CN114067076A - Self-adaptive adjustment method for uniform loading and distribution of bulk materials - Google Patents

Self-adaptive adjustment method for uniform loading and distribution of bulk materials Download PDF

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Publication number
CN114067076A
CN114067076A CN202111181374.4A CN202111181374A CN114067076A CN 114067076 A CN114067076 A CN 114067076A CN 202111181374 A CN202111181374 A CN 202111181374A CN 114067076 A CN114067076 A CN 114067076A
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carriage
height
point cloud
data
loading
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孙祖明
席启明
李建华
栗伟
刘辉
姚树楷
孙丁丁
崔义森
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Zhongmei Kegong Intelligent Storage Technology Co ltd
Tiandi Science and Technology Co Ltd
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Zhongmei Kegong Intelligent Storage Technology Co ltd
Tiandi Science and Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • 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
    • B65G67/06—Feeding articles or materials from bunkers or tunnels
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
    • B65G69/045—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials with scraping devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data

Abstract

The invention relates to a self-adaptive adjustment method for uniform distribution of loaded bulk materials, which comprises the following steps: identifying the car side; determining a point cloud three-dimensional space coordinate; acquiring a top point cloud of a material pile longitudinally penetrating through a center line of a carriage; scaling the two-dimensional data; analyzing material pile height data; calculating the height of the material in the middle section of the current carriage; calculating the scraping adjustment amount of the next carriage; and adjusting and loading. The method comprises the steps of obtaining multipoint positioning height data of material forms through point cloud calculation, carrying out qualitative and quantitative evaluation on the material forms of the loaded materials by utilizing the data, wherein the qualitative evaluation mainly comprises the steps of comparing front shortage and rear surplus with a loading height value of an expert database, preliminarily judging the reasons causing the shortage or excess, obtaining the scraping set quantity of the next carriage through big data analysis and comparison, and deciding that the scraping height of the next carriage needs to be adjusted. The invention can convert the traditional loading mode requiring experience into an automatic calculation process, simplifies the labor intensity of operators and improves the loading efficiency.

Description

Self-adaptive adjustment method for uniform loading and distribution of bulk materials
Technical Field
The invention relates to a self-adaptive adjustment method for uniform loading and distribution of bulk materials, which is a loading process method of automatic transportation equipment and is an automatic loading process method for loading bulk commodity coal in a train carriage with uniform type number and preventing unbalanced loading.
Background
The condition that the material loading cannot be carried out in an unbalanced way is the basic requirement of railway loading and transportation, and whether bulk materials such as coal and the like can be uniformly loaded into a carriage is an important factor influencing the loading effect. In the traditional automatic loading station for loading commercial coal, the process of opening and discharging the gate of a carriage is completely controlled by an operator, and whether the loaded goods are unbalanced (the unbalanced load is mainly caused by uneven front and back loading) completely depends on the working experience of the operator. For the train with unified train compartment models, an operator can slightly adjust the direction of the chute and the opening degree of the gate in the loading process of the next compartment by observing the loading condition of the previous compartment and recalling the operation of the previous compartment, so that the loading of the next compartment is more uniform. In the conventional loading operation process, an operator determines the material leveling height according to experience, evaluates the loading effect of the carriage by naked eyes, and judges the material leveling height of the next carriage according to the empty or drum condition of the material at the tail part of the carriage.
The judgment rule is as follows: 1. if the material at the tail part of the carriage is empty, the material at the front part is high and the material at the rear part is not high enough, the scraping height of the material of the next carriage needs to be reduced a little; 2. if the materials at the tail part of the carriage are more than 'drum', the materials at the front part are low in weight, the materials at the rear part cannot be flatly arranged, and only the materials are allowed to 'bulge', the scraping height of the materials of the next carriage needs to be slightly increased; 3. the adjustment of the scraping height completely depends on the experience of the operator. Meanwhile, the rest volume and the weight to be loaded (real-time weighing) of the carriage are observed by naked eyes, and the scraping height of the loading chute is adjusted by comparing the real-time loading height and depending on the loading experience.
