CN113959337B - Bulk cargo loading real-time accumulation amount calculating method based on single-line laser radar - Google Patents
Bulk cargo loading real-time accumulation amount calculating method based on single-line laser radar Download PDFInfo
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- CN113959337B CN113959337B CN202111251943.8A CN202111251943A CN113959337B CN 113959337 B CN113959337 B CN 113959337B CN 202111251943 A CN202111251943 A CN 202111251943A CN 113959337 B CN113959337 B CN 113959337B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000009825 accumulation Methods 0.000 title claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims description 21
- 239000013590 bulk material Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 12
- 238000012360 testing method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/22—Loading moving vehicles
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a bulk cargo loading real-time accumulation amount calculating method based on a single-line laser radar, which comprises the steps of sequentially acquiring loading weight of a section of carriage length from the front end of the carriage in the advancing direction at intervals; sequentially accumulating the loading weight of each section of carriage along the length of the carriage, calculating the loading weight of a certain length section, and comparing the loading weight of the certain length section with the front and rear loading weight data of the carriage; the opening size or the running speed of the chute opening is adjusted according to the comparison result; the invention can be further used for controlling the opening degree of the chute for loading the bulk cargo by comparing the total weight reference value of the loaded bulk cargo with the actual value at the current carriage position, so that errors caused by instantaneous value adjustment are avoided, the loading and stacking uniformity of the bulk cargo is ensured, and the front-back unbalanced loading problem of the carriage is avoided.
Description
Technical Field
The invention relates to a bulk loading real-time accumulation amount calculating method based on a single-line laser radar.
Background
At present, the demand of bulk cargo loading in China is large, but the problem of low automation level of loading station equipment exists, and the production efficiency of bulk cargo outward transportation operation is severely restricted. And the bulk cargo flowability of different types and batches is large, so that the loading uniformity of the bulk cargo in the running process of the train is influenced. If the stacking uniformity of bulk cargo in a carriage is poor, the front and back unbalanced loading of the carriage can be caused, the safety of bulk cargo transportation is threatened, the risk of safety accidents exists, and the requirement of bulk cargo external transportation cannot be met.
In the traditional manual bulk cargo loading process, whether the blanking amount of the current carriage advancing position is proper or not is judged by observing the stacking height of bulk cargo. However, the observation deviation of human eyes is large, and the adjustment of the opening degree of the chute is easy to be untimely and inaccurate. With the continuous development of automatic loading technology, sensors of the type such as laser radar can be used to measure the accumulation of loaded bulk materials. However, the detected value is an instantaneous value, the loading is controlled by means of the instantaneous loading capacity at the previous moment, and the opening adjustment errors are continuously accumulated by the instantaneous height value, so that the total accumulation amount of the loaded bulk cargo in the carriage can not be reflected, and the accuracy of the opening adjustment of the subsequent chute is restricted.
Disclosure of Invention
The invention aims to provide a method for calculating the real-time accumulation amount of bulk cargo loaded in a carriage in the travelling loading process, which aims to more accurately adjust the opening of a chute in the loading process and is based on detecting the instantaneous data of bulk cargo accumulation in the carriage.
In order to achieve the above object, the present invention is provided with:
the utility model provides a bulk cargo loading real-time accumulation amount calculating method based on single line laser radar, a loading balance control for bulk cargo in bulk cargo car advancing, set up single line laser radar in the swift current notch top of loading chute that the bulk cargo car passed through loading operation region, obtain current loading vehicle carriage size data and carriage front and back loading counter weight data, obtain loading material unit volume weight data, be provided with the speed sensor at loading operation region side, the speed sensor is used for measuring the loading travel speed of bulk cargo car, open when the carriage gets into loading region chute mouth and begin the loading, wherein, bulk cargo loading real-time accumulation amount calculating method's step includes:
firstly, sequentially acquiring the loading weight of a section of carriage length from the front end of the carriage in the advancing direction at intervals;
sequentially accumulating the loading weight of each section of carriage along the length of the carriage, calculating the loading weight of a certain length section, and comparing the loading weight of the certain length section with the front and rear loading weight data of the carriage;
thirdly, adjusting the opening size or the running speed of the chute opening according to the comparison result;
wherein: the front and rear loading weight data of the carriage is front and rear loading weight data determined by pre-loading.
