CN117629066A - Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system - Google Patents
Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system Download PDFInfo
- Publication number
- CN117629066A CN117629066A CN202311620799.XA CN202311620799A CN117629066A CN 117629066 A CN117629066 A CN 117629066A CN 202311620799 A CN202311620799 A CN 202311620799A CN 117629066 A CN117629066 A CN 117629066A
- Authority
- CN
- China
- Prior art keywords
- coal
- ditch
- data
- scanning
- elevation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003245 coal Substances 0.000 title claims abstract description 383
- 238000000691 measurement method Methods 0.000 title claims description 6
- 238000007599 discharging Methods 0.000 claims abstract description 84
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 239000011159 matrix material Substances 0.000 claims description 63
- 230000008569 process Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000012216 screening Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a method and a system for measuring coal storage in a coal discharge ditch based on dynamic laser scanning, which relate to the technical field of coal measurement and comprise the following steps: establishing a three-dimensional coordinate system, and determining coordinates of a coal discharging ditch and a three-dimensional laser scanner; starting a three-dimensional laser scanner to dynamically acquire point cloud data in real time; reserving scanning data of coal stored in a coal discharging ditch, and eliminating invalid data of the coal discharging grille and other areas; combining the coordinates of the three-dimensional laser scanner, and splicing the acquired elevation scanning data to obtain the elevation data of the coal stored in the whole coal discharging ditch; calculating coal storage information according to the data of the coal stored in the coal unloading ditch; and a dynamic laser scanning technology is adopted, a three-dimensional laser scanner is utilized to scan and measure the coal stored in the coal discharging ditch through the coal discharging grille, and the coal storage amount in the coal discharging ditch is monitored in real time.
Description
Technical Field
The utility model relates to the technical field of coal quantity measurement, in particular to a coal unloading ditch coal storage measurement method and system based on dynamic laser scanning.
Background
The coal discharging ditch is one of important components in a coal conveying system of a thermal power plant. Its main function is to receive and unload coal transported from train or car, so that coal can smoothly enter downstream coal feeder and coal conveyer belt. Because the coal discharging ditch structure is relatively closed, and the coal discharging grille is arranged above the coal discharging ditch structure to shield, when the condition that the coal is stored in the coal discharging ditch is measured, the detection equipment is very inconvenient to install in the coal discharging ditch. The existing measuring method for the coal in the coal discharging ditch mainly relies on-site observers to judge the height of the coal pile in the coal discharging ditch in a visual way, and the coal pile is patrolled along the coal discharging ditch to know the distribution condition of the stored coal, so that the normal operation of the coal discharging of the train and the coal feeder under the coal discharging ditch is ensured. Because the timeliness of manual observation is poor, the change of the coal storage condition cannot be known in time, and the judgment of the coal storage distribution condition of the whole coal discharging ditch is not accurate enough. Meanwhile, in a coal unloading operation site, dust, noise and other factors can negatively influence the health of patrol personnel.
The utility model discloses a coal storage quantity walking measurement device for a coal ditch, which comprises a coal grate, a walking mechanism and a measurement mechanism, wherein the coal grate is arranged at the top of the coal ditch, a guide rail groove is formed in the bottom of the coal grate, a gear groove is formed in the top of the guide rail groove, a rack is arranged on one side wall of the gear groove, and a limit chute is formed in the lower part of the inner wall of the guide rail groove; the traveling mechanism comprises a protective shell, a first motor and a gear, wherein the side wall of the protective shell is provided with a limiting sliding block, the limiting sliding block is positioned in a limiting sliding groove, the first motor is installed in the protective shell, the output end of the first motor penetrates out of the top of the protective shell and extends to the gear groove, and the gear is installed at the output end of the first motor and meshed with a rack in the gear groove; the utility model discloses a device for scanning and measuring by utilizing three-dimensional laser, and a specific measuring method is not provided.
Disclosure of Invention
The utility model aims to solve the technical problems that: the existing method has the technical problem of poor timeliness by manually judging the coal storage quantity in the coal discharging ditch. The method and the system for measuring the coal storage in the coal unloading ditch based on dynamic laser scanning can monitor the coal storage in the coal unloading ditch in real time.
