CN103913116B - Large-scale stacking material volume both sides parallel measuring device and method - Google Patents

Abstract

The invention relates to a device and method for parallel measuring both sides of the volume of large-scale piled materials. In the method, a laser scanner and a laser ranging sensor cooperate with each other to collect material pile profile information synchronously. The laser scanner is installed on a trolley that can realize stable and uniform movement. During the movement, the laser scanner continuously scans the contour information of the stockpile, and the laser ranging sensor collects the movement displacement of the laser scanner. Two sets of synchronous information constitute the three-dimensional contour of the stockpile. information. The trolley moves on a specific track to achieve smooth movement. The specific arrangement of the measuring device is to install a set of measuring equipment in parallel on both sides of the stockpile, so as to completely scan the contour information of the stockpile. The collected stockpile profile information is transmitted to the PC to reconstruct the appearance and volume of the stockpile by means of integral reconstruction, so as to realize the volume measurement of large-scale piled materials. In addition, the measured data is received by the manager to make corresponding decisions in time, so the present invention will provide technical support for enterprises to manage large-scale accumulation materials.

Description

Apparatus and method for parallel measurement of volume of large-scale piled materials on both sides

technical field

The invention relates to a device and method for parallel measuring both sides of the volume of large-scale piled materials. It specifically relates to an automatic visual measurement method and device that uses laser scanning to collect three-dimensional information on the surface of a large stockpile, reconstructs a stockpile data model through three-dimensional modeling, and then calculates the volume and quality of a stockpile through data processing.

Background technique

Some powder or pellets are usually stored in the form of accumulation, such as coal, grain, ore, sand, etc., the volume of these accumulation materials is generally large, and with the implementation of access operations, the inventory is dynamically changing, using conventional The measurement method is difficult to accurately estimate the inventory quantity, and many enterprises still use manual on-site measurement to estimate the volume of accumulated materials. The error of the manual measurement method is relatively large, and the inventory cycle is long. For enterprises that frequently store and retrieve materials, the material stockpile is dynamically changing due to the process of feeding and discharging materials, so it is necessary to monitor the volume of the stockpile in real time. Monitor and control real-time data to determine which materials are still available, how many are available, and how much is needed, so as to make intelligent decisions for the arrangement of production plans. However, the information given by the manual measurement method inventory is not timely, which is not convenient for reasonable control of inventory and utilization of warehouses. There are also some companies that have automatic equipment and systems such as stackers and reclaimers. However, it is still necessary to manually measure the inventory of materials such as estimation or inventory. Therefore, it is very important to develop a device and method for long-distance real-time measurement of material volume.

Contents of the invention

The object of the present invention is to address the deficiencies in the prior art, to provide a device and method for parallel measurement of both sides of the volume of large-scale accumulation materials, using sensors such as laser scanners and laser ranging sensors to measure the outline of large-scale material piles information. In order to obtain useful stockpile profile information, the present invention installs the laser scanner on a trolley that can realize stable uniform linear motion, and the laser scanner continuously scans the profile information of the stockpile while moving forward at a constant speed, and each scan is a two-dimensional At the same time, the laser ranging sensor installed at one end of the trolley track measures the position information of the trolley, that is, the laser scanner, which is a one-dimensional information. The information synchronously acquired by the two sensors is transmitted to the processor through a specific transmission mode and interface, and a specific algorithm is used to fit the two channels of information to form the three-dimensional contour information of the stockpile shape, and the integral reconstruction method can be used to calculate the output of the stockpile. volume.

In order to realize above-mentioned function, design of the present invention is:

A method and device for measuring the volume of a large stockpile in an automatic and fast scanning mode. It includes laser scanners, laser ranging sensors, carrier trolleys, trolley tracks and track racks, computers, data cables, and more. A feature of the present invention is that the laser scanner is placed on the carrying trolley to scan and collect material pile information as the trolley moves smoothly on the track. At the same time, the laser ranging sensor also synchronously collects the running displacement of the trolley. In order to ensure the smooth movement of the small vehicle, the trolley uses track wheels to move on the laid track, and the track is fixed on the track frame with good rigidity. The laying of the track frame and track needs to pay attention to straightness, rigidity and stability. The length of the track can be determined according to the size of the measured site, which can generally be hundreds of meters. The trolley is driven by electricity, and the smooth operation of the motor can ensure the smooth operation of the trolley. The entire working process can be completed under the control interface of the computer, such as starting the laser scanner and the laser rangefinder to work, calibrating the position of the laser scanner, setting the working area, collecting and storing data, etc.

