CN114119873A - Method and device for eliminating smoke interference in coal yard - Google Patents
Method and device for eliminating smoke interference in coal yard Download PDFInfo
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Abstract
The invention provides a method and a device for eliminating smoke interference in a coal yard, belonging to the technical field of communication. The method for eliminating smoke interference in the coal yard comprises the following steps: scanning an area in which a material taking arm of the stacker-reclaimer rotates by using the laser scanner, and acquiring point cloud data of the area; constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray map from the point cloud data; and determining the position height of the material according to the gray scale image, and comparing the height with the height of a material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference. The method of the invention is based on the establishment and correction of the three-dimensional model, can completely eliminate the smoke interference of the three-dimensional model of the coal yard, and improves the automatic operation efficiency.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a method and a device for eliminating smoke interference in a coal yard.
Background
The management mode in the related art for storage material management (for example, management of coal fuel) is basically to stack, scrape and shape fuel by manually operating mechanical equipment on site, and an operator controls the rotation and pitch angles of a mechanical arm in a cab on site. With the application of technologies such as three-dimensional scanning, encoder positioning, video monitoring and the like in coal yard management in recent years, remote control of stacking and taking equipment by operators in a remote control room can be realized at present, automatic operation of fuel stacking, scraping and shaping can be realized, and unattended operation of coal yard management is basically realized.
The key technology of unattended coal yard management is to establish a three-dimensional model of on-site materials in a remote control room. The principle is based on a computer vision technology, namely a laser scanner is high-precision data acquisition equipment, the working principle is mainly to emit laser pulses to all directions along a fixed angle and feed back distance data and angle data, and a back-end program calculates the space coordinates of discrete points of a scanning area by analyzing the feedback data.
In the process of stacking and taking materials in a coal yard, because smoke is easily generated by materials, a laser scanner cannot distinguish fuel and smoke, the scanned coal model has irregular protrusions, so that the strategy calculation of taking materials is influenced, in the process of automatically taking materials, the three-dimensional imaging of the smoke by the scanner is considered as fuel to be scraped, invalid operation is carried out, and the automatic operation efficiency is low.
Therefore, in order to solve the above problem of low efficiency of automatic operation in a coal yard due to smoke interference, it is necessary to provide a method and an apparatus for eliminating smoke interference in a coal yard.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides a method and a device for eliminating smoke interference in a coal yard.
The invention provides a method for eliminating smoke interference in a coal yard, wherein the device for eliminating smoke interference in the coal yard comprises a stacker-reclaimer and laser scanners arranged at two sides of the end part of a material taking arm of the stacker-reclaimer; wherein the method comprises the following steps:
scanning an area in which a material taking arm of the stacker-reclaimer rotates by using the laser scanner, and acquiring point cloud data of the area;
constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray map from the point cloud data;
and determining the position height of the material according to the gray scale image, and comparing the height with the height of a material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference.
Optionally, the scanning, by the laser scanner, an area where the material arm of the stacker-reclaimer revolves and acquiring point cloud data of the area includes:
when a material taking task is executed, when a material taking arm of the stacker-reclaimer rotates to take materials to any side, the laser scanner on the corresponding side is automatically started, and the rotated area of the material taking arm is scanned to obtain point cloud data of the area.
Optionally, after the point cloud data of the area is acquired, the method further includes:
and converting the point cloud data according to the self-defined coordinates, and storing the point cloud data into a database.
Optionally, the acquiring point cloud data of the area includes:
representing point cloud data by adopting polar coordinates in a coal yard, wherein the pole of the polar coordinates is defined as the rotation center of a stacker-reclaimer, the height is the height of the bottom surface of the coal yard, the rotation angle of a laser scanner is set to be A, the pitching angle is set to be B, the height of a scanner bracket is set to be M, the distance between the laser scanner and the rotation center is set to be L, and the scanning angle is set to be 180 degrees;
according to the defined parameters, if the scanning angle of a certain material point is set as C and the distance corresponding to the angle of the material is set as N, the material coordinate scanned to the material point is obtained as the following formula:
wherein, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
Optionally, the constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray scale map from the point cloud data includes:
respectively constructing three-dimensional models with equal proportion for a coal yard bunker and a stacker-reclaimer, and implanting the three-dimensional models according to corresponding positions under the same coordinate system to form a three-dimensional scene;
simulating and executing the rotation and pitching actions of the material taking arm by utilizing a three-dimensional model of the stacker-reclaimer in the three-dimensional scene;
and importing the material information in the three-dimensional model of the coal yard bunker into a BMP (bone map file) diagram and performing automatic space stretching to generate a gray scale diagram.