In order to solve the technical problems, the utility model adopts the following technical scheme: a coal unloading ditch coal storage measurement method based on dynamic laser scanning comprises the following steps:
s1: establishing a three-dimensional coordinate system, and determining coordinates of a coal discharging ditch and a three-dimensional laser scanner;
s2: starting a three-dimensional laser scanner to dynamically acquire point cloud data in real time;
s3: reserving scanning data of coal stored in a coal discharging ditch, and eliminating invalid data of the coal discharging grille and other areas;
s4: combining the coordinates of the three-dimensional laser scanner, and splicing the acquired elevation scanning data to obtain the elevation data of the coal stored in the whole coal discharging ditch;
s5: and calculating coal storage information according to the data of the coal stored in the coal unloading ditch.
A method for measuring the coal deposit in coal unloading ditch based on dynamic laser scan includes such steps as measuring the positions of coal unloading area, shed, ditch and three-dimensional laser scanner, creating a three-dimensional coordinate system, starting the lifting-rail robot to move along horizontal lifting rail, starting the three-dimensional laser scanner to obtain the data of point cloud, processing the scanned data of three-dimensional laser scanner, retaining the scanned data of coal in coal unloading ditch, eliminating the invalid data in coal unloading grille and other areas, eliminating interference data, increasing measuring precision, combining with the position of lifting-rail robot, splicing the scanned data, updating to the whole data of coal deposit in coal unloading ditch, and calculating the data of coal deposit.
Preferably, in the step S4, the elevation data of the coal stored in the coal discharging ditch is calculated and obtained through the obtained point cloud data, and the total elevation data matrix is obtained as follows:
wherein M is h As a matrix of m×nn, M h Namely, the total height matrix of the coal stored in the coal discharging ditch; m is the maximum index of the single scanning elevation matrix in the x direction; n is the maximum index of the single scanning elevation matrix in the y direction; n is the number of single scans required in the total elevation data of the coal stored in the coal discharge ditch.
Preferably, the step S4 screens data through the position of the three-dimensional laser scanner and splices the data, and the specific process is as follows:
s41: calibrating the position to be scanned at fixed points according to the early-stage debugging result, so that the fixed-point scanning result covers the whole coal storage area in the coal discharging ditch, and the number of the fixed-point scanning positions in the area covered at the same time is at most two during scanning; the fixed point scanning position is marked as P ir Wherein i is E [1, N]The method comprises the steps of carrying out a first treatment on the surface of the Acquiring the current position of a three-dimensional laser scanner, and calculating an index I of the current position corresponding to the y direction ir Starting point I is And endpoint I ie ；
S42: the three-dimensional laser scanner performs fixed-point scanning, and an elevation data matrix of single fixed-point scanning of the three-dimensional laser scanner is as follows:
wherein M is is M is the maximum index of the single scanning elevation matrix in the x direction, n is the maximum index of the single scanning elevation matrix in the y direction, i is the serial number in all fixed point scanning position sets, i epsilon [1, N]。M is Namely the position P of the current three-dimensional laser scanner ir Elevation data matrix of a single scan of (a).
S43, splicing the scanned elevation data matrix, wherein the splicing process and the elevation data of the single coal bin are calculated as follows: according to the position and sequence number of the fixed-point scanning positions, the point cloud data matrix of the kth coal bin can be determined, and q fixed-point scanning positions are respectively P jr 、P (j+1)r 、…、P (j+q)r The corresponding point cloud data matrixes are M respectively js 、M (j+1)s 、…、M (j+q)s The method comprises the steps of carrying out a first treatment on the surface of the The point cloud data matrix of adjacent fixed point scanning has overlapping data, P jr 、P (j+1)r The distance between them is P (j+1)r -P jr ＝Q*d iy Q < = n, M js And M is as follows (j+1)s Overlap is M js Q+1st to nth columns of (C), corresponding to M (j+1)s The 1 st to (n-Q) th columns of the system, the overlapping part calculates the average value as effective elevation data, so that the point cloud data matrix of the kth coal bin can be reordered after the overlapping part is processed, and is set as
Where Tk is the number of point cloud data matrix columns after the k-th bin is reordered.
Preferably, the calculation formula in the step S41 is as follows:
I ir ＝P ir /d iy
I is ＝P is /d iy
I ie ＝P ie /d iy
wherein: p (P) ir The current position of the three-dimensional laser scanner; p (P) is Is the starting point of a single coal bunker; p (P) ie Is the end point of a single coal bunker; d, d ix Spacing coefficient in x direction, d iy Is the spacing coefficient in the y direction; according to I ir 、I is And I ie And (5) judging which coal bunker the current three-dimensional laser scanner is positioned in. Index I of three-dimensional laser scanner position in y direction ir At the starting point I is And endpoint I ie And if the current three-dimensional laser scanner is judged to be in a single coal bunker, updating the coal bunker data. Will satisfy I is ＜I ir ＜I ie Elevation data matrix M acquired by a single scan of (a) is Elevation matrix M updated to store coal in coal bunker h The data of each coal bin is accurately judged through the data of a single coal bin, a three-dimensional laser scanner and the like, all coal bin data sets are all effective data, if I ir Not satisfy I is ＜I ir ＜I ie And the three-dimensional laser scanner is positioned at the beam at the joint of the coal bunker, and the part is not used as effective elevation data to reject the effective elevation data.
