TWM527955U - Stock yard real-time dynamic 3D testing control system - Google Patents

Description

Yard real-time dynamic 3D measurement and control system

This creation is related to a laser industrial measurement system, especially the real-time dynamic three-dimensional measurement of large-scale yards and the real-time dynamic three-dimensional measurement and control system of the yard position of the stacking and reclaiming equipment.

In the prior art, for a large yard volume measurement, a portable laser measuring system is generally adopted. The portable laser measuring system is composed of a laser range finder, a map star, a triangle bracket and a notebook. The system is applied in the process of large-scale yard volume measurement, and has many defects such as large amount of work, large influence by weather, and poor precision.

With the continuous development of laser measurement technology, the current large-scale yards with stacking and reclaiming carriers have also begun to adopt a fixed laser measuring system. This fixed laser measuring system is fixedly mounted on the stacking and reclaiming equipment, and laser is selected. A laser scanner with a wide viewing angle, as the carrier walks through the entire yard area to complete the scanning of the stack. The reference of the fixed laser measuring system improves the accuracy of the stack volume measurement, and achieves mechanization and automation operations to a certain extent. At present, the system mainly uses position sensors, laser scanners, data processing terminals and other equipment. The position sensor uses an incremental rotary encoder as the core acquisition component to collect the position change data of the scanner relative to the set starting point during the measurement. Since the sensor collects relative position data, the scan start position and the scan pitch angle must be set during the measurement. This method limits the arbitrariness of measurement, and the user can only measure according to the range set by the system and the posture of the carrier. The measurement cannot be done independently and conveniently for the local area of the yard. At the same time, for the aging of the stacking and reclaiming equipment, the user cannot guarantee to maintain the system setting posture during the measurement process, which leads to measurement error.

On the other hand, according to the storage characteristics of different industry yards, such as thermal power, non-ferrous metals, etc., the stockyards are often piled and layered according to different grades of fuel/raw materials. The existing fixed laser measurement system can only The whole volume of the storage volume is measured. After the stacking/removing operation is completed for the stacking and reclaiming equipment, the volume cannot be dynamically measured after the pile is changed. Users cannot know the storage location and weight of fuels/materials of different grades, and cannot achieve fine management, which greatly reduces the cost performance of the products. The main drawbacks of the prior art are:

1. The existing fixed laser measurement system requires severe conditions. The measurement needs to keep the carrier under certain conditions. When the storage yard is too much and the carrier performance is aging, it cannot be measured according to the established method, resulting in the equipment being unusable or Measurement accuracy is reduced.

Second, the existing laser measurement system has a single function, which can only realize the three-dimensional measurement of the yard in the working range of the stacking and reclaiming machine, and obtain a single reserve information. The data terminal can only calculate and store the data collected by each sensor. According to the different operation modes of the carrier, the classification measurement is carried out to realize the partition and hierarchical 3D data acquisition. At the same time, it is impossible to obtain the image data of the object to be measured, and it is impossible to judge whether the measurement result or the constructed three-dimensional model is correct or not. The existing equipment installation method adopts the fixed elevated frame, which is limited by the cantilever bearing capacity of the stacking and reclaiming equipment and the safe working height of the lifting frame. It can only provide a scanning height of 3 to 5 meters, which is too high in the stacking height. The outside of the stack (inside) cannot be effectively scanned, resulting in a measurement dead zone. In addition, the scanner is installed at the highest point of the bucket turbine, and it is impossible to complete the blind spot measurement in the whole field.

Third, the existing laser measurement system uses an incremental encoder as a position locating device, and cannot obtain spatial position information of any area within the yard range. The user can only measure according to the measurement range set by the system. When the measurement range is changed, the spatial position information is lost. It needs to be reconfigured and used cumbersomely.

Fourth, the existing laser measurement system is less compatible with other application systems in the industry. The existing data terminal is ARM7 single-chip microcomputer, which cannot provide more data interface and complex interface program, which makes the system cost-effective.

To this end, the designers of this creation, in view of the above-mentioned shortcomings, have studied and designed a real-time dynamic three-dimensional measurement and control system for the yard to overcome the above shortcomings through comprehensive research and design, comprehensive experience and achievements of relevant industries for many years.

The purpose of the real-time dynamic three-dimensional measurement and control system of the present invention is mainly to solve the technical problems existing in the prior art; it adds a new position/orientation positioning device to increase the pitch angle measurement on the original travel/return measurement system. The system (or directly adopts the POS positioning system), and adds a tilt sensor and a GPS satellite compass to the scanning end of the section to realize the measurement of the stacking and stacking carrier in any posture.

