CN103913116A - Large-scale piled material volume two-side parallel measuring device and method - Google Patents
Large-scale piled material volume two-side parallel measuring device and method Download PDFInfo
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Abstract
The invention relates to a large-scale piled material volume two-side parallel measuring device and method. In the method, a laser scanner and a laser distance measuring sensor are adopted to cooperate with each other to synchronously collect material pile contour information. The laser scanner is installed on a trolley capable of conducting stable and uniform motion. In the moving process, the laser scanner constantly scans the material pile contour information, the laser distance measuring sensor collects motion displacement of the laser scanner, and two groups of synchronous information forms three-dimensional contour information of a material pile. The trolley moves on a specific track, so that stable motion is achieved. The measuring device is specifically arranged in the mode that two sets of measuring equipment are installed on the two sides of the material pile in parallel respectively so that the material pile contour information can be completely scanned. The collected material pile contour information is transmitted to a PC, the appearance and the volume of the material pile are reconstructed in an integral reconstruction mode, and consequently the volume measurement of large-scale piled materials are achieved. In addition, data obtained through measurement are received by an administrator so that the administrator can make corresponding decisions timely; therefore, the large-scale piled material volume two-side parallel measuring device and method provide a technical support for an enterprise to manage the large-scale piled materials.
Description
Technical field
The present invention relates to a kind of large-scale stacking material volume both sides horizontal survey apparatus and method.Be specifically related to a kind of large-scale stockpile acquisition surface of laser scanning three-dimensional information that uses, rebuild stockpile data model by three-dimensional modeling, then by can calculate automatic visual measuring method and the device of material stack volume and quality to the processing of data.
Background technology
Some powders or pellet are stored in the mode of piling up conventionally, as coal, grain, ore, sandy soil etc., the volume of these stacking materials is generally larger, and along with the execution of accessing operation, tank farm stock is dynamic change, by the very difficult accurate estimated inventory quantity of conventional measuring method, still adopt the mode of manually going to scene to measure to estimate the volume of stacking material in many enterprises.Manually measure mode error larger, and the cycle of making an inventory of goods in a warehouse is longer, for the enterprise that frequently carries out the operation of access material, be dynamic change because this process of charging discharging causes the stockpile of material, thereby need to carry out real-time monitoring to the volume of stockpile, grasp real-time data, determine which material also has, have how many, how much need, for intelligent decision is done in the arrangement of the production schedule.And manual measurement method is made an inventory of goods in a warehouse the information that provides not in time, be not easy to rationally control stock and utilize warehouse.Also there are some enterprises to have the automation equipment such as stacker, reclaimer and system.But the tank farm stock of the material such as still need manual measurement estimation or make an inventory, thereby the apparatus and method of developing a kind of remote volume of material of measurement are in real time very important.
Summary of the invention
The object of the invention is to the deficiency existing for prior art, a kind of large-scale deposit stacking material volume both sides horizontal survey apparatus and method are provided, adopt the sensors such as laser scanner, laser range sensor to measure the appearance profile information of large-scale stockpile.In order to obtain useful stockpile profile information, the present invention is contained in laser scanner on the dolly that can realize stable linear uniform motion, laser scanner constantly scans the profile information of stockpile at the uniform velocity advancing, and each scanning is a two-dimensional curve discrete point information; The laser range sensor that is simultaneously installed in one end of trolley travelling track measures the positional information that dolly is laser scanner, and this is an one-dimension information.The information that two sensors synchronously obtain passes to processor through specific transmission mode and interface, will form the three-D profile information of stockpile profile by specific algorithm matching two-way information, and the method for use integration reconstruct can calculate the volume of stockpile.
In order to realize above-mentioned functions, design of the present invention is:
A kind of large-scale material stack volume measuring method and device of automatic rapid scanning mode.It comprises laser scanner, laser range sensor, carrier loader, trolley track and rail bracket, computing machine, data cable etc.A feature of the present invention is, laser scanner is placed on carrier loader, with dolly easy motion and scanning collection stockpile information in orbit, meanwhile also synchronous acquisition trolley travelling displacement of laser range sensor.In order to ensure carrier loader volume easy motion, dolly adopts rail wheel, moves, and track is fixed on the good rail bracket of rigidity on the track of laying.The laying of rail bracket and track need be focused on linearity, rigidity and stability, can determine according to the size in measured place the length of track, can be generally hundreds of rice.Dolly adopts driven by power, and the smooth operation of motor can ensure the even running of dolly.The whole course of work can have been finished drilling at the control interface of computing machine, for example, start position that laser scanner and laser range finder carry out work, calibration laser scanner, operation interval, collection and storage data etc. are set.