Preferably, the calculation process in the step S5 is as follows:
in the early debugging, scanning to obtain an elevation matrix M of the empty coal ditch during the empty coal ditch structure of the coal unloading ditch kd Calculate M k -M kd Obtaining a coal seam height data matrix of the real-time coal unloading ditch; the volume Vk of the coal amount of the kth coal bin is:
wherein Δh pq Is M k -M kd The p-th row and q-th column data in the matrix; m is M k And the point cloud data matrix is the kth coal bin. According to the coal seam height data of each coal bin of the coal unloading ditch, the method canAnd calculating the volume of the coal bed, and guiding the operation parameters of the coal bunker, including the rotation frequency, the operation duration and the like, when the impeller coal feeder automatically operates.
Preferably, in the step S2, after the train above the coal discharge ditch discharges the coal to the coal discharge ditch, the suspended rail type robot performs a task, the three-dimensional laser scanner moves linearly from the start point to the end point along the horizontal suspended rail above the side-a coal discharge ditch along the suspended rail type robot after being electrified, in this process, the three-dimensional laser scanner acquires the point cloud data in real time for display, and simultaneously acquires the elevation data of the coal stored in the coal discharge ditch in real time, wherein the elevation data is m×n elevation matrix M of single scanning under a rectangular (x, y, z) coordinate system is . The matrix is used for updating the total height matrix of the coal stored in the coal discharging ditch.
Preferably, in the step S3, the data of the coal discharging grid and the upper area are deleted to obtain the effective z-direction range [ A ] b ，A t ]Wherein A is b For discharging coal, A is the height of the bottom of the ditch t Is the height of the bottom of the coal unloading grille. The range space from the bottom of the coal discharging grating to the bottom of the coal discharging ditch is the data storage space of the coal discharging ditch, so that the effective range in the z direction is the distance from the bottom of the coal discharging grating to the bottom of the coal discharging ditch.
The utility model provides a coal discharging ditch deposits coal measurement system based on dynamic laser scanning, includes a plurality of coal discharging ditches, coal discharging ditch one side is equipped with the wall, be equipped with the coal discharging grid in the coal discharging ditch, be equipped with horizontal hanger rail on the wall, horizontal hanger rail is connected with hanger rail formula robot, hanger rail formula robot horizontal migration, hanger rail formula robot is equipped with three-dimensional laser scanner, hanger rail formula robot is connected with the server.
A small three-dimensional laser scanner is fixedly arranged below a lifting rail type robot, the three-dimensional laser scanner moves linearly along with the lifting rail type robot on a wall rail of a coal unloading area, meanwhile, the three-dimensional laser scanner carries out dynamic measurement on coal stored in the coal unloading ditch through a coal unloading grille, measured data are transmitted to a server, the server retains needed coal stored in the coal unloading ditch through calculation processing of scanning data, other interference factors such as the coal unloading grille are removed, the data of the coal stored in the coal unloading ditch are obtained, the current positioning data of the lifting rail type robot are combined, the current coal stored data are spliced integrally, the whole coal stored in the coal unloading ditch is obtained, dynamic measurement on the coal stored in the whole coal unloading ditch is realized, three-dimensional coordinate data and elevation of the coal stored in the coal unloading ditch are obtained, calculation of the coal stored data is carried out, and the like.
The utility model has the following substantial effects: the utility model designs a coal unloading ditch coal storage measurement method and system based on dynamic laser scanning, which adopts a dynamic laser scanning technology, utilizes a three-dimensional laser scanner to scan and measure coal stored in the coal unloading ditch through a coal unloading grille, and monitors the coal storage amount in the coal unloading ditch in real time; and processing the scanning data of the coal discharging ditch, reserving the coal storing data of the coal discharging ditch, eliminating other scanning data, and improving the accuracy of dynamically scanning the coal storing data of the coal discharging ditch.
