CN113776617A - Method for measuring volume of material in storage bin in real time - Google Patents
Method for measuring volume of material in storage bin in real time Download PDFInfo
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- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
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Abstract
The invention relates to a method for measuring the volume of a material in a storage bin in real time, and belongs to the field of material storage. The method comprises the following steps: and installing laser radar equipment outside or above the target bin, scanning in real time to obtain three-dimensional laser point clouds on the surface of the material in the target bin, and performing automatic rigid body transformation registration with the three-dimensional model of the bin to realize the unification of the point clouds and the coordinate system of the bin. And carrying out any partition on the bin, calculating the volume of the materials in each partition based on the point cloud and the model, wherein the sum is the current volume of the materials in the bin, and continuously measuring to obtain the volume of each partition in real time according to a time sequence and the corresponding total volume. And (5) counting real-time data in a time period, and calculating the density of the material. And the calculation result is uploaded to an upper computer through communication, each subarea measures the volume change value of each subarea before and after the discharging action according to the movement moment of the discharging device, and the discharging requirement is corrected according to the real-time volume change value, so that the discharging speed is corrected.
Description
Technical Field
The invention belongs to the field of material storage, and relates to a method for measuring the volume of a material in a storage bin in real time.
Background
At present, due to the essential reason that the nature of garbage is complex, the discharging system of the garbage incineration system cannot uniformly feed the garbage incineration system, so that the subsequent process is unstable, for example, the burning of the incineration system is unstable, the burning efficiency is low, the boiler load is unstable, the pollutant discharge is increased, the manual intervention degree is high, and the automatic operation is difficult to realize.
However, since the garbage is a very mixed material and the stacking shape is complex, at present, there is no method for directly obtaining the surface shape of the garbage with high precision so as to ensure the accurate measurement and calculation of the volume amount of the garbage in the target storage bin, and the garbage pit is a space which is corrosive and combustible gas, has large dust content and is not easy for personnel to enter, and at present, there is no protection device for ensuring the long-term safe and stable operation of the equipment under the severe environment.
Disclosure of Invention
In view of this, the present invention provides a method for measuring the volume of a material in a storage bin in real time.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for measuring the volume of a material in a storage bin in real time comprises the following steps:
s1: constructing a three-dimensional model of the inner surface of the target stock bin based on the design drawing size of the target stock bin, and carrying out arbitrary partition on the model;
s2: laser radar equipment is arranged on the outer side and the upper side of a target storage bin, and three-dimensional laser point clouds on the surfaces of materials in the target storage bin are obtained through real-time scanning;
s3: the obtained three-dimensional laser point cloud and the target bin three-dimensional model are subjected to automatic rigid body transformation registration, and the three-dimensional laser point cloud coordinate is converted into the target bin three-dimensional model coordinate, so that a coordinate system is unified;
s4: automatically removing laser point clouds outside the target bin according to the space range of the three-dimensional model of the target bin to obtain material surface laser point clouds corresponding to all partitions of the target bin, calculating the volume of materials in all partitions based on an integral principle, wherein the sum of the volumes is the current volume of the materials in the whole target bin, and continuously measuring to obtain the real-time volumes of all the partitions and the corresponding total volume according to a time sequence;
s5: counting real-time data in a time period, and calculating the density of the material;
s6: the calculation result is uploaded to an upper computer through communication, each subarea measures the volume change value of each subarea before and after the discharging action according to the movement moment of the discharging device, and the discharging requirement is corrected according to the real-time volume change value, so that the discharging speed is corrected;
s7: feeding zone signals are sent to the feeding system according to the absolute value of the volume of each zone.
Optionally, the orientation of the three-dimensional model of the target bin is consistent with the actual installation orientation of the target bin, namely, the upper edge of the target bin is horizontally placed upwards, feeding is performed from the upper side, and discharging is performed from the lower side.
Optionally, in S1, the scanning range of the laser radar covers the entire upper edge of the target bin.