Of the present invention another is characterized as and adopts two groups of above-mentioned stockpile profile information harvesters by synchro control, acquisition and processing data simultaneously.One covering device can only be measured the one-sided profile information of stockpile, and the two covering devices ability can completelys that are arranged in parallel in stockpile both sides are measured the profile information of stockpile.Pass through synchro control, such as the synchronized operation of carrier loader of two covering devices, arrange initial position identical, identical sweep frequency and sweep interval etc. be set, carry out parallel acquisition and deal with data simultaneously, the stockpile curved surface profile information splicing matching that two covering devices are gathered, stockpile profile information is carried out to complete three-dimensional reconstruction, and further integration reconstruction processing can obtain the volume information of stockpile.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of large-scale stacking material volume both sides horizontal survey device, comprise the laser scanning device that two covers parallel to the layout and installation, wherein every suit has a laser scanner, a laser range sensor, an agv controller, a dolly driver, one secondary guide rail, a guide rail bracket and a carrier loader, share a computing machine, it is characterized in that described laser scanner is installed on carrier loader, guide rail and guide rail bracket are installed in parallel in both sides, stockpile stockyard, uniform motion by dolly on guide rail, laser scanner scans stockpile line by line, laser range sensor is arranged on guide rail one end, being connected by the mode of wired or radio communication with computing machine of two groups of measurement mechanisms.
The long-pending volume of material both sides horizontal survey device of described large material stack.It is characterized in that: described laser range sensor is installed in one end of trolley travelling guide rail the one end that often starts and stop at dolly; Laser range sensor in the measurement mechanism of stockpile both sides is arranged on same one end; After system starts, laser range sensor is measured the distance of dolly to it.Two groups of guide rails installation parallel with guide rail bracket of described trolley travelling, ensures predetermined precision, for the stable motion of dolly creates conditions when installation; Uniform motion when moving of car, two groups of dollies start simultaneously, and ensure that control rate is identical; Being synchronized with the movement for guarantee dolly in motion process, the value that described laser range sensor returns regulates the synchronism of two dollies as controlled quentity controlled variable, the synchronous synchronism that ensures laser scanner of dolly, ensure the synchronism of laser scanner scanning stockpile two side profile, for favourable preparation has been done in the amalgamation of stockpile profile.
A kind of large-scale stacking material volume both sides horizontal survey method, adopt described large-scale stacking material volume both sides horizontal survey device to measure, measurement operation steps is as follows: system starts and initialization, comprise the work that arranges of operation interval, sweep frequency, moving of car speed, and start each sensor and initialization apparatus, make measurement mechanism align to ensure synchro measure; Start carrier loader and start to measure, collect each sensing data; Data processing: comprise integration, the establishment of some cloud, the matching of stockpile profile and the reconstruction of the data of two cover measurement mechanism sensors collections, integration cube; Measurement mechanism resets and stops.
Described large-scale stacking material volume both sides horizontal survey method, is characterized in that described scanning is to collect information by sensor: the laser scanner that the stockpile contour point information, laser range sensor that laser scanner obtains obtains is along the walking displacement of guide rail; Contour point information is the dot information of an angle coordinate system taking laser scanner as initial point, the displacement information combination obtaining with laser range sensor, the dot information under can Criterion coordinate system after coordinate transform; Metrical information can pass to the computing machine that has data processing and control function by wired or wireless communication mode.Described data processing is the three-dimensional information of described two kinds of laser measurement sensor acquired informations composition stockpile, by the synchro measure to two groups of measurement mechanisms, the metrical information of both sides well can be fitted to complete stockpile profile; Because laser scanning sensor is measured stockpile contour point information in the motion with dolly, consider that at Data processing the movement velocity of dolly is compensated the measurement result of laser measurement sensor; Go out the skeleton pattern of stockpile by the treatment of simulated of computing machine, and then calculate the volume of stockpile by the mode of integration reconstruct.