Drawings
FIG. 1 is a flow chart of a first embodiment;
FIG. 2 is a three-dimensional laser scanner mounting position of the first embodiment;
FIG. 3 is a three-dimensional rectangular coordinate system of the first embodiment;
fig. 4 is a yoz plan view of the first embodiment;
fig. 5 is a xoz plan view of the first embodiment.
Wherein: 1. a coal unloading ditch, a hanging rail type robot, and a three-dimensional laser scanner.
Detailed Description
The following description of the embodiments of the present utility model will be made with reference to the accompanying drawings.
Embodiment one:
a method and a system for measuring coal storage in a coal unloading ditch based on dynamic laser scanning are disclosed, as shown in fig. 1 and 2, a small three-dimensional laser scanner is fixedly arranged below a hanger rail type robot, and the hanger rail type robot is arranged on a horizontal hanger rail fixed on a wall of a coal unloading shed area. When the three-dimensional laser scanner is installed, the three-dimensional laser scanner and the coal unloading ditch are required to be kept at a certain height, and a certain distance is reserved between the three-dimensional laser scanner and the horizontal hanging rail, so that the three-dimensional laser scanner can scan the coal stored in the coal unloading ditch. After the device is installed, the positions of the coal unloading area, the coal unloading shed, the coal unloading ditch and the three-dimensional laser scanner are measured, and a three-dimensional coordinate system is established. After the coal unloading of the train is completed, the lifting rail type robot is started before the coal unloading operation, so that the lifting rail type robot moves along the horizontal lifting rail in a linear mode, and meanwhile, the three-dimensional laser scanner is started to dynamically acquire point cloud data in real time. And then, processing the scanning data of the three-dimensional laser scanner, reserving the scanning data of the coal stored in the coal discharging ditch, removing invalid data of the coal discharging grille and other areas, eliminating the influence of interference data, and improving the measurement accuracy. And combining the positions of the lifting rail type robots, splicing the acquired elevation scanning data, and updating the acquired elevation scanning data into the integral data of the coal storage of the coal discharging ditch to obtain the elevation data of the coal storage of the whole coal discharging ditch. And finally, calculating coal storage information such as the volume of the stored coal according to the data of the stored coal in the coal unloading ditch.
The coal discharging ditch adopts a wedge-shaped structure, and the side wall is provided with a wear-resistant lining plate which is specially treated so as to resist the impact and the wear of coal. When coal is unloaded from the outside of the plant, it falls into the coal unloading trench through the coal unloading grille and flows into the trench bottom along the trench wall. The coal feeder at the bottom of the ditch utilizes the gap at the bottom of the ditch to uniformly push the coal to the coal conveying belt, so as to complete the coal conveying process.
As shown in fig. 3, 4 and 5, the site coal unloading area comprises coal unloading ditches and coal unloading sheds, wherein the coal unloading ditches are 2 coal unloading ditches on the side A and the side B, and the coal unloading sheds are fixed above the 2 coal unloading ditches. The utility model is applied to the side A coal unloading ditch and the coal unloading shed area above the side A coal unloading ditch. The coal discharging ditch on the side A is divided into 29 coal bins, and the number of the coal discharging ditch is 1A to 29A. Combining an on-site coal discharging ditch, a coal discharging shed, a horizontal hanging rail of a hanging rail type robot and a three-dimensional laser scanner mounting position, taking the bottom of the coal ditch corresponding to the center position of a left side beam of a 1A coal bunker as an origin o of a coordinate system, taking the directions of the 1A-29A coal discharging ditches as the positive directions of the y axes, taking the directions of the coal discharging ditches from the side close to a wall body to the side far from the wall body as the positive directions of the x axes, taking an xoy plane as a horizontal plane, and taking the upward direction perpendicular to the xoy plane as the positive direction of the z axis, and establishing a three-dimensional rectangular coordinate system. Under the coordinate system, the coal bunker starting point P start1 (0, 03,0), three-dimensional laser scanner initial position P sc (0，-1.4，9.5)。
The side-A coal discharging ditch is divided into 29 coal bins, and the number of the coal bins is 1A-29A. A side coal discharging ditch total length L a =184.9 meters, single coal bin length L 1 ≈L 2 …L 28 ≈L 29 The two sides of a single coal bin are provided with bearing beams with the widths of 0.5-2.0 meters, such as L c2 =0.5. Starting point of single coal bunker is P starti The end point is P endi Wherein i is the coal bin number.