The creation of the real-time dynamic 3D measurement and control system of the yard also has a purpose to solve the technical problems existing in the prior art; a new data acquisition terminal and a CCD camera are provided, and the new data collection terminal provides a friendly interaction interface, and the user is used. Not only can the equipment monitor the position and attitude of the stacking and reclaiming equipment in the yard space, but also the classification and measurement according to the different operations of the stacking and reclaiming equipment (removing and stacking) to realize the fine management of the yard. To achieve dynamic update of coal yard sub-heap and stratified data. The newly added CCD camera realizes the acquisition of image data during the scanning process as a basis for measuring the comparison between the three-dimensional graphics and the actual yard situation. At the same time, the creation solves the collision problem between the stacking and reclaiming equipment and the pile, preventing the equipment of the pile-and-feeding equipment from colliding with the pile during the operation, resulting in equipment damage or a more serious safety accident.

The real-time dynamic three-dimensional measurement and control system of the present invention has another purpose to solve the technical problems existing in the prior art; a new position locating device is provided, which adopts an absolute rotary encoder or a POS (positioning and orientation system) positioning device to realize measurement. When the yard stacking and reclaiming equipment is accurate in the absolute position of the space, the specified area of the yard can be measured. When measuring the random area, the measurement area location information is accurate and reliable.

The real-time dynamic three-dimensional measurement and control system of the present invention has another purpose to solve the technical problems existing in the prior art; a new scanning lifting platform is provided, which can control the lifting and lowering of the platform through the data collecting terminal, and effectively improve the scanning height. When the lifting platform is installed on the bucket turbine, it is raised from 3 to 5 meters to 7 to 10 meters, which effectively enlarges the effective viewing angle of the scanner scanning and reduces the risk of being blocked by the material pile during system scanning, so that the system has no scanning blind zone.

The real-time dynamic three-dimensional measurement and control system of the present invention has another purpose to solve the technical problems existing in the prior art; when there is no carrier, such as a bucket turbine, a door stacker and a reclaimer, the high-altitude operation tower is used to disengage the carrier from the coal. Around the field, real-time dynamic scanning measurement and control with no dead zone in the open field without carrier.

The real-time dynamic three-dimensional measurement and control system of the creation yard has another purpose to solve the technical problems existing in the prior art; it provides a new indoor scanning support platform to adapt to the measurement and control of the dry coal shed material yard which is common in coal fields, and colored Indoor and outdoor yard measurement and control, which is common in the industry and chemical industry. The indoor scanning support platform can be installed on the top of the dry coal shed or indoor material yard building according to the stacking shape of the pile (natural stacking, post-stack rolling and shaping). The automatic rotation or swing scanning of the carrier is realized, and the real-time dynamic measurement and control of the material of the material yard is achieved.

The real-time dynamic three-dimensional measurement and control system of the present invention has a final purpose to solve the technical problems existing in the prior art; it provides an interface with other systems. Laser measurement system application In the three-dimensional measurement of large-scale yards, it is mainly used to obtain the basic data of storage yards, which is often applied to other related systems. This creation has strong compatibility and can be seamlessly interfaced with other systems to achieve data distribution.

In order to achieve the above object, the present invention provides a real-time dynamic three-dimensional measurement and control system for a stack, comprising a position positioning system, a section acquisition system, a control system, a remote transmission system and a data server, the position positioning system and the A section acquisition system is coupled to the control system for transmitting positioning and acquisition signals to the control system. The control system processes the signals and transmits the processed signals to the data server via the remote transmission system.

The location locating system includes a positioning device and a location information processing terminal. The positioning device is connected to the location information processing terminal. The location information processing terminal acquires and processes the collected location data, and transmits the data to the control system. .

The cross-section acquisition system includes a cross-section information processing terminal and a scanning device, and the scanning device is connected to the cross-section information processing terminal, and the cross-section information processing terminal acquires and processes the stack cross-section data collected by the scanning device. And scan the posture data, and immediately transmit the data to the control system.

Wherein, the positioning device is a measuring device positioning device, wherein the measuring device positioning device comprises an absolute pitch encoder, an absolute return encoder and an absolute stroke encoder, and the absolute pitch encoder is installed in the yard The pitching structure of the stacking and reclaiming device is disposed on a pitching driven gear that is identical to and meshed with the pitching gear module of the pitching structure, and the absolute returning encoder is installed in the yard stack The rotary structure part of the reclaiming device is disposed on a rotary driven gear, and the rotary driven gear has the same modulus and meshing with the rotary transmission gear of the rotary structure part, and the absolute type encoder is installed in the yard stacking and reclaiming The equipment walks the structural part.