Described laser scanner, employing is applicable to the sensor of outdoor version laser scanning measurement system, such as the model of SICK brand is LD-LRS series of products, there is fog correcting function, can adapt to outdoor atrocious weather situation, and thering is larger working range, maximum measure distance is 250m, has higher resolution (0.125 degree), wide angle scanning (270 degree), low frequency sweep (10Hz).These conditions have met the demand that large-scale stockpile is measured.For data, output can adopt PNP output, also can adopt relay output, and these series of products are Ethernet interface, can be good at transferring data to computing machine.Laser scanner is installed on the dolly of motion, along with the uniform motion of the dolly stockpile cross section profile of lining by line scan, in fact laser scanner is also a stadimeter, will be on stockpile profile regular collection range information, this information exchange is crossed data transmission device and is passed to computing machine processing and can reconstruct stockpile profile.Laser scanning under perfect condition is perpendicular to scanner movements direction, the information gathering in the scanning of motion is the profile information of stockpile oblique section, this just need to carry out motion compensation at Data processing, correctly to rebuild stockpile profile and then to draw correct material stack volume and quality.
Described laser range sensor, is the device that is installed in guide rail bracket one end, is used for gathering laser scanner move distance.Laser range sensor must be installed precisely moderate on direction of measurement to ensure laser scanner.The one-dimension information when information of laser range finder collection is used as stockpile modeling on the one hand, the sync bit of the stadimeter that can be used on the other hand calibrating stockpile both sides, also can be used as the foundation that measurement range is set.
Described carrier loader, comprises structure or the devices such as wheel, drive unit, controller, sweep.According to trolley travelling requirement stably, adopt the wheel of similar Train wheel, can reach desirable requirement and make within error remains on acceptable scope.Drive unit adopts motor to drive, and reaches enough driving moments and the movement velocity of requirement through speed change, and this is also the foundation of selecting motor.For controller, be used for controlling the motion of dolly and interface and temporary ground as data acquisition, be an information terminal.Certainly except wired data cable, also can consider radio communication, facilitate the data of moving target and the transmission of signal.For the peripheral structure of dolly, such as sunshade-rain awning etc. can be selected as required.
Described track and support, particularly important as the support equipment of laser scanning system, its precision directly affects measurement result.For general fixing stockyard, the laying of support and track is also fixed, and fixes on the ground by support, then track is fixed on rail bracket.Consider the rigidity requirement of this stationary installation, rail bracket adopts oblique muscle to strengthen, and reinforcement is triangle distribution, has enough rigidity.In process of deployment, need to ensure the installation accuracy of track.Adopt seamless processing for track, stitch the vibrations that bring and the noise of scanner image data to eliminate track; Determine track length according to concrete place demand, generally can be at hundreds of rice.
Described computing machine, has the function of remote control function and deal with data.Communicate by wire cable or wireless mode and above-mentioned laser scanning measurement equipment, startup can be stopped, the information such as sweep interval, moving of car speed passes to laser scanning measurement equipment, also the stockpile profile information of Laser Scanning Equipment collection can be passed to computing machine.Another critical function of computing machine is that the stockpile profile information that the laser scanning measurement equipment parallel acquisition of the two cover synchro control that receive is obtained carries out parallel processing, utilize integration reconstruct mode to rebuild pattern and the volume of stacking material, and can calculate the quality of stockpile according to the stockpile proportion of man-machine interface input.Another mode of computer processing data is the upper strata monitor supervision platform that the material stack volume calculating or quality information is passed to timely to materials circulation department, and logistics department can be understood timely the real time data of material and make intelligent decision according to the production schedule in time.The present invention will become the important component part of enterprise's large material stack digital management.
Existing large-scale stockpile measuring method has artificial heap type estimation method and general laser optical method at present.Artificial heap type estimation method not only wastes time and energy, and measuring accuracy is lower, and this method, by manually stockpile being piled into the rule bodies such as similar pyramid, then being measured the corresponding length of side and highly calculated material stack volume.General laser optical method is that laser measuring apparatus is arranged on stacker, rotating to scan stockpile profile with stacker, there is scanning dead angle in this method, needs again to demarcate the coordinate of scanner after stacker moves, therefore this method is measured efficiency and is had defect, and measuring accuracy is not high.This method adopts the method for both sides scanning stockpile profile, eliminates scanning dead angle, and dolly delivery laser scanner moves on straight guide rail, and sweep limit is controlled and ensured measuring accuracy, has higher practical value.