Width D of top of coal discharging ditch u =6.11 meters, the height difference H between the top and bottom of the coal discharge ditch a The section of the coal discharging ditch is in an inverted trapezoid shape, and the included angle alpha between the inclined plane of the wall side and the horizontal plane is equal to or smaller than 6.26 meters 1 =60°, angle α between inclined plane far from wall side and horizontal plane r =60°, bottom width D d =0.44 meters. Lifting rail type robot horizontal lifting rail mounting distance xoy plane height H r =1.5 meters, the horizontal hanging rail extends out of the wall D r =0.44 meters, the three-dimensional laser scanner is located under the horizontal hanging rail H sc =1.07 meters. The position of the three-dimensional laser scanner is P sc The width of the coal unloading grille is D sc =1.22 meters.
After the train above the coal unloading ditch unloads coal to the coal unloading ditch, the suspended rail type robot executes tasks, and after the three-dimensional laser scanner is electrified, the suspended rail type robot moves linearly from a starting point to an end point along a horizontal suspended rail above the side-A coal unloading ditch. In the process, the three-dimensional laser scanner scans and measures the coal stored in the coal discharging ditch through the coal discharging grille, acquires coordinate information of the coal stored surface points, acquires surface point cloud information of the coal stored in the coal discharging ditch, displays and transmits acquired point cloud data to the server in real time, and the server calculates and acquires elevation data of the coal stored in the side A coal discharging ditch through the point cloud data.
The total elevation data in the side-A coal discharging ditch is a grid coordinate of m multiplied by nN, parameters of the three-dimensional elevation coordinate are adjusted, wherein m=20, nN=1860, and grid intervals in the x direction of the grid coordinate are d ix =0.1, grid spacing in y direction d iy =0.1, offset d in x-direction ox Offset d in y direction =0.5 oy = -0.3, z direction lowest point a b =0.0, z-direction highest point a t =6.0. Each time the elevation data updated by the three-dimensional laser scanner is in an x-direction grid number of m, a y-direction grid number of n=6, and the elevation data updated by the three-dimensional laser scanner is in a one-dimensional quantity a s ＝[h (i-1)n …h in ]Converting vectors of single elevation data into matricesM is Namely, the elevation data matrix obtained by single scanning of the three-dimensional laser scanner.
According to the coordinate system formed by the on-site measurement in the step S1 and the related coordinate positions, the z-direction height of the coal discharging grid is known to be positioned above the bottom H of the coal discharging ditch a Rice. The coal unloading grids are all in the irradiation range of the three-dimensional laser scanner, and can interfere the effect and the precision of the three-dimensional laser scanner on the scanning measurement of the coal storage in the coal unloading ditch. In order to improve the accuracy of the three-dimensional laser scanner in detecting the coal storage condition in the coal unloading ditch, the range of the scanning area of the three-dimensional laser scanner needs to be optimized.
In the z direction, the bottom of the coal discharging ditch is taken as a reference surface for effective scanning, and the distance between the lower part of the coal discharging grille and the bottom A of the coal discharging ditch tZ Height is taken as the maximum effective scanning height in the z direction, A t ＜H a . Screening in height, and eliminating the height area of the bottom surface and the upper part of the coal unloading grille, i.e. the effective range is z direction [ A ] b ，A t ]. Can obtain the height A from the bottom of the ditch b To the height A below the coal unloading grille t Valid scan data within range. The influence of the coal unloading grille on the scanning precision is eliminated in the range, and the precision of the three-dimensional laser scanner on the measurement of the coal storage in the coal unloading ditch is improved.
The X direction of the three-dimensional laser scanner is positioned at the position of 0.5 meter of the coal bunker, the X direction range of the scanning position is 1.5-3 meters under the condition of full bunker, and the X direction range of the scanning position is 2-3.5 meters under the condition of empty bunker.
The complete elevation data matrix of the coal stored in the coal discharging ditch is M h ，M h Is a matrix of m x Nn. The total elevation data matrix isWherein: m is the maximum index of the single scanning elevation matrix in the x direction; n is the maximum index of the single scanning elevation matrix in the y direction; n is the number of single scans required in the total elevation data of the coal stored in the coal discharge ditch.