The volume of the materials with the same mass is influenced by the particle density of the materials, the humidity of the materials, the ambient temperature and other factors, so that the materials are difficult to be uniformly loaded into containers such as a carriage and the like according to the standard loading amount. The loading operation usually lasts for several hours, and there may be a gradual change in the density of the same batch of materials, for example, the length of time that coal is left in a storage bin after washing affects the change in humidity and the change in particle gap, thereby causing the change in volume per unit mass, and in addition, the coal of the same coal type is collected from different working surfaces, and the density of the coal is different. Due to various uncertainties, an operator cannot carry out loading operation on each carriage according to the same loading height, the subsequent loading height needs to be adjusted at any time according to the loading effect of the carriage at the current stage, and as a result, the working strength of the operator is high, and the probability of operation defects and errors is increased. How to convert the experience of the person into automatic control and further realize the full automation of loading is a problem to be solved.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a self-adaptive adjustment method for uniform distribution of bulk material loading. The method evaluates the loading state of the previous carriage by scanning the loading state of the previous carriage, and formulates a loading scheme of the next carriage, thereby realizing full-automatic uniform loading.
The purpose of the invention is realized as follows: a self-adaptive adjustment method for uniform distribution of bulk material loading is disclosed, and the method uses a system comprising: erecting at least one multi-line laser radar right above a longitudinal center line of a carriage in the direction of the train running and the direction of the train outgoing from a loading port of a loading station, wherein the number and the height of the laser radars are determined according to the range of scanning the whole carriage; the method comprises the following steps:
step 1, identifying the car side: after the carriage enters a laser radar detection range, identifying a front slit, a rear slit and a side slit of the carriage, and measuring the positions of the front slit, the rear slit and the side slit, wherein the identification process comprises the following steps:
identifying a banded point cloud: the strip point cloud points are rectangles with regular edges and open ends and closed ends, or are closed rectangles; the banded point cloud is parallel to the ground, and the outer side of the banded point cloud has height mutation; comparing the banded point cloud data with the current compartment model and size extracted from the database to determine that the shape covered by the banded point cloud is a front, back and side step of the compartment;
step 2, determining a point cloud three-dimensional space coordinate: intercepting point cloud data obtained by a laser radar when a carriage is in a laser radar detection area; setting a space coordinate: an X axis: perpendicular to the railway line in the horizontal plane, Y-axis: along the railway line direction in the horizontal plane, Z-axis: perpendicular to the horizontal plane; according to the coordinate system, each point of the point cloud data is subjected to space coordinate transformation, and the point clouds on a connecting line from the front end to the rear end of the carriage are called a group of point clouds;
step 3, acquiring a material pile top point cloud longitudinally penetrating the center line of the carriage: selecting two groups of point clouds closest to the longitudinal center line of the current carriage, screening out point cloud coordinates of the top end of a material pile on a symmetric axis of the carriage between the front slit and the rear slit of the current carriage, and forming a point cloud curve of the top end of the material pile longitudinally passing through the center line of the current carriage;
step 4, scaling the two-dimensional data: converting the point cloud of the top end of the material pile obtained from the centerline of the longitudinal compartment into a two-dimensional scalar to form (y0, z0), (y1, z1), … …, (yi, zi) and … … (yn, zn); wherein, (y0, z0) is laser point data slit next to the front of the vehicle, (yn, zn) is the laser point data slit next to the rear of the vehicle, and i is a positive integer from 0 to n;
step 5, analyzing height data of the material pile: analyzing material height data sets within a range of 2 meters from each of the front side and the rear side of the carriage, comparing the data sets with the carriage model and the material data corresponding to the expert database, and evaluating whether the front end and the rear end of a material pile in the current carriage are over-deficient or not, and whether the front end and the rear end are in interference or not, or on the contrary, whether the front end and the rear end are over-deficient or not;
step 6, calculating the material height of the middle section of the current carriage: comparing whether the material height value of the middle section in the expert database is the same as the material height value of the middle section of the current carriage; if the two are the same, directly carrying out the next step; if not, adding or subtracting the scraping adjustment quantity of the previous carriage according to the middle section loading height value in the expert database to adjust, and controlling the middle section control value H of the material pile height of the current carriageiIs calculated as the formula:
Hi＝H0+hi-1
in the formula, H0The middle section charging height value in the expert database of the adapted carriage model and material is obtained; h isi-1Scraping the material adjustment amount for the previous carriage;
and 7, calculating the scraping adjustment quantity of the next carriage: and calculating the discharge scraping adjustment quantity of the next carriage by data mining and expert database comparison:
Figure BDA0003297443960000031
in the formula, l is the length of the carriage; zFront jThe horizontal height of each laser point in the range of 2 meters at the front side of the carriage is obtained; zRear jThe horizontal height of each laser point in the range of 2 meters is tied at the back of the carriage; l isjThe distance between the laser points is the Y-axis coordinate difference of the front laser point and the rear laser point; i is the serial number of the carriage; j is the laser point number; m is the number of laser points in the range of 2 meters at the front side or the range of 2 meters at the rear side of the detection carriage;
step 8, adjusting loading: and (4) adjusting the descending heights of the gate and the chute according to the calculation result to finish the loading of the next carriage, and returning to the step 1.