Optionally, the gray value of each pixel point in the gray map represents the height value of the corresponding position of the material point.
Optionally, the determining whether there is smoke interference and further eliminating the smoke interference includes:
no smoke interference is generated when the height of the material is smaller than the height of the material taking arm of the stacker-reclaimer at a material taking point;
and in response to the fact that smoke interference exists when the height of the material is larger than the height of a material taking arm of the stacker-reclaimer at a material taking point, further calculating and updating point cloud data to correct the three-dimensional model to eliminate the smoke interference.
Optionally, a calculation formula of the height of the material taking arm of the stacker-reclaimer at the material taking point is as follows:
Hql＝R tan D；
wherein HqlThe height value of the material taking arm at the material taking point is shown, D is the pitching angle of the material taking arm at the material taking point, and in a polar coordinate system, theta is a rotation angle, and R is a rotation radius.
Optionally, the point cloud data is updated by using the following relational expression:
the rotation angle of the laser scanner is set to be A, the pitching angle of the laser scanner is set to be B, the distance between the laser scanner and the rotation center is set to be L, the scanning angle of a certain material point is set to be C, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
On the other hand, the invention provides a device for eliminating smoke interference in a coal yard, which comprises a stacker-reclaimer, laser scanners, a model system and a comprehensive information processing system, wherein the laser scanners, the model system and the comprehensive information processing system are arranged on two sides of the end part of a material taking arm of the stacker-reclaimer; wherein
The laser scanner is used for scanning a rotating area of a material taking arm of the stacker-reclaimer and acquiring point cloud data of the area;
the model system is used for constructing a three-dimensional model of a coal yard according to the point cloud data and generating a gray map from the point cloud data;
and the comprehensive information processing system is used for determining the position height of the material according to the gray-scale image and comparing the height with the height of the material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists and further eliminate the smoke interference.
The invention provides a method for eliminating smoke interference in a coal yard, which comprises the following steps: scanning an area in which a material taking arm of the stacker-reclaimer rotates by using the laser scanner, and acquiring point cloud data of the area; constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray map from the point cloud data; and determining the position height of the material according to the gray scale image, and comparing the height with the height of a material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference. The method of the invention is based on the establishment and correction of the three-dimensional model, effectively solves the problem that the coal yard three-dimensional model imaging has irregular protrusions to influence the strategy calculation of material taking caused by smoke interference, can completely eliminate the smoke interference of the coal yard three-dimensional model, and improves the automatic operation efficiency.
Drawings
FIG. 1 is a block flow diagram of a method for eliminating smoke interference in a coal yard according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a circular coal yard and a stacker-reclaimer according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a circular stacker-reclaimer according to another embodiment of the present invention;
FIG. 4 is a schematic view of a scanner mounting location according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of point cloud data acquisition according to another embodiment of the present invention;
FIG. 6 shows laser scan data according to another embodiment of the present invention;
FIG. 7 is a circular coal yard discrete point cloud data according to another embodiment of the present invention;
FIG. 8 is a three-dimensional reconstruction model of a circular coal yard according to another embodiment of the present invention;
FIG. 9 is an unoptimized three-dimensional model according to another embodiment of the present invention;
FIG. 10 is a three-dimensional model after optimization according to another embodiment of the present invention;
fig. 11 is a device for eliminating smoke interference in a coal yard according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
As shown in fig. 1, an aspect of the present invention provides a method S100 for eliminating smoke interference in a coal yard, and referring to fig. 11, an apparatus 200 for eliminating smoke interference in a coal yard according to this embodiment includes a stacker-reclaimer 210 and laser scanners 220 disposed at two sides of an end of a material-taking arm of the stacker-reclaimer. The method based on the device comprises the following steps of S110 to S130:
and S110, scanning a rotating area of a material taking arm of the stacker-reclaimer by using a laser scanner, and acquiring point cloud data of the area.
