanning method based on single-line laser radar and range finder equipment.
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 and method are urgently needed to quickly and accurately obtain high-precision three-dimensional information of the storage ore heap and improve the informatization level of the storage plate amount.
In recent years, lidar equipment has been 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 storage inventory application is limited.
Aiming at the requirements and difficulties in the storage ore heap inventory work, the invention designs a storage ore heap scanning method based on single-line laser radar and range finder equipment. 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: aiming at the problems of high warehousing mineral aggregate inlet and outlet frequency, complex ore pile geometric shape, complex spatial stacking and serious shielding, high cost, data acquisition loss, low time efficiency and the like of the conventional laser radar inventory equipment, a warehousing ore pile scanning method based on single-line laser radar and range finder equipment is designed. 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 a storage ore heap scanning method based on equipment of a single line laser radar and a range finder, which combines distance information acquired by the range finder with two-dimensional coordinate data of the single line laser radar to accurately construct a three-dimensional space model of a target ore heap. The concrete implementation steps are as follows:
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 mainly solves the space integration of a single-line laser radar sensor and a 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 single-line laser radars are arranged side by side, so that the scanning sections of the two single-line laser radars are coplanar and perpendicular to the sliding direction of the sliding rail; the angular bisector of the single line laser radar scanning area is vertically downward; the distance measuring instrument and a single-line laser radar are fixed on the same group of cloud platforms, the pulse transmitting direction is parallel to the direction of the sliding rail, and the pulse transmitting 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 method comprises the steps that a single-line laser radar actively transmits electromagnetic wave pulses along a view field range perpendicular to the direction of a slide rail, simultaneously records return time and a scanning angle after the pulses detect a target, then calculates the linear distance between the target and the single-line 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 is a cross-sectional view of two single line laser radars.
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 single- line 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 single- line laser radars 5 and 6 are arranged side by side, the attitude correction is carried out on the distance meter 4 and the single- line laser radars 5 and 6 by adjusting the leveling and rotating devices of the holders 2 and 3, the scanning sections of the single- line laser radars 5 and 6 are ensured to be coplanar and perpendicular to the extending directions of the slide rails 9 and 10, and the pulse emission direction of the distance meter 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 single line laser radars 5 and 6, specifically, a right-hand coordinate system O '-X' Y 'Z' and O "-X" Y "Z is constructed by respectively taking pulse emitting ports of the single line laser radars 5 and 6 as original points O 'and O", setting a placing direction parallel to the main body support 1 as X' and X "axes, setting extending directions parallel to the slide rails 9 and 10 as Y 'and Y" axes, and setting a Z' and Z "axes downward perpendicular to the ground; 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 directions of a coordinate system O '-X' Y 'Z', the direction vertical to the ground is a 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 the pulse transmitting port of the single-line laser radar 5 is taken as 0 to determine the coordinate origin. The X and Z coordinates are obtained by a single line laser radar sensor, and the Y coordinate is obtained by a range finder.
Step 2: scanning parameter presetting: the erection height of the single- line 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 obtained height of the ground point is-h, so that the accurate erection height h of the single line laser radar is obtained, and meanwhile, the relative distance between the two single line laser radars and the distance between each single line laser radar and the edge of the warehouse can be obtained, and the scanning angle alpha of the two single line 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 single- line 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 single- line 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 tripod head on the slide rail.
And 4, step 4: data pairing: in the actual measurement process, the working frequencies of the single- line 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 single- line 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 of the three sensors is used as a reference frequency f in the time period, interpolation adjustment is carried out on 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 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 single- line 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 single-line laser radars and are positioned on an O-XZ plane, wherein the data retention area of the single-line laser radar 5 is [ x ]1,x2]The data retention area of the single line 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 a point cloud data format of each of the single line laser radar 5 and the single line laser radar 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 (1)
1. The utility model provides a storage ore deposit scanning method based on single line laser radar equips with distancer, its characterized in that includes main part support (1), and two sensor fixed cloud platforms: be first cloud platform (2), second cloud platform (3), a distancer (4), two single line laser radar respectively: be first single line laser radar (5), second single line laser radar (6) respectively, a control terminal (7), an optical reflecting plate (8), two parallel slide rails: a first slide rail (9) and a second slide rail (10) respectively;