The invention has the advantages and beneficial effects that: the method comprises the steps of acquiring point cloud data of materials in a loaded carriage by adopting a multi-line laser radar scanning technology, obtaining multi-point positioning height data of the material form through point cloud calculation, performing qualitative and quantitative evaluation on the form of the loaded materials by utilizing the data, wherein the qualitative evaluation mainly comprises the steps of comparing front shortage and rear shortage with a loading height value of an expert database and primarily judging the reason of excessive shortage or excessive shortage, the quantitative evaluation is to obtain the scraping set quantity of the next carriage through big data analysis and comparison after the qualitative evaluation, determine whether the scraping height of the next carriage needs to be adjusted or not, decide that the scraping height of the next carriage needs to be adjusted, and quantitatively obtain the quantity of the scraping height adjustment through comparing expert data and performing fuzzy calculation. Through the insufficient calculation, the traditional loading mode needing experience can be converted into an automatic calculation process, the operation of continuously changing the loading of each carriage by operators is not needed, the labor intensity of the operators is simplified, and the loading efficiency is improved.
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The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of a system architecture for use in the method of the present invention;
FIG. 2 is a schematic structural diagram of a system used in the method according to the embodiment of the present invention, which is a side view of FIG. 1;
FIG. 3 is a flow chart of a method according to an embodiment of the present invention;
FIG. 4 is a schematic view of the undulation of the top end of a material pile of a carriage filled with material;
FIG. 5 is a three-dimensional schematic of a data scaling coordinate system transformation;
fig. 6 is a schematic x-y plane diagram of data scaling coordinate system transformation.
Detailed Description
Example (b):
the embodiment is a self-adaptive adjustment method for uniform distribution of bulk material loading, and a system used by the method comprises the following steps: at least one multi-line laser radar 3 is erected over a longitudinal center line 101 (shown in figure 2) of a carriage in the direction of the train 1 (the direction of an arrow A in figure 1) and the direction of the train at a loading port of a loading station 2, and the number and the height of the laser radars are determined according to the range of the whole carriage which can be scanned, as shown in figures 1 and 2.
The loading station is a special quantitative loading station for bulk goods on a railway, the loading station usually spans over a railway line, a train passes through the bottom of the loading station, the loading station is usually provided with a buffer bin, a quantitative bin with a discharge gate and a chute, only the gate and the chute of the quantitative bin of the loading station related to the embodiment are concerned in the embodiment, and other parts which are not related are not described.
In the train according to the present embodiment, the models of the cars are identical, and the sizes such as the length l of the car and the capacity parameter are also identical.
The multi-line laser radar transmits ranging laser to a carriage containing materials at different spatial angles, so that distance and spatial angle data of a plurality of laser and object contact points, namely point cloud data, are obtained. After the point cloud data exists, the material form can be identified and calculated, then the calculation result is compared with the expert data, and finally the stacking height of the next carriage is determined. The method comprises the following specific steps (the flow is shown in figure 3):
step 1, vehicle binding identification: after the carriage enters a laser radar detection range, identifying a front slit, a rear slit and a side slit of the carriage, and measuring the positions of the front slit, the rear slit and the side slit, wherein the identification process comprises the following steps:
identifying a banded point cloud: the strip point cloud points are rectangles with regular edges and open ends and closed ends, or are closed rectangles; the banded point cloud is parallel to the ground, and the outer side of the banded point cloud has height mutation; comparing the banded point cloud data with the current compartment model and size extracted from the database to determine that the shape covered by the banded point cloud is a front, back and side step of the compartment;
the carriage box is the cube that the top is open, and car slit width is about 0.1 meter, and the laser point that the multi-thread laser beam fell on front, back, side car slit compares with other laser point, and its spatial position shows with certain rule, shows: the vehicle-mounted point cloud detection device is strip-shaped, the strip-shaped shape is naturally a rectangle (the whole carriage is in the laser radar detection area) or a rectangle without a seal (only part of the carriage enters the radar detection area), the height of the strip-shaped point cloud is suddenly changed compared with the point cloud outside the strip-shaped point cloud, and the strip-shaped point cloud is parallel to the ground (the height of a laser point on the vehicle side is the same with the ground). According to the characteristics of the banded point cloud, determining characteristic value data (the characteristic value is given by an expert database according to the car model), comparing and extracting the characteristic values of the real-time point cloud data, and determining the point cloud data with the front tie and the back tie.