The present invention compared with prior art, there is following apparent outstanding substantive distinguishing features and significantly technical progress: the present invention proposes large-scale stacking material volume measuring method and the device that a kind of 360 degree scope inter-syncs are measured and rebuild, gather the appearance profile information of stockpile by two groups of synchronizing information harvesters simultaneously, utilize integration reconstruct mode to rebuild pattern and the volume of stacking material according to the profile information gathering, thereby realize the measurement to large-scale stacking material volume.
Brief description of the drawings
The large-scale stacking material volume of Fig. 1 both sides horizontal survey device structure schematic diagram
The large-scale stacking material volume of Fig. 2 both sides horizontal survey Whole Equipment is arranged schematic diagram
The large-scale stacking material volume of Fig. 3 both sides horizontal survey system principle diagram
The large-scale stacking material volume of Fig. 4 both sides horizontal survey method flow diagram figure.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiment of the present invention is elaborated:
Embodiment one:
Referring to Fig. 1 and Fig. 2, this large-scale stacking material volume both sides horizontal survey device, comprise the laser scanning device that two covers parallel to the layout and installation, wherein every suit has a laser scanner (21), a laser range sensor (22), an agv controller (23), a dolly driver (24), one secondary rail (12), a rail bracket (11) and a carrier loader (30), share a computing machine (50), it is characterized in that laser scanner (21) is installed on carrier loader (30), by the uniform motion of dolly (30), line by line stockpile (40) is scanned, be installed in the position of laser range sensor (22) synchro measure dolly (30) and the laser scanner (21) of track (10) one end simultaneously, the information of two sensors is delivered to the upper integrity profile information that can present stockpile (40) after matching of computing machine (50), and then obtain the material stack volume of expectation.
Shown in Fig. 2 and Fig. 3, control information can be sent in the control interface on computing machine (50), starts laser scanning measurement equipment, such as setting sweep interval, location scanning initial position, starting dolly (30) etc.Laser scanner (21) can be set the information such as scanning angle, sweep frequency, can set according to the particular location of measured object and profile.Can determine by the rreturn value of Laser Measuring sensor (22) lengthwise position of laser scanner (21), set longitudinal scanning scope.Being provided with of sweep interval is beneficial to and dwindles as much as possible sweep limit, improve scan efficiency.The movement velocity that can set in addition dolly (30) by controlling interface, this parameter need to be used as the offset of analyzing spot positional information, is also related to scan efficiency, and more short scan efficiency of movement velocity is higher, and profile information fidelity is less.
In the time that laser scanning measurement equipment moves, laser scanner (21) constantly scans stockpile profile, return to polar form a little angle and distance information with respect to laser scanner (21) that is scanned, the point being scanned is synthesized to a curve, cooperation and laser range sensor (22) return to the distance value of synchro measure again, and many curves are synthesized to a curved surface.The laser scanning measurement equipment of stockpile (40) both sides adopts the method for synchro control, while acquisition and processing, the surface information of stockpile (40) both sides is spliced, can reconstruct complete stockpile profile information, then integration reconstruct calculates the volume of stockpile at computing machine (50) in addition.
Embodiment two: the measurement of steel mill's stockpile volume
Shown in Figure 2, steel mill's raw material generally has fixing stowed location, and therefore the present invention is applicable to the stockpile measurement of the large-scale material storage yard of steel mill.Stockpile (40) both sides reserve haulage vehicle road, and two cover laser scanning measurement equipment are fixedly mounted with on the ground, ensure that the track (10) of two complete equipments is parallel to each other simultaneously, and according to the length of actual place Location of requirement track (10).Adjust the direction of measurement of laser range sensor (22), make it all the time in the face of laser scanner (21) is to measure the one-dimension information of its offshore distance as stockpile skeleton pattern.