Optionally, in S2, after the laser point cloud is registered with the target bin three-dimensional model, the laser radar scans and displays the contour of the surface of the material in the bin in real time to form the laser point cloud.
Optionally, in S3, the rigid transformation registration of the laser point cloud and the target bin model is performed by the following calculation process:
the laser point cloud is automatically matched with a target bin model through rigid transformation of rotation and translation, the orientation of the conversion from a laser radar coordinate system omega to a target bin model coordinate system c is represented by a rotation matrix R, and the position is represented by a translation matrix T, namely: pc＝R·Pw+ T, where the rotation matrix
Translation matrix
If R and T are known, the three-dimensional space laser point P in the laser radar coordinate system is determinedwAnd a spatial point P in the coordinate system of the target bin modelcEstablishing a one-to-one correspondence relationship:
optionally, the S4 specifically includes the following steps:
s41: according to the three-dimensional model coordinate range of the target storage bin, automatically removing laser point clouds of coordinates outside the three-dimensional model space range through space calculation to obtain material surface laser point clouds in the target storage bin space range;
s42: dividing the target bin into a plurality of cubic columns with specified sizes by uniformly arranging the upper edge of the target bin in the maximum range and perpendicular to the bottom of the target bin in the transverse and longitudinal directions, wherein the bottom surface of each column is an intersecting surface of the cubic column and a model shell of the target bin, and the top surface of each column is the height of a laser point in the current cubic column, wherein if a plurality of laser points exist, the maximum, the minimum or the average value is obtained; the height difference of the upper surface space and the lower surface space is the height of the column, so that the volume of a cubic column formed by the fact that the material surface laser point extends downwards to the shell of the target storage bin model is obtained; adding the volumes of all the cubic columns to obtain the total volume of the cubic columns formed by vertically extending the materials downwards
The sum of the volumes of the materials in the partitions is the current volume of the materials in the whole target storage bin, and the real-time volumes of the partitions and the corresponding total volume are obtained through continuous measurement according to a time sequence.
Optionally, the real-time measurement method further includes the following steps:
s8: recording the volume change condition of the material in the target material bin within a set time interval, and performing difference operation on volume values at the previous moment and the next moment to obtain the discharging speed;
s9: the discharging speed is calculated through the weighing data of the discharging system, the real-time measurement data of the volume of the target bin and the discharging demand of the discharging system;
vs＝QRiv/A rhosIn order to obtain the discharge speed, m/h, QRiThe current material discharging demand is kg/h, rho is material density kg/m3A is the nominal discharge channel cross-sectional area of the discharge device in m2Determined by the design of the discharging system.
Optionally, the S5 specifically includes:
Optionally, the S6 specifically includes:
when the discharging system is in v obtained by calculationsWhen working at speed, the volume change quantity delta V in the current target storage bin can be obtained, and Q is calculatedRaObtaining the actual discharge quantity and the current material discharge demand Q according to rho gamma delta VRiAfter comparison, the next discharge demand value Q is correctedRi+1＝QRi+1+QRi-QRaAnd the control of the discharge amount is more stable.
The invention has the beneficial effects that:
(1) by adopting laser radar scanning, the laser point cloud on the surface of the high-precision material can be obtained at millisecond speed, and the shape of the surface of the complex irregular material is reproduced.
(2) And (3) adopting an automatic rigid body transformation registration mathematical model to realize automatic registration of the point cloud and the target bin model.
(3) The volume is calculated by the integral principle, and the method is simple and accurate.
(4) The discharge amount of the discharge system is accurately controlled by accurately measuring the volume change of the materials in the material bin.
(5) The explosion-proof and automatic dust removal device is provided, and long-term safe and stable operation of the equipment in a severe environment is ensured.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a process for measuring volume and volume change in a silo in real time;
FIG. 2 is a schematic flow diagram of the computing modules of the present invention;
FIG. 3 is a schematic view of a part of the structure of the apparatus of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, an embodiment of the present invention provides a method for measuring and calculating the volume of garbage in a storage bin in real time, so as to correct and control the discharging speed and improve the accuracy of automatic combustion control of an incineration system, including the following steps:
s1: and constructing a three-dimensional model of the inner surface of the target bin based on the design drawing size of the target bin, and partitioning the model according to the corresponding number of fire rows.