Step 2, determining a point cloud three-dimensional space coordinate: intercepting point cloud data obtained by a laser radar when a carriage is in a laser radar detection area; setting a space coordinate: an X axis: perpendicular to the railway line in the horizontal plane, Y-axis: along the railway line direction in the horizontal plane, Z-axis: perpendicular to the horizontal plane; according to the coordinate system, each point of the point cloud data is subjected to space coordinate transformation, and the point clouds on a connecting line from the front end to the rear end of the carriage are called a group of point clouds (see fig. 1 and 2);
and when the position of the laser radar is in the middle of the front and rear sides of the carriage (the laser radar can detect the whole carriage), intercepting the point cloud data at the moment. And carrying out space coordinate transformation on the acquired real-time point cloud data to obtain a three-dimensional space coordinate of the point cloud data. For example, 32 laser radars arranged along the X-axis direction are used to scan the top end of a material pile in a carriage along the Y-axis direction, and 32 laser point clouds can be measured.
The dots and the positive and negative directions of the coordinate system can be selected according to requirements of laser radar in aspects such as position and material pile, if the origin of coordinates can be set at a position right below a front gap of a current carriage where laser is accumulated (the laser radar is located right above a symmetrical axis of the front gap of the carriage), the Y axis is positive in a direction opposite to the advancing direction of the carriage, the Z axis is positive vertically downwards, and a two-dimensional coordinate system is formed, as shown in FIG. 4. This two-dimensional coordinate system can reflect the height fluctuation curve of the top end of the material pile on the central axis (the symmetrical central line along the longitudinal direction of the current carriage, namely along the railway line direction) of the current carriage.
Step 3, acquiring a material pile top point cloud longitudinally penetrating the center line of the carriage: selecting two groups of point clouds closest to the longitudinal center line of the current carriage, screening out point cloud coordinates of the top end of a material pile on a symmetric axis of the carriage between the front slit and the rear slit of the current carriage, and forming a point cloud curve of the top end of the material pile longitudinally passing through the center line of the current carriage;
in the case of railway loading, the central axis of the carriage is well aligned with the central axis of the chute (the central axis of symmetry in the longitudinal direction of the chute, i.e. in the direction of the railway line) due to the limitation of the rails, in other words the material is discharged from the chute and deposited into the carriage substantially centered and not normally offset from side to side, so that the height relief curve of the top end of the stack on the centerline of the carriage can represent the height relief shape of the entire stack of the carriage.
The screening principle is as follows: the Y value of the point cloud data is between the Y values of the front bound point cloud data and the rear bound point cloud data. The two groups of point cloud data are used for analyzing so that the shape of the top end of the material is more accurate and is easy to calculate, and fuzzy and ambiguous conditions are eliminated.
Step 4, scaling the two-dimensional data: converting the point cloud of the top end of the material pile obtained from the centerline of the longitudinal compartment into a two-dimensional scalar to form (y0, z0), (y1, z1), … …, (yi, zi) and … … (yn, zn); wherein, (y0, z0) is laser point data slit next to the front of the vehicle, (yn, zn) is the laser point data slit next to the rear of the vehicle, and i is a positive integer from 0 to n; as shown in fig. 4.
Data scaling principle:
the position data of the laser landing point on the object can be obtained by scanning the space object with the laser radar, and as shown in fig. 5 and 6, the data point is the laser point of the laser which is emitted to the object. Each point data includes the distance r of the laser point from the laser radar, the vertical angle ω, and the horizontal rotation angle α. The three-dimensional data model of the carriage is to convert the measured data of the laser beams in the polar coordinate system into XYZ-axis data in a Cartesian coordinate system and store the data of the laser beams in a classified manner. Coordinate system conversion formula:
Figure BDA0003297443960000051
the upper, lower, front, rear, left, right, two sides, bottom and top described in this embodiment all refer to "upper", "lower", "front", "rear", "left", "right", "two sides", "bottom" and "top" determined by the advancing direction of the train (arrow a in fig. 1 indicates the advancing direction of the train).