Operating personnel are by using the control interface operation laser scanning measurement system on computing machine (50).Set after operation interval, each sensor unlatching work, two dollies advance with identical movement velocity after navigating to corresponding initial position, make laser scanner (21) synchro measure stockpile profile information.In this process, the range information that laser range sensor (22) returns is first for the location of laser scanner provides foundation, can make one-sided laser scanner (21) catch rapidly surveying range on the one hand, on the other hand also for both sides scanning device synchronously provides foundation.After dolly (30) carries laser scanner (21) and puts in place, open scan pattern, data-base recording two overlaps the stockpile profile information that scanning device returns.After scan pattern is opened, carrier loader (30) is at the uniform velocity to advance on track (10), and laser scanner (21) and laser range sensor (22) gather stockpile profile information with working method separately.Finally judge that surveying range boundary value that whether measured value of laser range sensor (22) reach setting is to determine whether scanning process finishes.
After single pass finishes, computing machine (50) is equipped to the two cover laser scanning measurements that receive the data of returning and is processed, what during due to Information Monitoring, adopt is synchro measure, can splice two groups of information by software, then simulate profile scan curve, finally reconstruct the profile information of stockpile, go out the volume of stockpile by integration reconstruction calculations.
Embodiment three:
This embodiment is basic identical with embodiment one, and special feature is: laser scanning measurement system comprises laser scanner and data sampling and processing and communication module.Referring to Fig. 1 and Fig. 3, the stockpile profile information that laser scanner (21) and laser range sensor (22) gather by data cable and interface with certain communication protocol pass to can deal with data computing machine (50), the data that obtain are by discrete point matching scanning curve and then reconstruct the skeleton pattern of stockpile, calculate to obtain volume and the quality information of stockpile by the method for integration reconstruct.This information can pass to administration and supervision authorities by shared platform, and administration and supervision authorities are made decision-making timely according to the production schedule.The present invention is applicable to volume and the mass measurement of large-scale stockpile, as the dump measurement of coal enterprise, ore or the ore in sand form measurement etc. of smelter.The present invention will promote robotization, intelligent level for similar above-mentioned enterprise in the large-scale stockyard of management.Secondly, the present invention utilizes advanced laser measuring technique, has higher measuring accuracy.Whole process implementation automatic management, has simplified comparatively general artificial heap type estimating and measuring method at present greatly, has saved labour, has improved measurement efficiency.Measurement mechanism can be realized one-step installation, measures for a long time.
Embodiment four:
Referring to Fig. 4, the operation steps of large-scale stacking material volume both sides horizontal survey device is as follows: startup system initialization: the parameters such as operation interval, sweep frequency, dolly (30) movement velocity are set, operation interval setting comprises the scanning angle of dolly (30) operation ultimate range and laser scanner (21), and start each sensor and make each equipment seek zero, make measurement mechanism align to ensure synchro measure; Start carrier loader (30) and start to measure, collect each sensing data; Data processing: comprise integration, the establishment of some cloud, the matching of stockpile profile and the reconstruction of the data of two cover measurement mechanism sensors collections, integration cube; Measurement mechanism resets and stops.The above operation all completes on computing machine (50).
Embodiment five:
This embodiment is basic identical with embodiment four, and special feature is:
Described scanning is to collect information by sensor: the laser scanner (21) that stockpile (40) contour point information, laser range sensor (22) that laser scanner (21) obtains obtains is along the walking displacement of guide rail; Contour point information is a dot information taking laser scanner (21) as the angle coordinate system of initial point, the displacement information combination obtaining with laser range sensor (22), the dot information under can Criterion coordinate system after coordinate transform; Metrical information can pass to the computing machine (50) that has data processing and control function by wired or wireless communication mode.
Described large-scale stacking material volume both sides horizontal survey method, it is characterized in that: described data processing is the three-dimensional information of described two kinds of laser measurement sensor acquired informations composition stockpile, by the synchro measure to two groups of measurement mechanisms, the metrical information of both sides well can be fitted to complete stockpile (40) profile; Because laser scanning sensor (21) is measured stockpile (40) contour point information in the motion with dolly (10), consider that at Data processing the movement velocity of dolly (10) is compensated the measurement result of laser measurement sensor (21); Go out the skeleton pattern of stockpile (40) by the treatment of simulated of computing machine, and then calculate the volume of stockpile (40) by the mode of integration reconstruct.
Claims (6)
1. one kind large-scale stacking material volume both sides horizontal survey device, comprise the laser scanning device that two covers parallel to the layout and installation, wherein every suit has a laser scanner (21), a laser range sensor (22), an agv controller (23), a dolly driver (24), one secondary guide rail (12), a guide rail bracket (11) and a carrier loader (30), share a computing machine (50), it is characterized in that described laser scanner (21) is installed on carrier loader (30), guide rail (12) and guide rail bracket (11) are installed in parallel in both sides, stockpile stockyard, uniform motion by dolly (30) on guide rail (12), laser scanner (21) scans stockpile (40) line by line, be installed in the position of laser range sensor (22) the synchro measure dolly (30) of guide rail (10) one end, the information of two sensors is delivered to the upper integrity profile information that can present stockpile (40) after matching of computing machine (50), and then obtain the material stack volume of expectation.
2. the long-pending volume of material both sides horizontal survey device of large material stack according to claim 1; It is characterized in that: described laser range sensor (22) is installed in one end of dolly (30) operation guide rail (10), the one end that often starts and stop at dolly (30); Laser range sensor (22) in the measurement mechanism of stockpile (40) both sides is arranged on same one end; After system starts, laser range sensor (22) is measured the distance of dolly (30) to it, this instantaneous value has the effect of two aspects: first, as the one dimension in stockpile (40) profile three-dimensional information, and the analyzing spot fit line information that laser scanner obtains is rebuild stockpile surface profile information jointly; The second, as controlling the synchronous feedback information of stockpile (40) both sides dollies (30), improve the synchronism of stockpile (40) both sides laser measuring device for measuring.
3. the long-pending volume of material both sides horizontal survey device of large material stack according to claim 1, it is characterized in that: two groups of guide rails (12) and the parallel installation of guide rail bracket (11) of described dolly (30) operation, when installation, ensure predetermined precision, for the stable motion of dolly (30) creates conditions; Uniform motion when dolly (30) motion, two groups of dollies (30) start simultaneously, and ensure that control rate is identical; Being synchronized with the movement for guarantee dolly (30) in motion process, the value that described laser range sensor (22) returns regulates the synchronism of two dollies (30) as controlled quentity controlled variable, the synchronous synchronism that ensures laser scanner (21) of dolly (30), ensure the synchronism of laser scanner (30) scanning stockpile (40) two side profile, for favourable preparation has been done in the amalgamation of stockpile (40) profile.
4. a large-scale stacking material volume both sides horizontal survey method, adopts large-scale stacking material volume both sides horizontal survey device according to claim 1 to measure, and it is characterized in that: measure operation steps as follows
A) system starts and initialization: comprise the work that arranges of operation interval, sweep frequency, moving of car speed, and start each sensor and initialization apparatus, make measurement mechanism align to ensure synchro measure;
B) start carrier loader and start to measure, collect each sensing data;
C) data processing; Comprise integration, the establishment of some cloud, the matching of stockpile profile and the reconstruction of the data of two cover measurement mechanism sensors collections, integration cube;
D) measurement mechanism resets and stops.
5. large-scale stacking material volume both sides horizontal survey method according to claim 2, is characterized in that: described scanning is to collect information by sensor: stockpile (40) contour point information that laser scanner (21) obtains, the laser scanner (21) that laser range sensor (22) obtains are along the walking displacement of guide rail; Contour point information is a dot information taking laser scanner (21) as the angle coordinate system of initial point, the displacement information combination obtaining with laser range sensor (22), the dot information under can Criterion coordinate system after coordinate transform; Metrical information can pass to the computing machine (50) that has data processing and control function by wired or wireless communication mode.
6. large-scale stacking material volume both sides horizontal survey method according to claim 2, it is characterized in that: described data processing is the three-dimensional information of described two kinds of laser measurement sensor acquired informations composition stockpile, by the synchro measure to two groups of measurement mechanisms, the metrical information of both sides well can be fitted to complete stockpile (40) profile; Because laser scanning sensor (21) is measured stockpile (40) contour point information in the motion with dolly (10), consider that at Data processing the movement velocity of dolly (10) is compensated the measurement result of laser measurement sensor (21); Go out the skeleton pattern of stockpile (40) by the treatment of simulated of computing machine, and then calculate the volume of stockpile (40) by the mode of integration reconstruct.
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