Calibrating the position to be scanned at fixed point according to the early debugging result to ensure that the fixed point scanning result covers the whole coal storage area of the coal discharging ditch, and marking the fixed point scanning position as P ir Wherein i is E [1, N]. In the scanning process of the three-dimensional laser scanner, the current position P of the three-dimensional laser scanner is obtained ir . The index of the current position of the three-dimensional laser scanner in the y direction is I ir ＝P ir /d iy The index of the y direction of the current three-dimensional laser scanner position and the starting point of the coal bunker where the current three-dimensional laser scanner is positioned are I is ＝P is /d iy Endpoint I ie ＝P ie /d iy . Wherein P is ir The current position of the three-dimensional laser scanner; p (P) is Is the starting point of a single coal bunker; p (P) ie Is the end point of a single coal bunker; d, d ix Spacing coefficient in x direction, d iy Is the spacing coefficient in the y-direction. According to I ir And I is 、I ie Comparing, judging which coal bunker the current three-dimensional laser scanner is positioned in, namely judging I is ＜I ir ＜I ie Whether the condition is true. If the condition is satisfied, the elevation data matrix M acquired by single scanning is Elevation matrix M updated to store coal in coal bunker h . Calculating the update range of the y direction at the current three-dimensional laser scanner position as I ir -d iy To I ir +d iy 。
Acquisition of elevation data matrix M by single scanning is The elevation data matrix of a single fixed point scan of the three-dimensional laser scanner is as follows:wherein: m is M is M is the maximum index of the elevation matrix of single scanning in the x direction, n is the maximum index of the elevation matrix of single scanning in the y direction, i is the maximum index of the elevation matrix of single scanning in all fixed pointsSequence numbers in the position set, i.e. [1, N]. Updating the data range at the current position of the lifting rail type robot to be I ir -d iy To I ir +d iy M is set to is Update to complete elevation data matrix M h The corresponding updating range index in the coal unloading ditch is obtained, complete elevation data of coal stored in the coal unloading ditch is obtained, the overlapping part averages the elevation data, and the result is used as effective data to update the matrix.
According to the calculation method in S43, coal elevation data M is stored from the total coal discharge ditch h Intercepting and splicing to obtain elevation matrix data M of kth coal bin k Thereby acquiring elevation data of the inside of a single coal bin of the coal discharging ditch. And according to the position and the sequence number of the fixed-point scanning position, determining the point cloud data matrix of the kth coal bin. The set point scanning positions are q and are respectively P jr 、P (j+1)r 、…、P (j+q)r The corresponding point cloud data matrixes are M respectively js 、M (j+1)s 、…、M (j+q)s . The point cloud data matrix of adjacent fixed point scanning has overlapping data, P jr 、P (j+1)r The distance between them is P (j+1)r -P jr ＝Q*d iy Q < = n, M js And M is as follows (j+1)s Overlap is M js Q+1st to nth columns of (C), corresponding to M (j+1)s And (2) columns 1 to (n-Q), and the average value thereof is calculated as effective elevation data for the overlapped portion. Therefore, after the overlapping part is processed, the point cloud data matrix of the kth coal bin can be reordered and set asWhere Tk is the number of point cloud data matrix columns after the k-th bin is reordered.
In the early debugging, scanning to obtain an elevation matrix M of the empty coal ditch during the empty coal ditch structure of the coal unloading ditch kd Calculate M k -M kd Obtaining a coal seam height data matrix of the real-time coal unloading ditch; the volume Vk of the coal amount of the kth coal bin is:
wherein Δh pq Is M k -M kd The p-th row and q-th column data in the matrix; m is M k And the point cloud data matrix is the kth coal bin. According to the coal seam height data of each coal bin of the coal unloading ditch, the coal seam volume can be calculated, and when the impeller coal feeder is guided to automatically operate, the operation parameters of the coal bin comprise the rotation frequency of the impeller, the operation time length and the like.
The utility model adopts a dynamic laser scanning technology, utilizes a three-dimensional laser scanner to scan and measure the coal stored in the coal discharging ditch through the coal discharging grille, obtains the coordinate information of the surface point of the stored coal, obtains the surface point cloud information of the stored coal in the coal discharging ditch, and establishes a three-dimensional model. And processing the scanning data of the coal discharging ditch, reserving the coal storage data in the coal discharging ditch, eliminating other scanning data, and improving the accuracy of dynamically scanning the coal storage in the coal discharging ditch. And when the three-dimensional laser scanner dynamically scans, the scanning data are updated in real time, and the coal storage data in the coal unloading ditch are spliced integrally. And calculating coal storage information such as the volume of the coal stored in the coal unloading ditch based on the acquired coal storage data.
The utility model is suitable for the special structure of the coal unloading ditch, and can effectively measure the coal storage condition in the coal unloading ditch. And through real-time monitoring, dynamic measurement is realized, the coal storage condition in the coal discharge ditch can be controlled in real time, and the condition that the coal storage quantity of the coal discharge ditch is too large to be detected is avoided. The dynamic laser scanning technology is utilized for scanning measurement, so that the labor cost can be effectively reduced, and the monitoring accuracy is improved.