Step 5, analyzing height data of the material pile: analyzing material height data sets within a range of 2 meters from the front slit and the rear slit of the current carriage, comparing the data sets with the carriage model and the material data corresponding to the expert database, and evaluating whether the front end and the rear end of a material pile in the current carriage are over-deficient or not, and whether the front end and the rear end are in interference or not, or on the contrary, whether the front end and the rear end are over-deficient or not;
and the expert database stores the compartment size corresponding to each vehicle type, and the material height data sets corresponding to the material scraping height selected by each coal type and in the ranges of about 2 meters respectively at the front slit and the rear slit. The height data sets of the materials within the range of about 2 meters away from the front binding and the rear binding can be distributed with the horizontal height data of about 100 laser points, namely, one laser point is distributed about every 0.02 meter. The number and the spacing of the laser points are determined by the arrangement height of the laser radar and the material accumulation height in the carriage.
The fluctuation curve of the top end of the material accumulation is shown in fig. 4, and the height fluctuation state of the material form is formed by laser point connecting lines of the laser radar. Usually, the car is required to move at a speed of 0.5-0.8km/h, after loading, the front and rear cars are partially unfilled or bulged, and slight unfilled or bulged conditions are normal, but if the empty load is too large or the bulge is too large, the empty load needs to be evaluated and the chute discharge height is adjusted appropriately for loading the next car. Because the material in the middle of the carriage is flat under the action of the scraping plate (the lip at the chute outlet), the analysis material stack height data mainly analyzes the material forms of the front side and the front side at a distance of 2 meters, namely, the shortage of the front part and the surplus of the rear part are evaluated or the opposite, wherein the material height is lower than the scraping height and is the shortage, and on the contrary, the material height is higher than the scraping height and is the surplus.
Ideally, the car operating speed is kept within a range, but sometimes exceeds a limit (high) or falls below a limit (low), which directly affects the morphological change of the "shortage" or "excess" of the 2 m materials after the front car. Because the chute of unloading can only open when the front vehicle is bound and passes through the chute and unload (prevent to spill the material), and the time difference is deposited in the material whereabouts when the gate of unloading is opened, so, when the speed of a motor vehicle is when on the wrong side, "lack" the phenomenon can be more serious (and sufficient circumstances is less, so the main circumstances of lacking of discussion of this embodiment). This condition, either "severe" or "light", can be derived from the comparison of the laser spot set data with the expert data. Assuming that the material density is not changed, the degree trend of the shortage of the materials at the position of 2 meters in the front side of the carriage is certainly the degree trend of the shortage of the materials at the position of 2 meters in the rear side of the carriage, and the trends are the same. For example, more of the anterior "deficit" is necessary and more of the posterior "deficit" is necessary, and, similarly, less of the anterior "deficit" is necessary and less of the posterior "deficit" is necessary. When the shortage and the surplus are basically balanced, the shortage and the surplus caused by loading according to the scraping height of the expert database are caused by the change of the vehicle speed, and the conclusion that the unloading height of the next carriage is not adjusted can be decided. On the contrary, when deficiency and excess cannot be balanced, the density of the material is changed, and the unloading height needs to be adjusted on the basis of expert data, which is the effect of the step, namely, qualitative assessment is carried out on excess and deficiency, and whether adjustment is needed or not, and quantitative calculation is needed in the next step if adjustment is needed.