Wherein, the positioning device is a POS positioning device, and the POS positioning device comprises a GPS positioning device and an IMU inertial guiding device, and the GPS positioning device and the IMU inertial guiding device are mounted on a scanner mounting platform.

Further, the scanning device comprises a scanning lifting platform, a tilt sensor, a GPS satellite compass, a laser scanner and a CCD camera, the tilt sensor, the GPS satellite compass, the laser scanner and the CCD camera Installed on the scanner placement platform.

Further, the scanner placement platform may be selected as any one of a scanning lifting platform, an indoor scanning support platform or a high altitude operation tower according to different types of yards.

Further, the control system includes a data processing terminal, a power module, a data acquisition module, a data storage module, an external interface module, a synchronization controller, and a data workstation disposed on the data processing terminal; the location information processing terminal The cross-section information processing terminal is connected to the data processing terminal, and the synchronization controller of the data processing terminal controls synchronous acquisition of multi-dimensional data.

Further, the power module includes an external AC 220V power supply, which supplies power to the system; and the data processing terminal has a built-in power conversion device to convert AC220V into DC24V to provide power to other devices of the system, and the position information processing terminal is built in A power conversion device converts DC24V to DC12V to provide power to the positioning device in the position location system.

Further, the remote transmission system includes a radio station or a 3G router.

Combining the above technical features, the achievable effects are:

(1) Realizing the time and space unification of the system through high-precision matching of time and space position.

(2) Abandoning the traditional mode of measuring by the pulse signal triggering section acquisition system of the travel/return measurement system, which greatly improves the data acquisition initiative and provides a basic guarantee for real-time dynamic measurement.

(3) In the real-time dynamic 3D measurement research of the yard, the electric liftable scanner placement platform is proposed, which effectively improves the scanning angle of view and solves the current problem of ultra-wide and ultra-high measurement blind zone for the yard. At the same time, the rotating pan/tilt set in the scanner placement platform realizes the measurement of the outer area of the limiter of the stacking and reclaiming equipment, and avoids the portable laser supplementary measurement method adopted by the current laser measuring system for the area. Secondly, for the unsupported material yard through the distributed control measurement, the high-altitude operation tower is used to realize the measurement of the open-air bulk carrierless material yard, which improves the traditional portable laser measurement efficiency and precision for such material yard, and realizes Real-time dynamic acquisition of 3D data from the yard. In addition, for the dry coal shed material yard that is common in coal yards, as well as the indoor material yard that is common in the non-ferrous industry and chemical industry, a new indoor scanning support platform can be provided, which can be disposed away from the stacking and reclaiming equipment carrier, which can solve this kind. The real-time dynamic measurement and control problem caused by the lack of carrier or carrier (driving) in the stockyard.

(IV) In the real-time dynamic 3D measurement research of the yard, the GPS satellite compass, tilt sensor and position and positioning system are proposed to obtain the position coordinates and roll, pitch and heading of the scanning center in real time. Real-time dynamic measurement of the arbitrary posture of the yard stacking and reclaiming equipment and the random area of the yard is realized.

(V) In the research of real-time dynamic three-dimensional measurement of the yard, the warning measures for the collision of the pile yard and the material pile are proposed. The data terminal can instantly display the specific position and posture of the stacking and reclaiming equipment in the yard space through the large-size color liquid crystal screen, and simultaneously display the updated three-dimensional model data of the yard. Through the pre-built pile yard reclaiming equipment model data and its current position and attitude, and the yard three The dimension model data is calculated for the minimum distance. When the calculated value is less than the set threshold, the data terminal performs an alarm to warn the operator of the stack yard reclaiming equipment to stop the operation.

(6) This creation proposes to obtain the image during the measurement process through the CCD camera, and assist the user to compare the measurement result and calculate the three-dimensional model with the actual yard situation. A registration model of laser scanning three-dimensional space data and CCD image is proposed to realize three-dimensional model texture display.

(VII) In the research of real-time dynamic three-dimensional measurement control of the yard, the concept of integration with the stacking and reclaiming equipment control system is proposed. The data terminal reads the heap and reclaiming instructions in the program control system through PLC RS485 communication mode, identifies the system measurement categories, realizes the classification measurement of multiple operations in the yard management process, and achieves the refinement of the stacking and stratification of the yard. management.