The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.
Claims (8)
1. The method for measuring the coal storage in the coal unloading ditch based on dynamic laser scanning is characterized by comprising the following steps of:
s1: establishing a three-dimensional coordinate system, and determining coordinates of a coal discharging ditch and a three-dimensional laser scanner;
s2: starting a three-dimensional laser scanner to dynamically acquire point cloud data in real time;
s3: reserving scanning data of coal stored in a coal discharging ditch, and eliminating invalid data of the coal discharging grille and other areas;
s4: combining the coordinates of the three-dimensional laser scanner, and splicing the acquired elevation scanning data to obtain the elevation data of the coal stored in the whole coal discharging ditch;
s5: and calculating coal storage information according to the data of the coal stored in the coal unloading ditch.
2. The method for measuring the coal deposit in the coal discharge ditch based on the dynamic laser scanning according to claim 1, wherein the step S4 is characterized in that the elevation data of the coal deposit in the coal discharge ditch is calculated and obtained through the obtained point cloud data, and the total elevation data matrix is obtained as follows:
wherein: m is M h As a matrix of m×nn, M h Namely, the total height matrix of the coal stored in the coal discharging ditch; m is the maximum index of the single scanning elevation matrix in the x direction; n is the maximum index of the single scanning elevation matrix in the y direction; n is the number of single scans required in the total elevation data of the coal stored in the coal discharge ditch.
3. The method for measuring the coal deposit in the coal discharge ditch based on the dynamic laser scanning according to claim 2, wherein the step S4 is characterized by screening data and splicing the data through the position of the three-dimensional laser scanner, and the specific process is as follows:
s41: calibrating the position to be scanned at fixed points according to the early-stage debugging result, so that the fixed-point scanning result covers the whole coal storage area in the coal discharging ditch, and the number of the fixed-point scanning positions in the area covered at the same time is at most two during scanning; the fixed point scanning position is recorded asP ir Wherein i is E [1, N]The method comprises the steps of carrying out a first treatment on the surface of the Acquiring the current position of a three-dimensional laser scanner, and calculating an index I of the current position corresponding to the y direction ir Starting point I is And endpoint I ie ；
S42: the three-dimensional laser scanner performs fixed-point scanning, and an elevation data matrix of single fixed-point scanning of the three-dimensional laser scanner is as follows:
wherein: m is M is M is the maximum index of the single scanning elevation matrix in the x direction, n is the maximum index of the single scanning elevation matrix in the y direction, i is the serial number in all fixed point scanning position sets, i epsilon [1, N]；
S43: splicing the elevation data matrix obtained by scanning, and calculating the splicing process and the elevation data of a single coal bunker as follows:
according to the position and sequence number of the fixed-point scanning positions, the point cloud data matrix of the kth coal bin can be determined, and q fixed-point scanning positions are respectively P jr 、P (j+1)r 、…、P (j+q)r The corresponding point cloud data matrixes are M respectively js 、M (j+1)s 、…、M (j+q)s The method comprises the steps of carrying out a first treatment on the surface of the The point cloud data matrix of adjacent fixed point scanning has overlapping data, P jr 、P (j+1)r The distance between them is P (j+1)r -P jr ＝Q*d iy Q < = n, M js And M is as follows (j+1)s Overlap is M js Q+1st to nth columns of (C), corresponding to M (j+1)s And (2) columns 1 to (n-Q), and the average value thereof is calculated as effective elevation data for the overlapped portion.
4. The method for measuring the coal deposit in the coal discharge ditch based on the dynamic laser scanning according to claim 3, wherein the calculation formula in the step S41 is as follows:
I ir ＝P ir /d iy
I is ＝P is /d iy
I ie ＝P ie /d iy
wherein: p (P) ir The current position of the three-dimensional laser scanner; p (P) is Is the starting point of a single coal bunker; p (P) ie Is the end point of a single coal bunker; d, d ix Spacing coefficient in x direction, d iy Is the spacing coefficient in the y direction; according to I ir 、I is And I ie And (5) judging which coal bunker the current three-dimensional laser scanner is positioned in.
5. The method for measuring the coal deposit in the coal discharge ditch based on the dynamic laser scanning according to claim 3, wherein the calculation process in the step S5 is as follows:
in the early debugging, scanning to obtain an elevation matrix M of the empty coal ditch during the empty coal ditch structure of the coal unloading ditch kd Calculate M k -M kd Obtaining a coal seam height data matrix of the real-time coal unloading ditch; the volume Vk of the coal amount of the kth coal bin is:
wherein Δh pq Is M k -M kd The p-th row and q-th column data in the matrix; m is M k And the point cloud data matrix is the kth coal bin.