Another feature of the present invention is to use two groups of above-mentioned stockpile profile information collection devices to simultaneously collect and process data through synchronous control. One set of devices can only measure the profile information of one side of the stockpile, and two sets of devices arranged in parallel on both sides of the stockpile can completely measure the profile information of the stockpile. Through synchronous control, for example, the carrying trolleys of the two sets of devices run at the same speed, set the same initial position, set the same scanning frequency and scanning interval, etc., simultaneously collect and process data in parallel, and splice the material pile surface profile information collected by the two sets of devices Fitting, a complete three-dimensional reconstruction of the stockpile contour information, and further integral reconstruction processing can obtain the volume information of the stockpile.

According to above-mentioned inventive concept, the present invention adopts following technical scheme:

A parallel measurement device for both sides of the volume of large-scale accumulated materials, including two sets of laser scanning devices arranged in parallel, each of which has a laser scanner, a laser distance measuring sensor, a trolley controller, a trolley driver, a The guide rail, a guide rail frame and a carrier trolley share a computer, and it is characterized in that the laser scanner is installed on the carrier trolley, and the guide rail and the guide rail frame are installed in parallel on both sides of the stockpile yard. The laser scanner scans the material pile line by line, the laser ranging sensor is installed at one end of the guide rail, and the two sets of measuring devices are connected to the computer through wired or wireless communication.

Said large-scale material accumulation material volume parallel measuring device on both sides. It is characterized in that: the laser ranging sensor is installed at one end of the running guide rail of the trolley, at the end where the trolley often starts and stops; the laser ranging sensors in the measuring devices on both sides of the pile are installed at the same end; after the system is started, A laser ranging sensor measures the distance from the car to it. The two sets of guide rails and guide rail frames running on the trolley are installed in parallel, and the predetermined accuracy is guaranteed during installation to create conditions for the stable movement of the trolley; when the trolley moves at a constant speed, the two sets of trolleys start at the same time and ensure the same control speed; In order to ensure the synchronous movement of the trolleys, the value returned by the laser ranging sensor is used as a control value to adjust the synchronization of the two trolleys. The synchronization of the trolleys ensures the synchronization of the laser scanners and the scanning of the contours on both sides of the pile by the laser scanners. The synchronism makes good preparations for the stitching of stockpile contours.

A method for parallel measurement of the volume of large-scale accumulated materials on both sides, using the above-mentioned parallel measurement device on both sides of the volume of large-scale accumulated materials for measurement, the measurement operation steps are as follows: system startup and initialization, including the setting of the working area, scanning frequency, and moving speed of the trolley Work, start each sensor and initialize the equipment, align the measuring device to ensure synchronous measurement; start the carrier car to start measuring, collect the data of each sensor; data processing: including the integration of data collected by the sensors of the two sets of measuring devices, point cloud creation, material Heap contour fitting and reconstruction, integral to obtain volume; measuring device reset and stop.

The method for parallel measuring both sides of the volume of large-scale piled materials is characterized in that the scanning is to collect information through sensors: the information of the contour points of the pile obtained by the laser scanner, and the walking displacement of the laser scanner along the guide rail obtained by the laser ranging sensor; The contour point information is the point information of an angular coordinate system with the laser scanner as the origin, combined with the displacement information obtained by the laser ranging sensor, the point information in the standard coordinate system can be established after coordinate transformation; the measurement information can be obtained through wired or The wireless communication method is transmitted to the computer with data processing and control functions. The data processing is that the information obtained by the two laser measurement sensors constitutes the three-dimensional information of the stockpile. Through the simultaneous measurement of the two sets of measuring devices, the measurement information on both sides can be well fitted into a complete stockpile profile; Since the laser scanning sensor measures the contour point information of the stockpile during the movement of the trolley, the measurement results of the laser measurement sensor are compensated by considering the movement speed of the trolley in the data processing; the contour model of the stockpile is simulated by computer processing, and then through The integral reconstruction method calculates the volume of the stockpile.

The laser scanner adopts a sensor suitable for outdoor laser scanning measurement systems, such as the LD-LRS series products of the SICK brand, which has a fog correction function, can adapt to harsh outdoor weather conditions, and has a larger working range , the maximum range is 250m, with high resolution (0.125 degrees), large scanning angle (270 degrees), low-frequency scanning (10Hz). These conditions have met the needs of large stockpile measurements. For data output, PNP output or relay output can be used. This series of products are all Ethernet interfaces, which can transmit data to the computer very well. The laser scanner is installed on the moving trolley. With the uniform movement of the trolley, it scans the cross-sectional profile of the stockpile line by line. In fact, the laser scanner is also a range finder, which will regularly collect distance information on the stockpile outline. An information is transmitted to the computer through the data transmission device for processing to be able to reconstruct the outline of the discharge pile. Ideally, laser scanning is perpendicular to the moving direction of the scanner, and the information collected during the moving scan is the profile information of the oblique section of the stockpile, which requires motion compensation in data processing to correctly reconstruct the stockpile profile and then Get the correct stockpile volume and mass.

The laser ranging sensor is a device installed at one end of the guide rail frame, and is used to collect the moving distance of the laser scanner. The laser distance sensor must be mounted precisely to keep the laser scanner centered in the measurement direction. On the one hand, the information collected by the laser range finder is used as one-dimensional information when modeling the stockpile, on the other hand, it can be used to calibrate the synchronous position of the range finder on both sides of the stockpile, and can also be used as a tool for setting the measurement range. in accordance with.

The carrying trolley includes structures or devices such as wheels, a driving device, a controller, and a vehicle board. According to the requirements of stable operation of the trolley, the ideal requirements can be achieved by using wheels similar to train wheels to keep the error within an acceptable range. The driving device is driven by a motor, and the sufficient driving torque and the required movement speed are achieved through variable speed, which is also the basis for selecting the motor. For the controller, it is used to control the movement of the car and as an interface and temporary storage place for data collection, it is an information transfer station. Of course, in addition to wired data cables, wireless communication can also be considered to facilitate the transmission of data and signals of moving targets. For the surrounding structure of the trolley, such as sunshade and rain shelter, etc. can be selected according to needs.

The track and bracket are particularly important as supporting equipment for the laser scanning system, and their accuracy directly affects the measurement results. For a general fixed yard, the laying of the bracket and the track is also fixed, that is, the bracket is fixed on the ground, and the track is fixed on the track frame. Considering the rigidity requirements of this fixing device, the track frame is reinforced with oblique ribs, and the ribs are distributed in a triangle, which has sufficient rigidity. During the laying process, the installation accuracy of the track needs to be ensured. The track is seamlessly processed to eliminate the vibration caused by the track seam and the noise of the data collected by the scanner; the length of the track is determined according to the specific site requirements, generally hundreds of meters.

The computer has the functions of remote control and data processing. Communicate with the above-mentioned laser scanning measurement equipment through wired cables or wirelessly, and can transmit information such as start and stop, scanning interval, trolley movement speed, etc. to the laser scanning measurement equipment, and can also transmit the material pile profile information collected by the laser scanning equipment to computer. Another important function of the computer is to process the profile information of the stockpile received in parallel by two sets of synchronously controlled laser scanning measurement equipment, and use the integral reconstruction method to reconstruct the shape and volume of the stockpile, and according to the man-machine The stockpile specific gravity input in the interface can calculate the mass of the stockpile. Another way for the computer to process data is to transmit the calculated volume or quality information of the stockpile to the upper-level monitoring platform of the logistics department of the enterprise in a timely manner, so that the logistics department can understand the real-time data of the materials in time and make intelligent decisions according to the production plan in time. decision making. The invention will become an important part of digital management of large material piles in enterprises.

At present, the existing large stockpile measurement methods include manual pile type estimation method and general laser measurement method. The artificial pile type estimation method is not only time-consuming and laborious, but also has low measurement accuracy. This method manually piles up the pile into a regular body such as a pyramid, and then measures the corresponding side length and height to calculate the volume of the pile. The general laser measurement method is to install the laser measuring instrument on the stacker and scan the outline of the stacker with the rotation of the stacker. This method has a scanning dead angle, and the coordinates of the scanner need to be recalibrated after the stacker moves. Therefore, this method There are defects in the measurement efficiency and the measurement accuracy is not high. The method adopts the method of scanning the outline of the material pile on both sides to eliminate the scanning dead angle, and the trolley carries the laser scanner to move on the straight guide rail, the scanning range is controllable and the measurement accuracy is guaranteed, which has high practical value.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant technical progress: the present invention proposes a method and device for measuring and reconstructing the volume of large-scale piled materials within a 360-degree range, through two sets of synchronous information The acquisition device simultaneously collects the profile information of the stockpile, and reconstructs the shape and volume of the accumulated material by using the integral reconstruction method according to the collected outline information, so as to realize the measurement of the volume of the large-scale accumulated material.

Description of drawings

Figure 1 Schematic diagram of the structure of the parallel measuring equipment on both sides of the volume of large piled materials

Figure 2 Schematic diagram of the overall layout of the parallel measuring equipment on both sides of the volume of large-scale accumulated materials

Figure 3 Principle block diagram of the parallel measurement system on both sides of the volume of large piled materials

Fig. 4 Flowchart of the parallel measurement method on both sides of the volume of large piled materials.

detailed description

Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail:

Implementation example one:

Referring to Fig. 1 and Fig. 2, the device for measuring both sides of the volume of large piled materials in parallel includes two sets of laser scanning devices arranged in parallel, each of which has a laser scanner (21) and a laser distance measuring sensor (22) , a trolley controller (23), a trolley driver (24), a pair of rails (12), a rail frame (11) and a carrying trolley (30), sharing a computer (50), characterized in that the laser The scanner (21) is installed on the carrier trolley (30), and scans the material pile (40) line by line through the uniform movement of the trolley (30). At the same time, the laser distance measuring sensor ( 22) Simultaneously measure the position of the trolley (30) and the laser scanner (21), the information of the two sets of sensors is transmitted to the computer (50) and after fitting, the complete outline information of the stockpile (40) can be presented, and then the Desired stockpile volume.

Referring to Figures 2 and 3, the control interface on the computer (50) can send control information to start the laser scanning measurement equipment, such as setting the scanning interval, positioning the initial scanning position, starting the car (30), etc. The laser scanner (21) can set information such as scanning angle and scanning frequency, which can be set according to the specific position and shape of the object to be measured. The longitudinal position of the laser scanner (21) can be determined by the return value of the laser measuring sensor (22), and the longitudinal scanning range can be set. The setting of the scanning interval is conducive to narrowing the scanning range as much as possible and improving the scanning efficiency. In addition, the moving speed of the trolley (30) can be set through the control interface. This parameter needs to be used as a compensation value for the position information of the scanning point, and is also related to the scanning efficiency. The faster the moving speed, the higher the scanning efficiency and the fidelity of the contour information. smaller.

When the laser scanning measurement equipment is running, the laser scanner (21) continuously scans the contour of the pile, and returns the angle and distance information of the scanned point relative to the laser scanner (21) in the form of polar coordinates, and the scanned point is fitted into A curve is combined with the laser distance measuring sensor (22) to return a synchronously measured distance value, and multiple curves are fitted into a curved surface. The laser scanning measurement equipment on both sides of the material pile (40) adopts the method of synchronous control, simultaneous acquisition and processing, splicing the surface information on both sides of the material pile (40), and can reconstruct the complete material pile contour information, and then integrate Refactoring calculates the volume of the stockpile at the computer (50).

Implementation example 2: Measurement of the volume of raw material piles in steel mills

Referring to Fig. 2, raw materials in steel mills generally have fixed stacking positions, so the present invention is suitable for stockpile measurement in large raw material stockyards in steel mills. On both sides of the stockpile (40), the transport vehicle roads are reserved, and the two sets of laser scanning measurement equipment are fixed on the ground, while ensuring that the tracks (10) of the two sets of equipment are parallel to each other, and the track (10) is determined according to the actual site requirements. length. Adjust the measurement direction of the laser ranging sensor (22) so that it always faces the laser scanner (21) to measure its offshore distance as the one-dimensional information of the stockpile contour model.

An operator operates the laser scanning measurement system by using a control interface on a computer (50). After the working range is set, each sensor starts to work, and the two trolleys move forward at the same speed after being positioned at the corresponding initial positions, so that the laser scanner (21) measures the contour information of the material pile synchronously. In this process, the distance information returned by the laser ranging sensor (22) first provides a basis for the positioning of the laser scanner. On the one hand, it enables the laser scanner (21) on one side to quickly capture the measurement interval; Provide basis for scanning device synchronization. When the trolley (30) is in place carrying the laser scanner (21), the scanning mode is turned on, and the database records the pile contour information returned by the two sets of scanning equipment. After the scanning mode is turned on, the carrier trolley (30) advances on the track (10) at a constant speed, and the laser scanner (21) and the laser ranging sensor (22) collect material pile contour information in their respective working modes. Finally, it is judged whether the measured value of the laser ranging sensor (22) reaches the set measurement interval boundary value to determine whether the scanning process ends.

After one scan, the computer (50) processes the received data returned by the two sets of laser scanning measurement equipment. Since the information is collected using synchronous measurement, the two sets of information can be spliced by software, and then fitted out Contour scanning curve, finally reconstruct the contour information of the stockpile, and calculate the volume of the stockpile through integral reconstruction.

Implementation example three:

This implementation example is basically the same as the first implementation example, except that the laser scanning measurement system includes a laser scanning measurement device and data acquisition, processing and communication modules. Referring to Figures 1 and 3, the stockpile profile information collected by the laser scanner (21) and the laser ranging sensor (22) is transmitted to the computer (50) that can process the data through a data transmission cable and interface with a certain communication protocol, and the obtained The data is fitted to the scanning curve by discrete points to reconstruct the contour model of the stockpile, and the volume and mass information of the stockpile are calculated by the method of integral reconstruction. This information can be passed to the management through the shared platform, and the management can make timely decisions based on the production plan. The invention is applicable to the volume and quality measurement of large stockpile, such as the coal stockpile measurement of coal enterprises, ore or ore sand measurement of metallurgical enterprises and the like. The present invention will improve the level of automation and intelligence in the management of large storage yards for enterprises similar to the above. Secondly, the present invention utilizes advanced laser measurement technology and has high measurement accuracy. The whole process realizes automatic management, which greatly simplifies the currently common method of manual stack type estimation, saves labor and improves measurement efficiency. The measuring device can realize one-time installation and long-term measurement.

Implementation example four:

Referring to Figure 4, the operation steps of the parallel measuring device on both sides of the volume of large-scale accumulated materials are as follows: Start the system and initialize: set the working area, scanning frequency, moving speed of the trolley (30) and other parameters, the setting of the working area includes the maximum running distance of the trolley (30) And the scanning angle of the laser scanner (21), and start each sensor and make each equipment zero, make the measuring device align to ensure synchronous measurement; start the carrying car (30) to start measurement, collect the data of each sensor; data processing: including two Integration of the data collected by the sensor of the measuring device, point cloud creation, stockpile contour fitting and reconstruction, integral to calculate the volume; the measuring device is reset and stopped. The above operations are all completed on the computer (50).

Implementation example five:

This implementation example is basically the same as implementation example 4, the special features are:

The scanning is to collect information through sensors: the contour point information of the stockpile (40) obtained by the laser scanner (21), the walking displacement of the laser scanner (21) along the guide rail obtained by the laser ranging sensor (22); the contour point information It is the point information of an angular coordinate system with the laser scanner (21) as the origin, combined with the displacement information obtained by the laser ranging sensor (22), and the point information under the standard coordinate system can be established after coordinate transformation; the measurement information can be It is transmitted to a computer (50) with data processing and control functions through wired or wireless communication.

The method for parallel measurement on both sides of the volume of large-scale piled materials is characterized in that: the data processing is that the information obtained by the two laser measurement sensors constitutes the three-dimensional information of the pile, and through the simultaneous measurement of the two sets of measuring devices, the two The measurement information on the side is well fitted to the complete stockpile (40) profile; since the laser scanning sensor (21) measures the profile point information of the stockpile (40) during the movement of the trolley (10), it should be considered in data processing Compensate the measurement results of the laser measuring sensor (21) to the movement speed of the trolley (10); simulate the contour model of the discharge pile (40) through computer processing, and then calculate the discharge pile (40) by integral reconstruction. volume.

Claims (6)

1. a kind of large-scale stacking material volume both sides parallel measuring device, including two sets of laser scanning dresses for paralleling to the layout and installation Put, each of which be cased with a laser scanner (21), laser range sensor (22), agv controller (23), One trolley driver (24), a secondary guide rail (12), a guide rail bracket (11) and a dolly (30)；Two sets of laser scanning dresses Put a shared computer (50), it is characterised in that the laser scanner (21) is installed on dolly (30), guide rail (12) Stockpile stockyard both sides are installed in parallel in guide rail bracket (11), by uniform motion of the dolly (30) on guide rail (12), laser Scanner (21) is scanned to stockpile (40) line by line, and the laser range sensor (22) for being installed in guide rail (12) one end is synchronous The position of measurement dolly (30), the information transmission of two groups of laser scanners (21) and laser range sensor (22) to computer (50) the integrity profile information of stockpile (40) can be showed on after fitting, and then obtains desired material stack volume.

2. large-scale stacking material volume both sides parallel measuring device according to claim 1, it is characterised in that：The laser Distance measuring sensor (22) is installed in one end of guide rail (12), the one end for often starting positioned at dolly (30) and stopping；Stockpile (40) laser range sensor (22) in the measurement apparatus of both sides is separately mounted to two groups of same one end of guide rail (12).

3. large-scale stacking material volume both sides parallel measuring device according to claim 1, it is characterised in that：The dolly (30) two groups of guide rails (12) installation parallel with guide rail bracket (11) of operation, ensures predetermined precision during installation；Dolly (30) is moved When uniform motion, two groups of dollies (30) and meanwhile start, and ensure control speed it is identical；The laser range sensor (22) is returned The value returned adjusts the synchronism of two dollies (30) as controlled quentity controlled variable.

4. a kind of large-scale stacking material volume both sides horizontal survey method, using large-scale deposit according to claim 1 Material volume both sides parallel measuring device is measured, it is characterised in that：Measurement operating procedure is as follows

A) system starts and initialization：Including operation interval, scan frequency, moving of car speed setting work, and start swash Optical scanner (21) and laser range sensor (22) and initialization apparatus, make measurement apparatus align to ensure synchro measure；

B) start carrier loader and start measurement, collect laser scanner (21) and laser range sensor (22) data；

C) data processing, including the data collected of two sets of measurement apparatus laser scanners (21) and laser range sensor (22) Integrate, put cloud establishment, stockpile contour fitting and rebuild, integrate cube；

D) measurement apparatus reset and stop.

5. large-scale stacking material volume both sides horizontal survey method according to claim 4, it is characterised in that：The laser is swept It is by sensor collection information to retouch device (21) scanning：Stockpile (40) contour point information, laser that laser scanner (21) is obtained Distance measuring sensor (22) obtain laser scanner (21) along guide rail walking displacement；Contour point information is one with laser scanning Device (21) is the point information of the angular coordinate system of origin, and the displacement information obtained with laser range sensor (22) is combined, through coordinate The point information that can be set up after conversion under conventional coordinates, stores, with scan line rule index in a cloud form.

6. large-scale stacking material volume both sides horizontal survey method according to claim 4, it is characterised in that：At the data Reason is laser scanner (21) described in two groups and laser range sensor (22) obtains the three-dimensional information that information constitutes stockpile, is passed through To two groups of synchro measures of measurement apparatus, the metrical information of both sides can be well fitted to complete stockpile (40) profile, carried Go out a kind of three-dimensional rebuilding method based on subdivision and volume approximation computation algorithm, calculate the volume of stockpile (40).