The scheme is further as follows: the process of obtaining the loading weight of a length of the carriage is as follows:
firstly, continuously acquiring loading height of bulk cargo data points of a cross section of a carriage through single-line laser radar scanning;
and secondly, calculating to obtain the length of the loading carriage passing through the two time interval time according to the running speed and the two time interval time difference, and then obtaining the bulk cargo volume of the passing loading carriage length according to the length, the carriage width and the bulk cargo height, and further obtaining the loading weight of one section of carriage length according to the weight of the unit volume of the material.
The scheme is further as follows: the two time interval time is the interval time of corresponding walking a section of carriage length to the running speed of 5cm to 25 cm.
The scheme is further as follows: and laser data points of the bulk cargo loaded on the cross section of the carriage avoid a blanking area of the chute opening.
The scheme is further as follows: the pre-loading and determining front and rear loading counterweight data is reference data obtained by manually loading in advance according to technical requirements and carrying out loading counterweight calculation for more than 5 times on each bulk material type and carriage type; wherein: the loading weight of the length of section is calculated at the loading weight segment.
The scheme is further as follows: the certain length is a length selected from between 5cm and 50 cm.
Compared with the prior art, the invention has the advantages that: the method can be further used for controlling the opening degree of the chute of bulk cargo loading by comparing the total weight reference value of the loaded bulk cargo at the current carriage position with the actual value, so that errors can be avoided when instantaneous value adjustment is used, the loading and stacking uniformity of the bulk cargo is ensured, and the problem of front-back unbalanced loading of the carriage is avoided.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic view of a lidar mounting location of the present invention;
FIG. 2 is a schematic diagram of sequential time periods of the present invention;
FIG. 3 is a schematic view of the carriage size and adjacent acquisition time scan lines during constant speed travel;
FIG. 4 is a partial schematic view of a single scan line volume calculation of the present invention.
Detailed Description
The method is used for monitoring the loading balance of a bulk cargo loading truck in the running process of the bulk cargo loading truck, as shown in fig. 1 and 2, a single-wire laser radar 4 is arranged above a chute opening 201 of a loading chute 2 of the bulk cargo loading truck passing through a loading operation area through a bracket 3, an RF radio frequency reading device is arranged at an entrance of the loading operation area, information of the truck can be acquired through the RF radio frequency reading device, the information comprises the size data of a carriage of the current loading truck and the weight data of the front and rear loading of the carriage, and the weight data of the loading material unit volume is acquired from a central controller in a database.
Firstly, sequentially acquiring the loading weight of a section of carriage length 8 from the front end of the carriage in the traveling direction, namely, the front end of a blanking area 7 under a chute opening 201;
sequentially accumulating the loading weight of each section of carriage along the length of the carriage, calculating the loading weight of a certain length section, and comparing the loading weight of the certain length section with the front and rear loading weight data of the carriage;
thirdly, adjusting the opening size or the running speed of the chute opening according to the comparison result;
wherein: the front and rear loading weight data of the carriage is front and rear loading weight data determined by pre-loading.
The method comprises the following steps: the process of obtaining the loading weight of a length of the carriage is as follows:
firstly, continuously acquiring loading heights of bulk material data points of cross section of carriage by single-line laser radar scanning, and sequentially acquiring t as shown in fig. 2 1 、t 2 、、t 3 、t 3 、t 4 、、t 5 、、t 6 The loading height of the bulk material data points is calculated by the known carriage data; the loading height is the bulk cargo loading height of the cross section of the carriage; in order to avoid the influence of scattering generated by blanking on measurement, laser data points with the cross section loaded with bulk materials need to avoid a blanking area 7 at the lower end of the chute opening.
And secondly, calculating to obtain the length of the loading carriage passing through the two time interval time according to the running speed and the two time interval time difference, and then obtaining the bulk cargo volume of the passing loading carriage length according to the length, the carriage width and the bulk cargo height, and further obtaining the loading weight of one section of carriage length according to the weight of the unit volume of the material.