6. The method for measuring the coal deposit in the coal discharge ditch based on the dynamic laser scanning according to claim 1, 2 or 3, wherein in the step S2, after the train above the coal discharge ditch discharges the coal to the coal discharge ditch, the lifting rail type robot performs a task, the three-dimensional laser scanner moves linearly from the starting point to the end point along the horizontal lifting rail above the side-a coal discharge ditch along the lifting rail type robot after being electrified, in the process, the three-dimensional laser scanner acquires the point cloud data in real time for displaying, and simultaneously acquires the elevation data of the coal deposit in the coal discharge ditch in real time, wherein the elevation data is M x n elevation matrix M of single scanning in a rectangular (x, y, z) coordinate system is 。
7. The method for measuring the coal deposit in a coal discharge ditch based on dynamic laser scanning according to claim 1, 2 or 3, wherein in the step A3, the data of the coal discharge grille and the upper area are deleted to obtain the effective range [ A ] in the z direction b ，A t ]Wherein A is b For discharging coal, A is the height of the bottom of the ditch t Is the height of the bottom of the coal unloading grille.
8. A coal unloading ditch coal storage measurement system based on dynamic laser scanning, which uses the coal unloading ditch coal storage measurement method based on dynamic laser scanning according to any one of claims 1 to 7, and comprises a plurality of coal unloading ditches, wherein one side of each coal unloading ditch is provided with a wall, and a coal unloading grille is arranged in each coal unloading ditch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311620799.XA CN117629066A (en) | 2023-11-30 | 2023-11-30 | Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311620799.XA CN117629066A (en) | 2023-11-30 | 2023-11-30 | Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117629066A true CN117629066A (en) | 2024-03-01 |
Family
ID=90024845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311620799.XA Pending CN117629066A (en) | 2023-11-30 | 2023-11-30 | Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117629066A (en) |
-
2023
- 2023-11-30 CN CN202311620799.XA patent/CN117629066A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104567684B (en) | A kind of contact net geometric parameter detection method and device | |
| CN104838072B (en) | Reclaimer three-D volumes rate control device and its control method | |
| CN111895911B (en) | Method for monitoring hidden danger of ground collapse of shallow sand layer | |
| CN107560550A (en) | A kind of acquisition methods and system of body surface parameter | |
| CN101501248A (en) | Method of measuring, on the fly, the height of an electrolysis anode | |
| CN111457848B (en) | Method and system for measuring displacement through coordinate change between adjacent monitoring points | |
| CH616228A5 (en) | ||
| US6879653B2 (en) | Method and device for measuring the diameter of a peripheral rod in a fuel assembly of a nuclear reactor | |
| NO20230279A1 (en) | Method and system for diagnosing structural damage of overwater building on basis of flow-state video monitoring | |
| US5465214A (en) | Method of measuring the shape and/or the planarity of a running material, and device for its implementation | |
| CN117629066A (en) | Dynamic laser scanning-based coal unloading ditch coal storage measurement method and system | |
| JP2761361B2 (en) | Method and apparatus for monitoring temperature of coal pile | |
| US4752695A (en) | Planarity detection method for a moving rolled strip employing side edge detection with respect to a reference surface | |
| RU2375502C2 (en) | Method of anode changing in electrolytic cell for manufacturing of aluminium by electrolysis, including regulation of anode position and device for its implementation | |
| US6876195B2 (en) | Method and device for measuring the thickness of an oxide layer on the pencil cladding in a fuel assembly | |
| CN111390913A (en) | Automatic detection method for bridge bottom structure | |
| Carey et al. | A new procedure for tracking displacements of submerged sloping ground in centrifuge testing | |
| CN116351547A (en) | Intelligent medium adding method and system for coal preparation plant | |
| CN115791979A (en) | Acoustic emission internal detection method and device for corrosion of bottom plate of large-scale carrier liquid storage tank | |
| CN204881521U (en) | Delivery vehicle measuring device | |
| KR100317957B1 (en) | Method and device for recognizing damaged part of belt conveyor using laser | |
| CN111102932A (en) | Automatic inspection method and system for foundation pit safety | |
| JPH0769157B2 (en) | Storage amount measurement method | |
| CN113899345B (en) | Method and system for measuring working condition self-adaptive terrain of entity model | |
| AU703606B2 (en) | A crane positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |