KR100727682B1 - A method for estimating the reserve quantity of coke stock pile - Google Patents

Abstract

The present invention is to create a virtual model of the coke pile file of the discharging coke pile file from the shape information of the yard and synthesize the front shape detected by the three-dimensional laser scanner to extract the coke pile shape after discharging, from which the three-dimensional automatic coke inventory calculated A method of measuring the stock quantity of coke yard using a laser scanner. A method is used to create a coarse file model when a coke is filled in a yard using factors affecting the shape of a coke yard. After the surface shape is detected, the front shape of the pile model is corrected using the shape detected by the 3D laser scanner, and then the total volume of the corrected pile shape and the weight of the pile are calculated to detect the inventory amount.

Yard, coke pile, 3D laser scanner, file model, inventory

Description

A METHOD FOR ESTIMATING THE RESERVE QUANTITY OF COKE STOCK PILE}

1 is a schematic diagram showing a yard in which a coke pile is loaded.

2 is a flowchart showing a coke yard stock measurement method according to the present invention.

3 is a view showing a virtual pile model made according to the present invention using the shape information of the coke yard.

4 is a view showing the shape of the coke file detected by the three-dimensional laser scanner.

Figure 5 shows the coke pile file shape formed by synthesizing the front shape of the coke pile extracted from the three-dimensional laser scanner and the file model.

6 is a block diagram showing a coke yard inventory measuring apparatus according to the present invention.

* Description of the symbols for the main parts of the drawings *

6: 3D laser scanner

7: Stock amount calculation device

8: computing device

9: storage device

The present invention relates to a method for measuring the inventory of coke stored in the yard (yard), and more specifically, to create a virtual model of the coke yard file of the discharge from the shape information of the yard and the front surface detected by the three-dimensional laser scanner The present invention relates to a method for measuring the stock amount of a coke yard using a three-dimensional laser scanner which synthesizes shapes, extracts a coke pile shape after dispensing, and automatically calculates a coke stock amount therefrom.

There are roughly three methods used to determine the stock of raw materials or coke piles stocked in steel mills or coke yards. Cumulative calculation method by integration operation, and direct calculation method that combines manual and visual aspects.

The method of measuring inventory amount by aerial photography is a method used to regularly check the stock situation, and it is a technique of determining inventory by analyzing the image of the yard after photographing the shape of the yard regularly using an aircraft. . However, this method has a problem in that it is inadequate in terms of cost and time in order to grasp the inventory of the yard in a timely manner as necessary.

Then, the cumulative calculation method using a load meter attached to the raw material moving device is a method of accumulating the amount discharged to the raw material moving device to detect the discharge amount, and then subtracting the discharge amount from the initial raw material amount to calculate the current stock amount. This uses a weighting scale installed on the boom of the raw material moving device, and thus there is a problem that reliability is lowered due to frequent failure of the load gauge and a decrease in measurement accuracy.

Finally, the direct calculation method, which combines manual labor and neck, measures the size of the coke pile by using a measuring instrument, such as a tape measure, when a worker needs to grasp the stock of the raw material yard. The disadvantage is that the reliability is low and there are many inconveniences.

The present invention has been proposed in order to solve the above-mentioned problems, and its object is to create a virtual model of the coke yard file of discharging from shape information of the yard and synthesize the front shape detected by the three-dimensional laser scanner. An object of the present invention is to provide a method for measuring a stock quantity of a coke yard using a three-dimensional laser scanner that extracts a coke pile shape and automatically calculates a coke stock amount therefrom.

As a constitutional means for achieving the above object of the present invention, the present invention is a method for measuring the inventory amount of the coke yard using a three-dimensional laser scanner,

A) creating an approximate pile model when coke is filled in the yard using factors affecting the coke yard shape;

B) detecting the discharge surface shape of the coke pile using a three-dimensional laser scanner;

C) correcting the front shape of the file model created in step a) by using the shape detected by the 3D laser scanner;

D) obtaining the total volume of the file shape corrected in step c);

E) calculating the weight of the coke pile by multiplying the calculated volume by coke specific gravity; And

F) providing the weight of the calculated coke pile as an inventory amount.

And, in the above, the factors affecting the coke yard shape is the yard size, the coke pile inclination angle, the yard height, and the file shape detected by the pile model and the three-dimensional laser scanner in the method is a grid divided into a yard by a horizontal and constant interval It is characterized by displaying on a plane and indicating the height of a file at a position corresponding to each grid point by a set of coordinates.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to an accompanying drawing, the inventory quantity measuring method of the coke yard using the three-dimensional laser scanner of this invention is demonstrated in detail.

The present invention uses the shape information of the file measured by the three-dimensional laser scanner installed in the raw material moving device to measure the three-dimensional shape of the coke pile, as shown in Figure 1, usually the coke yard is moved back and forth on a straight rail It consists of two yards (2,3) arranged on the left and right around the raw material moving device (1) for discharging, and the coke pile (4,5) on each of the two yards (2,3) It is.

At this time, a three-dimensional laser scanner (not shown) is attached to the raw material moving device 1 to scan the shape of the front surface (that is, the dispensing surface) of the coke piles 4 and 5 to be performed in the raw material moving device 1. It is used to extract the first work point.