Wherein: the two time interval time is the interval time of corresponding walking a section of carriage length to the running speed of 5cm to 25 cm.
Wherein: the pre-loading and determining front and rear loading counterweight data is reference data obtained by manually loading in advance according to technical requirements and carrying out loading counterweight calculation for more than 5 times on each bulk material type and carriage type; wherein: the loading weight of the certain length section is calculated in a loading counterweight section; the certain length is a length selected from between 5cm and 50 cm.
The following is a further detailed description of the algorithm:
and calculating the point cloud height value according to the point cloud height obtained by the single-line laser sensor on the surface of the bulk material by the total volume of the bulk materials piled in the single-section carriage. The model of the car entering the car is obtained through the RFID radio frequency car number recognition system in the coming car direction, and the bottom surface length and width of the car corresponding to the model can be obtained according to the car model.
When the single-line radar is installed, the scanning point cloud data line is ensured to be parallel to the width direction of the carriage, and a three-dimensional rectangular coordinate system is established on the premise. For convenience of language and formula description, assume that the x-direction is the car width direction, the y-direction is the train traveling direction, and the corresponding z-direction is the car height direction.
In order to reduce the data calculation amount, scanning data lines are acquired every fixed time interval and used for updating the total volume of loaded bulk materials in the carriage. Δy is the distance between the radar scan data lines at adjacent acquisition times selected for calculation of the volume. In order to ensure the accuracy of bulk material pile volume calculation, the selected fixed acquisition time interval is set according to the real-time speed in the running process of the train, so that the distance delta y between the data lines at adjacent moments is between 5cm and 25cm, and meanwhile, the efficiency of point cloud data processing and the accuracy of bulk material volume calculation are ensured. Because the adjustment of the opening of the chute takes 1-3 s, the acquisition frequency of the scanning lines does not need to be too high, and the distance range of the scanning lines requires the acquisition frequency of the data lines to be between 1 and 10 Hz. The spacing of the scan lines at adjacent times can be expressed as:
Δy＝v·Δt
where Δt is the selected time interval and v is the train travel speed. The train traveling speed is generally controlled by a buffalo device or manually controlled by a driver, so that the traveling speed may be changed in a loading process, and thus the traveling speed v needs to be transmitted from the PLC controller side to the information processing server side in real time. If the travelling speed is adjusted, the value of deltat is correspondingly adjusted, and deltay is recalculated. The train running speed is calculated in real time according to the grating group detection data installed on the two sides of the carriage.
FIG. 4 is a schematic diagram of a single scan line volume calculation, with the graph in FIG. 4 showing the ith point cloud scan data line segment and j representing the jth data point in the scan line. The elongated cube represents the range of the bulk volume calculation grid contained by the data point, where the calculation range in the y-direction is between two points in time as shown in fig. 3, with two dashed lines representing the middle symmetry line of adjacent scan lines. The calculation range of the jth data point on the ith scanning line is between two broken lines, and the length is the distance delta y between the adjacent scanning lines set according to the vehicle speed. The calculation range in the x direction is shown in FIG. 3, and the calculation boundary is respectively taken to be the intermediate value of the x coordinates of the data point and the adjacent data points on two sides, so that the calculation range Deltax is calculated ij The method comprises the following steps:
and can be further based on the height value z of the point ij Calculating the volume V of the material in the cubic grid region ij ：
V ij ＝z ij ·Δx ij ·Δy
Wherein if the calculated bulk material data point is located at an intersection with a wall data point, taking the intermediate value of the point and an adjacent wall data point as the calculated interval boundary.