The present invention will be further described in detail by the following detailed description,

(1) ‧‧‧Location Positioning System

(2) ‧‧‧ section acquisition system

(3) ‧‧‧Control system

(4) ‧‧‧Remote transmission system

(5) ‧‧‧ data server

[First figure] is a schematic diagram of a system connection structure of the present embodiment.

[Second Picture] is a schematic diagram of the measuring device positioning mode of the present embodiment.

[Third image] is a schematic diagram of the POS positioning mode of the present creative embodiment.

The technical features of the present creation will be further specifically described below by way of examples and in conjunction with the drawings.

Referring to the first figure, the real-time dynamic three-dimensional measurement and control system of the present invention is shown, which comprises a position positioning system (1), a section acquisition system (2), a control system (3), and a remote transmission. a system (4) and a data server (5), the position location system (1) and the section acquisition system (2) are coupled to the control system (3) for transmitting positioning and acquisition signals to the control system (3) The control system (3) processes the signal and transmits the processed signal to the data server (5) through the remote transmission system (4).

The position positioning system (1) comprises a positioning device and a position information processing terminal, and the positioning device can be a measuring device positioning device or a POS positioning device, the measuring device positioning device comprising an absolute pitch encoder, an absolute type a return encoder and an absolute stroke encoder mounted on the pitch structure of the stacking and reclaiming device, which is disposed on a pitch driven gear, the pitch driven gear and the pitch structure The pitch drive gear has the same modulus and meshes with it, whereby the pitch driven gear drives the absolute encoder coupled thereto to acquire the pitch structure angle information during the pitching operation of the device pitch structure. The absolute return encoder is installed in a rotating structure part of the stacking and reclaiming device of the stacking yard, and is arranged on a rotating driven gear, and the rotating driven gear has the same modulus and meshing with the rotating transmission gear of the rotating structural part, and the rotating structure In the rotary operation, the rotary driven gear drives the absolute encoder connected thereto to collect the angle information of the rotary structure. The absolute type encoder can be installed in the walking structure of the stacking and reclaiming device, and the driven wheel and the absolute encoder connected to the driven wheel are fixed to the walking structure by the structural member, and the driven wheel is operated during the walking operation. Driving the absolute encoder to collect the walking distance information, wherein the three dimensional position data can calculate the scanning center three-dimensional coordinates; and the POS positioning device comprises a GPS positioning device and an IMU inertial guiding device, preferably, the The GPS positioning device and the IMU inertial navigation device are mounted on a scanning lifting platform to dynamically acquire the three-dimensional coordinate of the scanning center; each positioning device is connected to the position information processing terminal, and the position information processing terminal acquires and processes the collected position data, and Instantly transfer data to the control system.

Referring to the second figure, when the measuring device is used, the absolute pitch encoder, the absolute return encoder and the absolute encoder transmit signals to the position information processing terminal through the TTL interface.

Referring to FIG. 3, when the POS positioning device is used, the GPS positioning device and the IMU inertial device transmit signals to the location information processing terminal through the RS422 interface.

It should be noted that the positioning methods adopted in this creation are mainly the above two types. Choose for different user needs. In the first positioning mode, according to different types of the stacking and reclaiming equipment, the absolute type pitch encoder, the absolute return type encoder, and the absolute type encoder can be selectively installed.

The cross-section acquisition system (2) includes a cross-section information processing terminal and a scanning device, and the scanning device includes a scanning lifting platform, a tilt sensor, a GPS satellite compass, a laser scanner and a CCD camera. . The laser scanner collects the surface data of the stack body, the GPS satellite compass, and the scanning posture acquired by the tilt sensor, and the CCD camera continuously collects the surface image data of the stack body. The scanning lifting platform can be installed at a suitable position of the cantilever (beam) of the stacking and reclaiming device, which can be an electric liftable scanner mounting platform. When there is no stacking and retrieving device, the scanning device can be arranged around the stockyard. The tilt sensor, the GPS satellite compass, the laser scanner, and the CCD camera are mounted on the scanning lifting platform. In the indoor scanning, the scanning device may be disposed on the top of the dry coal shed or on the top of the indoor material yard; the scanning device is connected to the section information processing terminal, the inclination sensor, the GPS satellite compass, the laser scanning The device and the CCD camera are connected to the section information processing terminal, and the section information processing terminal acquires and processes the stack section data and the scanning posture data collected by the scanning apparatus, and transmits the data to the control system in real time.

Referring to the second and third figures, the scanning lifting platform, the tilt sensor, the GPS satellite compass, the laser scanner and the CCD camera transmit signals to the cross-section information processing terminal via the RS422 interface.

The control system (3) of the present invention comprises a data terminal, a power module, a data acquisition module, a data storage module, an external interface module, a synchronization controller and a data workstation disposed on the data processing terminal; The processing terminal and the section information processing terminal are connected with the data processing terminal, and the synchronization controller of the data processing terminal controls the synchronous collection of the multi-dimensional data, and the data processing terminal analyzes and calculates the acquired position information, the section information, and the scanning posture information. The three-dimensional space coordinates of the collection points in the measurement area are obtained, and the data is network-modeled and the three-dimensional model of the yard is dynamically updated. At the same time, the data processing terminal can interface with the existing PLC program control system of the yard, accept various operation instructions issued by the processing program control system, and perform classified measurement according to different instructions to realize stacking and stratification measurement. .

The power module includes an external AC220V power supply, which serves as an entire product power source, and supplies power to the system; and the data processing terminal has a built-in power conversion device to convert the AC220V into DC24V to supply power to other devices of the system.

The position information processing terminal has a built-in power conversion device that converts DC24V into DC12V to supply power to the positioning device in the position positioning system.

The control system (3) is connected to the remote transmission system (4), which may comprise a radio station or a 3G router, the radio station or 3G router transmitting the signal of the control system (3) to The data server (5).

Through the above structure, the real-time dynamic three-dimensional measurement and control system of the present invention has the following technical effects:

First, through the combination of GPS timing and high-stability crystal oscillator, the time reference of the system is established; the spatial reference of the system is established by the position-positioning system. The position and positioning system can be combined with GPS and IMU, or can be positioned by scanning centering by tilting, turning and walking three-dimensional measuring devices. Simultaneously, The roll, pitch and heading of the scanning center are obtained by a GPS satellite compass and a tilt sensor. The time and space unification of the system is realized by matching the time and space position with high precision.

Second, design and implement a sensor integration and synchronization control scheme based on high-precision time real-time dynamic measurement and control and measurement and control system. Abandoning the traditional mode of measuring the pulse-trigger section acquisition system based on the stroke/return measurement system greatly improves the data acquisition initiative and provides a basic guarantee for real-time dynamic measurement. At the same time, this creation analyzes the synchronization error under this scheme and the influence of system measurement accuracy after multi-source data fusion.

Thirdly, in the real-time dynamic 3D measurement research of the yard, the electric liftable scanner placement platform is proposed, which effectively improves the scanning angle of view and solves the current problem of ultra-wide and ultra-high measurement blind zone for the yard. At the same time, the rotating pan/tilt set in the scanner placement platform realizes the measurement of the outer area of the limiter of the stacking and reclaiming equipment, and avoids the portable laser supplementary measurement method adopted by the current laser measuring system for the area. Secondly, for the unsupported material yard through the distributed control measurement, the high-altitude operation tower is used to realize the measurement of the open-air bulk carrierless material yard, which improves the traditional portable laser measurement efficiency and precision for such material yard, and realizes Real-time dynamic acquisition of 3D data from the yard. In addition, for the dry coal shed material yard that is common in coal yards, as well as the indoor material yard that is common in the non-ferrous industry and chemical industry, a new indoor scanning support platform can be provided, which can be disposed away from the stacking and reclaiming equipment carrier, which can solve this kind. The real-time dynamic measurement and control problem caused by the lack of carrier or carrier (driving) in the stockyard.

In the real-time dynamic 3D measurement research of the yard, the GPS satellite compass, tilt sensor and position and positioning system are proposed to obtain the position coordinates and roll, pitch and heading of the scanning center in real time. Real-time dynamic measurement of the arbitrary posture of the yard stacking and reclaiming equipment and the random area of the yard is realized.

V. In the real-time dynamic three-dimensional measurement research of the yard, the warning measures for the collision of the pile yard and the material pile are proposed. The data terminal instantly displays the specific position and posture of the stacking and reclaiming equipment in the yard space through the large-size color liquid crystal screen, and simultaneously displays the updated three-dimensional model data of the yard. Through the pre-built pile yard reclaiming equipment model data and its current position and attitude, the minimum distance calculation is performed with the 3D model data of the yard. When the calculated value is less than the set threshold, the data terminal performs an alarm to warn the yard stacking and reclaiming equipment. The operator stops the operation.

Sixth, this creation proposes to obtain the image during the measurement process through the CCD camera, and assist the user to compare the measurement result and calculate the three-dimensional model with the actual yard situation. A registration model of laser scanning three-dimensional space data and CCD image is proposed to realize three-dimensional model texture display.

Seventh, in the research of real-time dynamic three-dimensional measurement control of the yard, the concept of integration with the stacking and reclaiming equipment control system is proposed. The data terminal reads the heap and reclaiming instructions in the program control system through PLC RS485 communication mode, identifies the system measurement categories, realizes the classification measurement of multiple operations in the yard management process, and achieves the refinement of the stacking and stratification of the yard. management.

It is apparent that the above description and description are merely examples and are not intended to limit the disclosure, application, or use of the present invention. Although the embodiments have been described in the embodiments and described in the drawings, the present disclosure does not limit the specific examples described by the drawings and the embodiments described as the best mode currently considered to implement the present teachings. The scope of the present invention is intended to include any embodiments that fall within the foregoing description and the scope of the appended claims.

(1) ‧‧‧Location Positioning System

(2) ‧‧‧ section acquisition system

(3) ‧‧‧Control system

(4) ‧‧‧Remote transmission system

(5) ‧‧‧ data server

Claims (6)

A real-time dynamic three-dimensional measurement and control system for a stack includes a position locating system, a section acquisition system, a control system, a remote transmission system and a data server, and the position locating system and the section acquisition system are connected to the control a system for transmitting a positioning and acquisition signal to the control system, the control system processing the signal, and transmitting the processed signal to the data server through the remote transmission system; wherein: the position location system includes a a positioning device and a location information processing terminal, the positioning device is connected to the location information processing terminal, the location information processing terminal acquires and processes the collected location data, and transmits the data to the control system in an instant; the section acquisition system includes a a cross-section information processing terminal and a scanning device connected to the cross-section information processing terminal, the cross-section information processing terminal acquiring and processing the stack cross-section data and the scanning posture data collected by the scanning device, and immediately Transmitting to the control system; the positioning device is a measuring device positioning device or a POS The apparatus, wherein the measuring device positioning device comprises an absolute pitch encoder, an absolute return encoder and an absolute stroke encoder, the absolute pitch encoder being mounted on a pitch structure of the stacking and reclaiming device, The utility model is disposed on a pitch driven gear, wherein the pitch driven gear has the same modulus and meshing with the pitch transmission gear, and the absolute return encoder is installed on the rotating structure of the stacking and reclaiming device, and is disposed on the a rotary driven gear, the rotary driven gear has the same modulus and meshing with the rotary transmission gear of the rotating structure part, and the absolute type encoder is installed in the walking structure part of the stacking and reclaiming device; wherein the POS positioning device A GPS positioning device and an IMU inertial navigation device are included, and the GPS positioning device and the IMU inertial navigation device are mounted on a scanner mounting platform. The real-time dynamic three-dimensional measurement and control system of the stack of claim 1, wherein the scanning device comprises a scanning lifting platform, a tilt sensor, a GPS satellite compass, a laser scanner and a CCD camera. A tilt sensor, the GPS satellite compass, the laser scanner, and the CCD camera are mounted on the scanner mounting platform. For example, the real-time dynamic three-dimensional measurement and control system of the storage yard described in claim 1, wherein the scanner placement platform may be selected as a scanning lifting platform, an indoor scanning support platform or a high-altitude operation tower according to different types of yards. Any one. For example, the real-time dynamic three-dimensional measurement and control system of the storage yard described in claim 1, wherein the control system comprises a data processing terminal, a power module, a data acquisition module, and a data storage module disposed on the data processing terminal. The external interface module, the synchronization controller and the data workstation; the location information processing terminal and the section information processing terminal are connected to the data processing terminal, and the synchronization controller of the data processing terminal controls the synchronous collection of the multi-dimensional data. The real-time dynamic three-dimensional measurement and control system for a stack as described in claim 4, wherein the power module includes an external AC 220V power supply, which supplies power to the system; and the data processing terminal has a built-in power conversion device to The AC220V converts to DC24V to provide power to other devices in the system. The position information processing terminal has a built-in power conversion device to convert DC24V into DC12V, and supplies power to the positioning device in the position positioning system. The real-time dynamic three-dimensional measurement and control system for a yard as described in claim 1, wherein the remote transmission system comprises a radio station or a 3G router.