the main body bracket (1) is erected on the two parallel slide rails, 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 first tripod head (2), the first single-line laser radar (5) and the second single-line laser radar (6) are respectively fixed below the first tripod head (2) and the second tripod head (3), and a protective cover is arranged to prevent the sensor from being interfered by mineral dust; the distance measuring instrument (4), the first single-line laser radar (5) and the second single-line laser radar (6) are fixed in relative positions on the first cloud deck (2) and the second cloud deck (3), are installed on the main body support (1), and horizontally move along two parallel sliding rails; the first single-line laser radar (5) and the second single-line laser radar (6) are installed side by side, the first single-line laser radar (4), the first single-line laser radar (5) and the second single-line laser radar (6) are subjected to attitude correction by adjusting leveling and rotating devices of the first cloud deck (2) and the second cloud deck (3), scanning sections of the first single-line laser radar (5) and the second single-line laser radar (6) are guaranteed to be coplanar and perpendicular to the extending directions of the two parallel sliding rails, and the pulse transmitting direction of the distance meter (4) is parallel to the sliding direction of the main body support (1) and perpendicularly irradiates an optical reflecting plate (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 distance meter (4), the first single-line laser radar (5) and the second single-line laser radar (6) through three data transmission lines;
the storage ore heap scanning comprises the following steps:
1) and (3) coordinate conversion: establishing a local coordinate system for a first single line laser radar (5) and a second single line laser radar (6), specifically, establishing a right-hand coordinate system O '-X' Y 'Z' and O '-X' Y 'Z', wherein pulse transmitting ports of the first single line laser radar (5) and the second single line laser radar (6) are respectively used as original points O 'and O', the placing direction parallel to a main body support (1) is an X 'and X' axis, the extending direction parallel to a first slide rail (9) and a second slide rail (10) is a Y 'and Y' axis, and the direction vertical to the ground is a Z 'and Z' axis; a left-hand coordinate system O-XYZ is established for the point cloud three-dimensional model, the directions of an X axis and a Y axis are the same as those of a coordinate system O '-X' Y 'Z', the direction perpendicular to the ground is a Z axis, a coordinate origin is located on an intersection line of a plane where an optical reflection plate is located and the ground, the X axis coordinate of a pulse transmitting port of a first single-line laser radar (5) is taken as 0 and determined as the coordinate origin, the X and Z coordinates are obtained through the first single-line laser radar (5) and a second single-line laser radar (6), and the Y coordinate is obtained through a distance meter (4);
2) presetting parameters: the erection height of the first single line laser radar (5) and the second single line laser radar (6) is set to be 0, the scanning range is set to be 180 degrees, test scanning is carried out, the height of a ground point is-h, so that the accurate erection height h of the two single line laser radars is obtained, the relative distance between the two single line laser radars and the edge of a warehouse can be obtained, and the scanning angle alpha of the two single line 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 a point A in the space, converting a polar coordinate system of two single line laser radars into a space rectangular coordinate system O-XYZ according to a formula (1), wherein s 'and s' are distances from pulse emission centers of a first single line laser radar (5) and a second single line laser radar (6) to a target point respectively, and d is a distance from a travelling crane acquired by a distance meter (4) to a wall;
4) data pairing: in the actual measurement process, the two single line laser radars and the range finder are both set to have the working frequency of 50hz, the quantity of acquired raw data per second floats between 50 frames and 55 frames due to the influence of the material of a reflector and the instability of a sensor, the raw data acquired by the two single line laser radars and the range finder are matched by adopting a hard coupling method, and the number of data frames f acquired by the two single line laser radars is every 0.5 second1、f2And the number of frames f of data acquired by the distance meter3Make statistics of f1、f2The smaller of the two is used as a reference frequency f in the 0.5 second time period, interpolation trimming is carried out on data of the other single-line laser radar and the distance meter with the data volume higher than the reference frequency, so that the number of data frames acquired by the distance meter (4), the first single-line laser radar (5) and the second single-line laser radar (6) in the same time period is equal to f, and information acquired by the distance meter (4), the first single-line laser radar (5) and the second single-line laser radar (6) is in one-to-one correspondence according to the data recording sequence;
5) point cloud splicing: because two single line laser radar's relative position keeps fixed, the mode that data fusion adopted the concatenation is gone on, need not carry out some cloud matching and handles, promotes data processing efficiency by a wide margin, and specific concatenation mode is: according to the previously set dividing line x1、x2And x3Two-dimensional profile data which are acquired by the two single line laser radars and are positioned on an O-XZ plane are cut, and the data retention area of the first single line laser radar (5) is [ x ]1，x2]The data retention area of the second singlet 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 meter (4) with the point cloud data of the first single-line laser radar (5) and the second single-line laser radar (6) respectively, and a three-dimensional model of the ore heap is constructed.
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| CN113640821B (en) * | 2021-07-23 | 2024-01-12 | 鞍钢集团矿业有限公司 | Mine car loading capacity metering method based on single-line laser radar scanner scanning |
| CN113792835A (en) * | 2021-10-09 | 2021-12-14 | 吉林绘天智农网络技术有限公司 | Indoor material supervision device |
| CN113959337B (en) * | 2021-10-26 | 2024-03-15 | 中煤科工智能储装技术有限公司 | Bulk cargo loading real-time accumulation amount calculating method based on single-line laser radar |
| CN116379960B (en) * | 2023-05-31 | 2023-09-15 | 天津宜科自动化股份有限公司 | Data processing system for acquiring object contour information |
| 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 |
| 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 |
| 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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