And then the grid volumes corresponding to all the bulk material data points can be continuously accumulated and summed:
wherein m is i The total number of data points representing the ith scanning line, n represents the total number of scanning data lines calculated by the accumulation amount of bulk materials in the carriage at the current moment, V now Indicating the total volume of loaded bulk material at the current moment of the cutoff. According to the calculation method, the calculation error of the bulk volume in 1m unit length is less than 0.18m 2 。
To compare the cumulative value of the loaded bulk volume with the reference value of the loaded bulk volume when the carriage travels to the current position, the manual loading data of each bulk in each model carriage is analyzed, wherein the manual loading data is from an experienced operator. And carrying out a single-section carriage manual loading test, and taking data with good bulk cargo stacking uniformity, wherein the data is used for calculating the bulk cargo volume when manual loading is carried out to each carriage position, and the real-time carriage position is calculated according to the grating group detection data installed on two sides of the carriage. And carrying out loading tests for more than 5 times on each bulk material type and carriage type, removing test results which are interfered by human factors and cause larger deviation, and taking an average value of the retained test results as reference data. And establishing a loading capacity database of each type of bulk cargo corresponding to the carriages of various types such as C80, C70, C64, C62 and the like according to the volume reference value of the loaded bulk cargo corresponding to the current carriage position, wherein the carriage position interval in the database is smaller than or equal to the adjacent acquisition data line interval. And according to the adjacent position data in the database, calculating the loaded bulk volume reference value at any carriage position by linear interpolation.
In the automatic loading process, the control of the opening degree of the chute of the bulk cargo loading can be further realized by comparing the total volume reference value of the loaded bulk cargo at the current carriage position with the actual value, so that the loading and stacking uniformity of the bulk cargo is ensured, and the front-back unbalanced loading problem of the carriage is avoided.
Claims (6)
1. The utility model provides a bulk cargo loading real-time accumulation amount calculating method based on single line laser radar, be used for the balanced control of charge in bulk cargo car marcing, set up single line laser radar in the swift current notch top of loading chute that the bulk cargo car passed through loading operation region, obtain current loading vehicle carriage size data and carriage front and back loading counter weight data, obtain loading material unit volume weight data, be provided with the speed sensor at loading operation region side, the speed sensor is used for measuring the loading travel speed of bulk cargo car, open when the carriage gets into loading region chute mouth and begin the loading, its characterized in that, bulk cargo loading real-time accumulation amount calculating method's step includes:
firstly, sequentially acquiring the loading weight of a section of carriage length from the front end of the carriage in the advancing direction at intervals;
sequentially accumulating the loading weight of each section of carriage along the length of the carriage, calculating the loading weight of a certain length section, and comparing the loading weight of the certain length section with the front and rear loading weight data of the carriage;
thirdly, adjusting the opening size or the running speed of the chute opening according to the comparison result;
wherein: the front and rear loading weight data of the carriage is front and rear loading weight data determined by pre-loading.
2. The computing method of claim 1, wherein the process of obtaining the loading weight for a length of the car is:
firstly, continuously acquiring loading height of bulk cargo data points of a cross section of a carriage through single-line laser radar scanning;
and secondly, calculating to obtain the length of the loading carriage passing through the two time interval time according to the running speed and the two time interval time difference, and then obtaining the bulk cargo volume of the passing loading carriage length according to the length, the carriage width and the bulk cargo height, and further obtaining the loading weight of one section of carriage length according to the weight of the unit volume of the material.
3. The calculation method according to claim 2, wherein the two times of interval time is an interval time corresponding to a running speed of 5cm to 25cm in length of a vehicle.
4. The computing method of claim 2, wherein the laser data points for the bulk loaded cross-section of the car avoid a chute mouth blanking area.
5. The calculation method according to claim 1, wherein the pre-loaded and determined front and rear loading weight data is reference data obtained by manually loading in advance according to technical requirements, and calculating loading weights for more than 5 times for each bulk material type and carriage type; wherein: the loading weight of the length of section is calculated at the loading weight segment.
6. The computing method of claim 5, wherein the certain length is a length selected from between 5cm and 50 cm.
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| CN115972469B (en) * | 2022-12-06 | 2024-08-27 | 中策橡胶(安吉)有限公司 | Control method, equipment and program product for uniformity distribution of accumulated sizing material between two rolls of calender |
| CN117585470B (en) * | 2023-12-28 | 2024-06-25 | 山东大学 | Quantitative loading method |
| CN117945186B (en) * | 2024-03-22 | 2024-06-11 | 京唐港首钢码头有限公司 | Automatic loading flatcar control system for low-speed high-precision speed measurement of train |
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| US20210293529A1 (en) * | 2020-03-17 | 2021-09-23 | Epic Solutions, Inc. | System and method for calculating thickness of marking material applied to a roadway surface |
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