Step 6, calculating the material height of the middle section of the current carriage: comparing whether the material height value of the middle section in the expert database is the same as the material height value of the middle section of the current carriage; if the two are the same, directly carrying out the next step; if the height control of the scraping chute is different, the height control of the scraping chute has errors, the middle section charging height value (scraping height) in the expert database is added or subtracted with the scraping adjustment quantity of the previous carriage to adjust, and the middle section control value H of the material pile height of the current carriageiIs calculated as the formula:
Hi＝H0+hi-1
in the formula, H0The middle section charging height value in the expert database of the adapted carriage model and material is obtained; h isi-1The material scraping adjustment quantity h of the previous carriage and the material scraping adjustment quantity h of the previous carriage of the first carriage1＝0。
hi-1The value of (c) can be adjusted empirically or calculated by the following equation:
Figure BDA0003297443960000071
the mid-section fill level value in the expert database may be calculated by the following equation:
Figure BDA0003297443960000072
in the formula, GLabel carrierA nominal amount of charge for the car; rho is the density of the material; l is the length of the carriage; w is the width of the carriage;
after qualitative evaluation, the height of the material stack in the middle section of the carriage can be calculated quantitatively, and the height of the material stack in the middle section of the carriage is formed by scraping the chute lip (chute outlet) when the chute is put down and is determined by the height of the chute when the chute is put down. The middle section control value of the material pile height of the current carriage is obtained by adding or subtracting the quantitative evaluation adjustment quantity of the middle section of the previous carriage from the charging height value in the expert database.
And 7, calculating the scraping adjustment quantity of the next carriage: calculating the unloading height of the next carriage by data mining and expert database comparison;
and (3) carrying out volume slicing accumulation on materials in the range of the front slit 2 meters and the rear slit 2 meters of the carriage according to laser points, and calculating deficiency and excess numerical values. The calculation is by the following two formulas:
Figure BDA0003297443960000073
Figure BDA0003297443960000074
in the formula, SLoss i、SYingThe sectional areas of the deficiency section of the front binding section and the filling section of the rear binding section are respectively; zFront jThe horizontal height of each laser point in the range of 2 meters at the front side of the carriage is obtained; zRear jThe horizontal height of each laser point in the range of 2 meters is tied at the back of the carriage; hiSetting the height for scraping materials of the current compartment; l isjThe distance between the laser points is the Y-axis coordinate difference of the front laser point and the rear laser point; i is the serial number of the carriage; j is the laser point number; m is the number of laser points in the range of 2 meters at the front side or the range of 2 meters at the rear side of the detection carriage;
the coal scraping height adjustment amount of the next carriage can be obtained according to the above formulas:
Figure BDA0003297443960000075
Figure BDA0003297443960000081
step 8, adjusting loading: and (4) adjusting the descending heights of the gate and the chute according to the calculation result to finish the loading of the next carriage, and returning to the step 1.
And when the next carriage comes below the loading chute, adjusting the lifting height of the chute and the opening and closing speed of the gate according to the calculation result, returning to the step 1, and carrying out the next round of loading operation.
Finally, it should be noted that the above is only for illustrating the technical solution of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred arrangement, it should be understood by those skilled in the art that the technical solution of the present invention (such as the form of loading station, the application of various formulas, the sequence of steps, etc.) can be modified or replaced with equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims (1)

1. A self-adaptive adjustment method for uniform distribution of bulk material loading is disclosed, and the method uses a system comprising: erecting at least one multi-line laser radar right above a longitudinal center line of a carriage in the direction of the train running and the direction of the train outgoing from a loading port of a loading station, wherein the number and the height of the laser radars are determined according to the range of scanning the whole carriage; the method comprises the following steps:
step 1, identifying the car side: after the carriage enters a laser radar detection range, identifying a front slit, a rear slit and a side slit of the carriage, and measuring the positions of the front slit, the rear slit and the side slit, wherein the identification process comprises the following steps:
identifying a banded point cloud: the strip point cloud points are rectangles with regular edges and open ends and closed ends, or are closed rectangles; the banded point cloud is parallel to the ground, and the outer side of the banded point cloud has height mutation; comparing the banded point cloud data with the current compartment model and size extracted from the database to determine that the shape covered by the banded point cloud is a front, back and side step of the compartment;
step 2, determining a point cloud three-dimensional space coordinate: intercepting point cloud data obtained by a laser radar when a carriage is in a laser radar detection area; setting a space coordinate: an X axis: perpendicular to the railway line in the horizontal plane, Y-axis: along the railway line direction in the horizontal plane, Z-axis: perpendicular to the horizontal plane; according to the coordinate system, each point of the point cloud data is subjected to space coordinate transformation, and the point clouds on a connecting line from the front end to the rear end of the carriage are called a group of point clouds;
step 3, acquiring a material pile top point cloud longitudinally penetrating the center line of the carriage: selecting two groups of point clouds closest to the longitudinal center line of the current carriage, screening out point cloud coordinates of the top end of a material pile on a symmetric axis of the carriage between the front slit and the rear slit of the current carriage, and forming a point cloud curve of the top end of the material pile longitudinally passing through the center line of the current carriage;
step 4, scaling the two-dimensional data: converting the point cloud of the top end of the material pile obtained from the centerline of the longitudinal compartment into a two-dimensional scalar to form (y0, z0), (y1, z1), … …, (yi, zi) and … … (yn, zn); wherein, (y0, z0) is laser point data slit next to the front of the vehicle, (yn, zn) is the laser point data slit next to the rear of the vehicle, and i is a positive integer from 0 to n;
step 5, analyzing height data of the material pile: analyzing material height data sets within a range of 2 meters from each of the front side and the rear side of the carriage, comparing the data sets with the carriage model and the material data corresponding to the expert database, and evaluating whether the front end and the rear end of a material pile in the current carriage are over-deficient or not, and whether the front end and the rear end are in interference or not, or on the contrary, whether the front end and the rear end are over-deficient or not;
step 6, calculating the material height of the middle section of the current carriage: comparing whether the material height value of the middle section in the expert database is the same as the material height value of the middle section of the current carriage; if the two are the same, directly carrying out the next step; if not, adding or subtracting the scraping adjustment quantity of the previous carriage according to the middle section loading height value in the expert database to adjust, and controlling the middle section control value H of the material pile height of the current carriageiIs calculated as the formula:
Hi＝H0+hi-1
in the formula, H0The middle section charging height value in the expert database of the adapted carriage model and material is obtained; h isi-1Scraping the material adjustment amount for the previous carriage;
and 7, calculating the scraping adjustment quantity of the next carriage: and calculating the discharge scraping adjustment quantity of the next carriage by data mining and expert database comparison:
Figure FDA0003297443950000021
in the formula, l is the length of the carriage; zFront jThe horizontal height of each laser point in the range of 2 meters at the front side of the carriage is obtained; zRear jThe horizontal height of each laser point in the range of 2 meters is tied at the back of the carriage; l isjThe distance between the laser points is the Y-axis coordinate difference of the front laser point and the rear laser point; i is the serial number of the carriage; j is the laser point number; m is the number of laser points in the range of 2 meters at the front side or the range of 2 meters at the rear side of the detection carriage;
step 8, adjusting loading: and (4) adjusting the descending heights of the gate and the chute according to the calculation result to finish the loading of the next carriage, and returning to the step 1.
CN202111181374.4A 2021-10-11 2021-10-11 Self-adaptive adjustment method for uniform loading and distribution of bulk materials Pending CN114067076A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200079601A1 (en) * 2017-05-26 2020-03-12 Der-Chang John Lee atf Ikhthus Trust Train Load-Out Arrangement
CN116243609A (en) * 2023-05-12 2023-06-09 山东矩阵软件工程股份有限公司 Intelligent loading control method and system based on multidimensional data chain
CN116424900A (en) * 2023-05-31 2023-07-14 中煤科工智能储装技术有限公司 Full-volume unmanned loading method based on laser radar point cloud identification
CN116674961A (en) * 2023-07-04 2023-09-01 太原易思软件技术有限公司 Discharging control method and system based on carriage material level height
CN117329971A (en) * 2023-12-01 2024-01-02 海博泰科技(青岛)有限公司 Compartment balance detection method and system based on three-dimensional laser radar

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200079601A1 (en) * 2017-05-26 2020-03-12 Der-Chang John Lee atf Ikhthus Trust Train Load-Out Arrangement
CN116243609A (en) * 2023-05-12 2023-06-09 山东矩阵软件工程股份有限公司 Intelligent loading control method and system based on multidimensional data chain
CN116243609B (en) * 2023-05-12 2023-08-29 山东矩阵软件工程股份有限公司 Intelligent loading control method and system based on multidimensional data chain
CN116424900A (en) * 2023-05-31 2023-07-14 中煤科工智能储装技术有限公司 Full-volume unmanned loading method based on laser radar point cloud identification
CN116424900B (en) * 2023-05-31 2023-12-22 中煤科工智能储装技术有限公司 Full-volume unmanned loading method based on laser radar point cloud identification
CN116674961A (en) * 2023-07-04 2023-09-01 太原易思软件技术有限公司 Discharging control method and system based on carriage material level height
CN117329971A (en) * 2023-12-01 2024-01-02 海博泰科技(青岛)有限公司 Compartment balance detection method and system based on three-dimensional laser radar

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