Specifically, as shown in fig. 2, a coal yard and a stacker-reclaimer structure are shown, where the coal yard of this embodiment is a circular coal yard, the circular coal yard stores coal, and stacking and scraping of the coal are realized by the stacker-reclaimer.
It should be understood that, since the coal yard of the present example is a circular coal yard, the stacker-reclaimer of the present embodiment is correspondingly configured as a circular stacker.
Illustratively, as shown in fig. 3, the circular stacker includes a stacker robot 1, a reclaimer robot (also called a scraper) 2, a fuel inlet 3, and corresponding detection and control modules.
Specifically, as shown in fig. 4, the laser scanners according to the present embodiment are installed on both sides (left and right sides) of the end portion of the material taking arm of the stacker-reclaimer, and reference numerals 2 and 3 in fig. 4 show the installation positions of the laser scanners on the left and right sides of the material taking arm, and the laser scanners on both sides are used to scan the areas where the material taking arm of the stacker-reclaimer rotates, so as to obtain the point cloud data of the corresponding areas.
Further, all be provided with laser scanner based on respectively in the both sides of stacker-reclaimer arm of getting, from this, utilize laser scanner to scan the region of stacker-reclaimer arm gyration to acquire the point cloud data in this region, include: when a material taking task is executed, when a material taking arm of the stacker-reclaimer rotates to take materials to any side, the laser scanner on the corresponding side is automatically started, and the rotated area of the material taking arm is scanned to obtain point cloud data of the area.
Specifically, the following steps can be performed by the laser scanning system: when a stacking task is executed, a laser scanner arranged on a stacking arm is automatically started to scan the rotated area of the stacking arm and acquire point cloud data of the area; when a material taking task is executed, when the material taking arm rotates to take materials to the left side, the laser scanner arranged on the left side of the material taking arm is automatically started to scan the rotated area of the material taking arm, and point cloud data of the area are obtained; when the material taking arm rotates to the right side to take materials, the laser scanner on the right side of the material taking arm is started, the rotating area of the material taking arm is scanned, and point cloud data of the area are obtained.
Optionally, after the point cloud data of the area is acquired, the method further includes: and converting the point cloud data according to the self-defined coordinates, and storing the point cloud data into a database.
Specifically, the fuel point cloud data of the embodiment is obtained by the following calculation method, including: the coal yard adopts polar coordinates to represent point cloud data, the pole of the polar coordinates is defined as the rotation center of a stacker-reclaimer, the height is the height of the bottom surface of the coal yard, taking a left-side scanner of a scraper as an example, and the coal model is updated through the left-side scanner when the right side of the scraper rotates. Referring to fig. 5, a rotation angle of the laser scanner is set to be a, a pitch angle is set to be B, a height of the scanner bracket is set to be M, a distance between the laser scanner and a rotation center is set to be L, and a scanning angle is set to be 180 °;
according to the above defined parameters, setting the scanning angle of a material point as C (the included angle between the scanning direction and the connecting line of the scanner and the rotation center, with the scanner as the center), and the distance of the material corresponding to the angle as N, then obtaining the material coordinate of the scanned material point as follows:
wherein, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
And S120, constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray map from the point cloud data.
Specifically, while the laser scanner is used for scanning, the point cloud data obtained in real time are converted according to self-defined coordinates, updated into a database, a geographic morphology model of the three-dimensional coal pile is calculated and constructed, and meanwhile, the point cloud data are compressed and subjected to light weight processing to generate an 8-bit BMP format gray scale map.
It should be noted that the gray value of each pixel point in the image represents the height of the corresponding position of the coal pile, and then the position height of the material is determined.