At this time, the three-dimensional laser scanner can detect only the front shape of the coke piles 4 and 5, and in order to detect the total inventory of the coke piles 4 and 5, the overall shape including the front surface as well as the back of the pile is known. Should be

Therefore, the applicant of the present invention is usually made only in a certain direction in consideration of the fact that there is almost no change in the shape of the back of the coke pile, the coke pile (1, 2) loaded in the yard (1, 2) in the state of preliminary work reserve ( The shape model of 4,5) is obtained from the size of the coke yard (1,2), the inclination angle of the coke pile, the height of the coke pile, and the front shape of the coke pile that changes according to discharge is real-time through the 3D laser scanner. It is a technical point of the present invention to detect the shape of the current coke pile from the combination of the pile model and the extracted front shape, and calculate the inventory amount from the pile model.

Figure 2 is a flow chart illustrating a method for measuring the inventory amount of coke yard using a three-dimensional laser scanner according to the present invention.

Referring to the flowchart of Fig. 2 and the exemplary drawings of Figs. 3 to 5 will be described in the inventory amount measuring method according to the present invention.

As shown in the flowchart of Fig. 2, as the initial operation before inventory measurement is performed, data such as shape information of the yard, height of the coke pile, and the inclination angle, which are necessary to make a file model most similar to the initial coke pile, are inputted. (101).                     

Then, based on the information, a three-dimensional virtual file model is created (102) that is completely filled with the yard capacity. Figure 3 shows an example of a virtual file model created by the present invention.

In order to create a virtual pile model as shown in FIG. 3, the overall dimensional information of the yard tilt angle and yard, which can be formed by the yard work, was utilized. The height of the pile file, which determines the shape of the pile file, is defined in advance. A file model that approximates the actual pile shape is created by determining the angle of inclination of the pile and applying boundary conditions that affect the shape of the pile.

Then, the file front shape captured by the three-dimensional laser scanner attached to the raw material moving device 1 is retrieved (103, 104).

Figure 4 shows a front image of the coke file extracted with a three-dimensional laser scanner.

In operation 105, the shape of the current coke pile is obtained by synthesizing the imported front shape with the approximate pile model.

For example, the front image of FIG. 4 is synthesized with the file model of FIG. 3. That is, the front shape of the file model is corrected by the front image photographed by the 3D laser scanner.

FIG. 5 shows an example of a result of synthesizing a scanned image of a virtual file model and a 3D laser as described above. That is, only the front image is corrected according to the scanned image of the 3D laser while the back shape of the virtual pile model is fixed.                     

Then, a volume is obtained from the pile shape obtained in the step 105 (106).

That is, as shown in Fig. 5, the pile shape is represented by a grid formed by forming a yard at regular intervals horizontally and by indicating the height of the pile at each grid point, and the actual width corresponding to each grid. By calculating the height at the lattice point, the volume of each lattice point is obtained, the volume is obtained for the entire lattice point, and summed up, and the volume for the coke file can be calculated.

When the volume of the pile is calculated as described above, the total weight of the coke pile is calculated by multiplying the calculated volume by the coke specific gravity (107).

Then, the weight of the coke pile thus calculated is displayed as the inventory amount (108).

Fig. 6 is a block diagram showing an apparatus for measuring a stock quantity of coke yard using the three-dimensional laser scanner of the present invention which performs each of the above steps, the configuration of which is installed in the raw material moving device 1 and dispensing the coke pile in the dispensing direction. A 3D laser scanner 6 for detecting a surface shape, and a coordinate set for a file shape input from the 3D laser scanner 6 are generated, and the two coordinate sets are synthesized to generate a new coordinate set for the current file shape. And a storage device for storing the coordinate set of the virtual file model generated through the calculation device 8 which calculates the weight of the pile, and the factors affecting the shape of the coke yard (field size, coke pile inclination angle, yard height). It is comprised including (9).

The processing of the arithmetic unit 8 is performed by the above-described method, and description of its operation is omitted.

 As described above, the present invention has the convenience that the operator can automatically calculate the pile stock amount using the outgoing pile front shape obtained from the three-dimensional laser scanner attached to the raw material moving device without having to go out to the yard and figure out the pile stock amount. In addition, the cost and time is cheaper than the conventional aerial photography method, and compared to the method using another load meter, there is an excellent effect of less error and failure rate.

Claims (3)

In the stock quantity measurement method of the coke yard using a three-dimensional laser scanner, A) creating an approximate pile model when coke is filled in the yard using factors affecting the coke yard shape; B) detecting the discharge surface shape of the coke pile using a three-dimensional laser scanner; C) correcting the front shape of the file model created in step a) by using the shape detected by the 3D laser scanner; D) obtaining the total volume of the file shape corrected in step c); E) calculating the weight of the coke pile by multiplying the calculated volume by coke specific gravity; And F) Inventory method for measuring the amount of coke yards using a three-dimensional laser scanner comprising the step of providing the weight of the calculated coke file as the inventory. The method of claim 1, wherein the factor affecting the shape of the coke yard is a yard length, a coke pile inclination angle, and a yard height. The method of claim 1, wherein the file shape detected by the file model and the 3D laser scanner is a coordinate set that displays the yard as a grid plane divided at regular intervals horizontally and horizontally, and indicates the height of a file corresponding to each grid point. A stock quantity measuring method of the coke yard using the three-dimensional laser scanner characterized by the above-mentioned.

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