Further, the model system of the embodiment may obtain the three-dimensional simulation model of the whole fuel process through the following steps, specifically including: and constructing an equal-scale three-dimensional model according to the planning construction information of the fuel warehouse, constructing a three-dimensional model of equipment (such as a stacker-reclaimer) according to the equipment size information, and implanting the three-dimensional model according to corresponding positions under the same coordinate system to form a three-dimensional scene. And then, simulating and executing the rotation and pitching actions of the material taking arm by using a three-dimensional model of the stacker-reclaimer in a three-dimensional scene, reading real-time data of equipment in the control system through a data interface, and simulating and executing the actions in the three-dimensional scene. And then, automatically performing space stretching generation on the three-dimensional model of the fuel in the system after introducing a BMP (bone map) into a control of the software to generate a gray scale map. That is to say, the present embodiment establishes a three-dimensional simulation model with complete fuel overall process and accurate information through the model system.
It should be noted that, when there is no smoke interference, the coordinates of each material point can be calculated by the above formula (1), and the three-dimensional model of the whole circular coal yard can be obtained by collecting the material point cloud data of the whole coal yard.
S130, determining the position height of the material according to the gray level image, and comparing the height with the height of a material taking arm of a stacker-reclaimer at a material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference
Specifically, the height value of the material is determined according to the pixel value of the gray scale image, and the height is further compared with the height of the material taking arm of the stacker-reclaimer at the material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference, and the method comprises the following steps: when the height of the material is smaller than the height of a material taking arm of the stacker-reclaimer at a material taking point, no smoke interference exists; and (3) responding to the smoke interference when the height of the material is greater than the height of the material taking arm of the stacker-reclaimer at the material taking point, and further calculating and updating the point cloud data to correct the three-dimensional model to eliminate the smoke interference.
It should be noted that, the calculation formula of the height of the material taking arm of the stacker-reclaimer at the material taking point is as follows:
Hql＝R tan D (2)；
wherein HqlThe height value of the material taking arm at the material taking point is shown, D is the pitching angle of the material taking arm at the material taking point, and in a polar coordinate system, theta is a rotation angle, and R is a rotation radius.
It will be appreciated that normally, there is a relationship as the material should be below the take off arm: hql> H, if H is presentqlIf the value is less than H, the smoke interference exists, and the point cloud data cannot be updated by the value of H, but the point cloud data needs to be updated by the value of HqlThe value of (2) updates the data.
So when judging HqlIf the point cloud data is less than H, the point cloud data is updated by adopting the following relational expression:
the rotation angle of the laser scanner is set to be A, the pitching angle of the laser scanner is set to be B, the distance between the laser scanner and the rotation center is set to be L, the scanning angle of a certain material point is set to be C, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
When smoke interference exists, the height of the material is calculated through the formula, and then the smoke interference can be eliminated. It should be noted that the material in this embodiment refers to a coal pile.
Further, the integrated information processing system sends a laser scanning instruction through the Ethernet, analyzes data fed back by the laser scanner (the data fed back by the laser scanner comprises a distance, an initial angle and an angle resolution), obtains point cloud data of fuel distribution, and reconstructs a three-dimensional model through a three-dimensional reconstruction algorithm based on the obtained data.
Further, the data scanned by the laser scanner is shown in fig. 6, the data of the circular stock ground discrete point cloud is shown in fig. 7, and the three-dimensional reconstruction model of the circular stock ground is shown in fig. 8. Through the reconstruction of the three-dimensional model, an operator can clearly know the field fuel distribution condition and issue an automatic material taking task according to the requirement.
Exemplarily, the smoke generated when the circular coal yard material taking arm takes coal can block a large area of the camera, and further can seriously interfere the work of the scanner, at the moment, the scanner can mistakenly consider the scanned smoke as a material, so that the three-dimensional model generates a lot of irregular protrusions, fig. 9 shows that the influence of the three-dimensional model generated when smoke exists is serious, and in this case, the protrusions are scraped as the material by automatic material taking operation, so that the automatic coal taking efficiency is influenced.
Further, fig. 10 is a three-dimensional model obtained by the method of the present embodiment, and the front middle part is a model obtained without using the method of the present embodiment, and the front middle part is a model obtained using the method of the present embodiment, as compared with the front middle part and the right side in the figure. As can be seen from the figure, the method of the embodiment can completely eliminate the interference of smoke and obtain a model which is actually consistent with the site of the circular coal yard.
The laser scanners are installed on two sides of the front end of the scraper of the stacker-reclaimer, so that the stacker-reclaimer updates the three-dimensional model of the coal yard in real time in the process of acquiring coal, the problem of real-time updating of the three-dimensional model in the process of coal taking in the circular coal yard is solved, the problem of irregular projection on the imaging of the three-dimensional model of the circular coal yard to influence the strategy calculation of material taking caused by smoke interference is solved, the imaging accuracy of the three-dimensional model of the coal yard is improved, and the automation operation efficiency of the coal yard is improved.
As shown in fig. 11, another aspect of the present invention provides an apparatus 200 for eliminating smoke interference in a coal yard, comprising a stacker-reclaimer 210, laser scanners 220 arranged at both sides of the end of the stacker-reclaimer's reclaimer arm, a modeling system 230, and an integrated information processing system 240; the laser scanner 210 is configured to scan a region where a material taking arm of the stacker-reclaimer rotates, and acquire point cloud data of the region; the model system 220 is used for constructing a three-dimensional model of the coal yard according to the point cloud data and generating a gray map from the point cloud data; and the comprehensive information processing system 230 is used for determining the position height of the material according to the gray-scale map and comparing the height with the height of the material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists and further eliminate the smoke interference.
In combination with fig. 2, a coal yard and a stacker-reclaimer structure are provided, wherein the coal yard of this embodiment is a circular coal yard, the circular coal yard stores coal, and stacking and scraping of the coal are realized by the stacker-reclaimer.
Further, as shown in fig. 3, the stacker-reclaimer (e.g., circular stacker) includes a stacker robot 1, a reclaimer robot (also called a scraper) 2, a fuel inlet 3, and a corresponding detection module and control module.
Specifically, as shown in fig. 4, the laser scanners according to the present embodiment are installed on both sides (left and right sides) of the end portion of the material taking arm of the stacker-reclaimer, and reference numerals 2 and 3 in fig. 4 show the installation positions of the laser scanners on the left and right sides of the material taking arm, and the laser scanners on both sides are used to scan the areas where the material taking arm of the stacker-reclaimer rotates, so as to obtain the point cloud data of the corresponding areas.
Furthermore, based on respectively being provided with laser scanner in the both sides of stacker-reclaimer arm of getting material, from this, utilize laser scanner to scan the region of stacker-reclaimer arm gyration to acquire the point cloud data in this region, include: when a material taking task is executed, when a material taking arm of the stacker-reclaimer rotates to take materials to any side, the laser scanner on the corresponding side is automatically started, and the rotated area of the material taking arm is scanned to obtain point cloud data of the area.
Further, based on the above structure, the fuel point cloud data of the present embodiment is obtained by the following calculation method, including: the coal yard adopts polar coordinates to represent point cloud data, the pole of the polar coordinates is defined as the rotation center of a stacker-reclaimer, the height is the height of the bottom surface of the coal yard, taking a left-side scanner of a scraper as an example, and the coal model is updated through the left-side scanner when the right side of the scraper rotates. As shown in fig. 5, a rotation angle of the laser scanner is set to be a, a pitch angle is set to be B, a height of the scanner bracket is set to be M, a distance between the laser scanner and a rotation center is set to be L, and a scanning angle is set to be 180 °;
according to the above defined parameters, setting the scanning angle of a material point as C (the included angle between the scanning direction and the connecting line of the scanner and the rotation center, with the scanner as the center), and the distance of the material corresponding to the angle as N, then obtaining the material coordinate of the scanned material point as follows:
wherein, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
Specifically, while the laser scanner is used for scanning, the point cloud data obtained in real time are converted according to self-defined coordinates, updated into a database, a geographic morphology model of the three-dimensional coal pile is calculated and constructed, and meanwhile, the point cloud data are compressed and subjected to light weight processing to generate an 8-bit BMP format gray scale map.
Further, the model system of the embodiment may obtain the three-dimensional simulation model of the whole fuel process through the following steps, specifically including: and constructing an equal-scale three-dimensional model according to the planning construction information of the fuel warehouse, constructing a three-dimensional model of equipment (such as a stacker-reclaimer) according to the equipment size information, and implanting the three-dimensional model according to corresponding positions under the same coordinate system to form a three-dimensional scene. And then, simulating and executing the rotation and pitching actions of the material taking arm by using a three-dimensional model of the stacker-reclaimer in a three-dimensional scene, reading real-time data of equipment in the control system through a data interface, and simulating and executing the actions in the three-dimensional scene. And then, automatically performing space stretching generation on the three-dimensional model of the fuel in the system after introducing a BMP (bone map) into a control of the software to generate a gray scale map. That is to say, the present embodiment establishes a three-dimensional simulation model with complete fuel overall process and accurate information through the model system.
It should be noted that, when there is no smoke interference, the coordinates of each material point can be calculated by the above formula (1), and the three-dimensional model of the whole circular coal yard can be obtained by collecting the material point cloud data of the whole coal yard.
Specifically, the height value of the material is determined according to the pixel value of the gray scale image, and the height is further compared with the height of the material taking arm of the stacker-reclaimer at the material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference, and the method comprises the following steps: when the height of the material is smaller than the height of a material taking arm of the stacker-reclaimer at a material taking point, no smoke interference exists; and (3) responding to the smoke interference when the height of the material is greater than the height of the material taking arm of the stacker-reclaimer at the material taking point, and further calculating and updating the point cloud data to correct the three-dimensional model to eliminate the smoke interference.
It should be noted that, the calculation formula of the height of the material taking arm of the stacker-reclaimer at the material taking point is as follows:
Hql＝R tan D (2)；
wherein HqlThe height value of the material taking arm at the material taking point is shown, D is the pitching angle of the material taking arm at the material taking point, and in a polar coordinate system, theta is a rotation angle, and R is a rotation radius.
It will be appreciated that normally, there is a relationship as the material should be below the take off arm: hql> H, if H is presentqlIf the value is less than H, the smoke interference exists, and the point cloud data cannot be updated by the value of H, but the point cloud data needs to be updated by the value of HqlThe value of (2) updates the data.
So when judging HqlIf the point cloud data is less than H, the point cloud data is updated by adopting the following relational expression:
the rotation angle of the laser scanner is set to be A, the pitching angle of the laser scanner is set to be B, the distance between the laser scanner and the rotation center is set to be L, the scanning angle of a certain material point is set to be C, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
Further, the integrated information processing system sends a laser scanning instruction through the Ethernet, analyzes data fed back by the laser scanner (the data fed back by the laser scanner comprises a distance, an initial angle and an angle resolution), obtains point cloud data of fuel distribution, and reconstructs a three-dimensional model through a three-dimensional reconstruction algorithm based on the obtained data.
Further, the data scanned by the laser scanner is shown in fig. 6, the data of the circular stock ground discrete point cloud is shown in fig. 7, and the three-dimensional reconstruction model of the circular stock ground is shown in fig. 8. Through the reconstruction of the three-dimensional model, an operator can clearly know the field fuel distribution condition and issue an automatic material taking task according to the requirement. That is, the present embodiment forms and updates the three-dimensional model by the laser scanning system, the modeling system, and the integrated information processing system together to eliminate the interference of smoke.
The invention provides a method and a device for eliminating smoke interference in a coal yard, which have the following beneficial effects compared with the prior art:
firstly, the laser scanners are arranged on two sides of the front end of a scraper of the stacker-reclaimer, so that a three-dimensional model of a coal yard is updated in real time in the process of acquiring coal by the stacker-reclaimer.
Secondly, the invention solves the problem of real-time updating of the three-dimensional model during coal taking operation of the circular coal yard by judging the height of the material and the height of the coal yard and updating point cloud data.
Thirdly, the invention solves the problem that the imaging of the three-dimensional model of the circular coal yard has irregular protrusions to influence the strategy calculation of material taking caused by smoke interference by eliminating the smoke, and improves the imaging accuracy of the three-dimensional model of the coal yard so as to improve the automation operation efficiency of the coal yard.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The method for eliminating the smoke interference in the coal yard is characterized in that the device for eliminating the smoke interference in the coal yard comprises a stacker-reclaimer and laser scanners arranged at two sides of the end part of a material taking arm of the stacker-reclaimer; wherein the method comprises the following steps:
scanning an area in which a material taking arm of the stacker-reclaimer rotates by using the laser scanner, and acquiring point cloud data of the area;
constructing a three-dimensional model of the coal yard according to the point cloud data, and generating a gray map from the point cloud data;
and determining the position height of the material according to the gray scale image, and comparing the height with the height of a material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists or not and further eliminate the smoke interference.
2. The method of claim 1, wherein scanning an area of the stacker-reclaimer material arm revolution with the laser scanner and acquiring point cloud data of the area comprises:
when a material taking task is executed, when a material taking arm of the stacker-reclaimer rotates to take materials to any side, the laser scanner on the corresponding side is automatically started, and the rotated area of the material taking arm is scanned to obtain point cloud data of the area.
3. The method of claim 2, wherein after acquiring the point cloud data of the area, further comprising:
and converting the point cloud data according to the self-defined coordinates, and storing the point cloud data into a database.
4. The method of claim 2, wherein the obtaining point cloud data for the region comprises:
representing point cloud data by adopting polar coordinates in a coal yard, wherein the pole of the polar coordinates is defined as the rotation center of a stacker-reclaimer, the height is the height of the bottom surface of the coal yard, the rotation angle of a laser scanner is set to be A, the pitching angle is set to be B, the height of a scanner bracket is set to be M, the distance between the laser scanner and the rotation center is set to be L, and the scanning angle is set to be 180 degrees;
according to the defined parameters, if the scanning angle of a certain material point is set as C and the distance corresponding to the angle of the material is set as N, the material coordinate scanned to the material point is obtained as the following formula:
wherein, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
5. The method of claim 4, wherein constructing a three-dimensional model of a coal yard from the point cloud data while generating a gray scale map from the point cloud data comprises:
respectively constructing three-dimensional models with equal proportion for a coal yard bunker and a stacker-reclaimer, and implanting the three-dimensional models according to corresponding positions under the same coordinate system to form a three-dimensional scene;
simulating and executing the rotation and pitching actions of the material taking arm by utilizing a three-dimensional model of the stacker-reclaimer in the three-dimensional scene;
and importing the material information in the three-dimensional model of the coal yard bunker into a BMP (bone map file) diagram and performing automatic space stretching to generate a gray scale diagram.
6. The method of claim 5, wherein the gray scale value of each pixel point in the gray scale map represents a height value of the corresponding position of the material point.
7. The method of claim 5, wherein said determining whether smoke interference is present and further eliminating smoke interference comprises:
no smoke interference is generated when the height of the material is smaller than the height of the material taking arm of the stacker-reclaimer at a material taking point;
and in response to the fact that smoke interference exists when the height of the material is larger than the height of a material taking arm of the stacker-reclaimer at a material taking point, further calculating and updating point cloud data to correct the three-dimensional model to eliminate the smoke interference.
8. The method of claim 7, wherein the height of the stacker-reclaimer arm at the reclaiming point is calculated by the formula:
Hql＝R tan D；
wherein HqlThe height value of the material taking arm at the material taking point is shown, D is the pitching angle of the material taking arm at the material taking point, and in a polar coordinate system, theta is a rotation angle, and R is a rotation radius.
9. The method of claim 8, wherein the updating point cloud data is calculated using the following relationship:
the rotation angle of the laser scanner is set to be A, the pitching angle of the laser scanner is set to be B, the distance between the laser scanner and the rotation center is set to be L, the scanning angle of a certain material point is set to be C, theta is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height from the material point to the bottom surface.
10. A device for eliminating smoke interference in a coal yard is characterized by comprising a stacker-reclaimer, laser scanners, a model system and a comprehensive information processing system, wherein the laser scanners, the model system and the comprehensive information processing system are arranged at two sides of the end part of a material taking arm of the stacker-reclaimer; wherein
The laser scanner is used for scanning a rotating area of a material taking arm of the stacker-reclaimer and acquiring point cloud data of the area;
the model system is used for constructing a three-dimensional model of a coal yard according to the point cloud data and generating a gray map from the point cloud data;
and the comprehensive information processing system is used for determining the position height of the material according to the gray-scale image and comparing the height with the height of the material taking arm of the stacker-reclaimer at a material taking point to judge whether smoke interference exists and further eliminate the smoke interference.
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