S2: and installing laser radar equipment around the outer side of the target bin or above the bin, and scanning in real time to obtain three-dimensional laser point cloud on the surface of the garbage in the target bin.
S3: and the obtained three-dimensional laser point cloud and the target bin three-dimensional model are subjected to automatic rigid body transformation registration, and the three-dimensional laser point cloud coordinate is converted into the target bin three-dimensional model coordinate, so that the coordinate system is unified.
S4: and automatically removing the laser point clouds outside the target bin according to the space range of the three-dimensional model of the target bin to obtain the laser point clouds on the surface of the garbage corresponding to each partition of the target bin, calculating the volume of the garbage in each partition based on an integral principle, wherein the sum of the volumes of the garbage in each partition is the current volume of the garbage in the whole target bin, and continuously measuring to obtain the real-time volumes of each partition and the corresponding total volume according to a time sequence.
S5: and counting real-time data in a time period, and calculating the density of the garbage.
S6: and the calculation result is uploaded to an upper computer through communication, each partition measures the volume change value of each partition before and after the discharging action of the discharging device according to the movement moment of the discharging device, and the discharging requirement is corrected according to the real-time volume change value, so that the discharging speed is corrected.
S7: feeding area signals are sent to the feeding system according to the absolute value of each partition volume.
In the embodiment of the invention, the spatial orientation of the three-dimensional model of the target bin in the step S1 is consistent with the actual installation, namely the upper edge of the target bin is horizontally placed upwards, and the number of the uniform partitions of the model is consistent with the number of the fire grates. The target bin is opened at the upper part and the lower part, the opening is funnel-shaped, the material is put into the bin from the upper part of the bin by a feeding system (such as a garbage crane, a belt conveyor, a chain scraper conveyor and the like), and falls onto a discharging device through a chute or a chute by gravity. According to the number of the fire grates of the incineration system, the bin is divided into a plurality of corresponding areas, and the bin is divided into 4 areas corresponding to the number and the width of the fire grates in the embodiment.
In the embodiment of the invention, the installation position of the laser radar in the step S2 is based on the fact that the whole target bin range can be completely covered, the laser radar is adopted, the minimum point cloud distance is 1 cm, the target measurement error is less than 3 cm when the distance is 20 m, and the surface shape of a complex irregular material (such as garbage) is reproduced.
In the embodiment of the invention, in the step S3, the rigid transformation registration of the laser point cloud and the target bin model is performed, and the calculation process is as follows:
the laser point cloud is automatically matched with a target bin model through rigid transformation of rotation and translation, the conversion from a laser radar coordinate system (omega) to a target bin model coordinate system (c) is carried out, the orientation is represented by a rotation matrix R, and the position is represented by a translation matrix T, namely: pc＝R·Pw+ T, where the rotation matrix
Translation matrix
If R and T are known, then the three-dimensional space laser point P in the laser radar coordinate system can be determinedwAnd a spatial point P in the coordinate system of the target bin modelcEstablishing a one-to-one correspondence relationship:
in the embodiment of the present invention, the implementation process in step S4 is as follows:
s41: and automatically calculating an effective space according to the coordinate point of the three-dimensional model range of the target storage bin, and removing the laser point cloud with the coordinate outside the three-dimensional model space range to obtain the laser point cloud on the surface of the garbage in the space range of the target storage bin.
S42: taking the maximum range of the horizontal projection of the target bin as the horizontal calculation range, taking the model surface of the target bin as the bottom calculation range, and dividing the target bin into a plurality of cubic columns with specified sizes in the transverse direction and the longitudinal direction on a plane vertical to x-y coordinates, wherein the side length is aiThe bottom surface of the column is the intersection surface of the cubic column and the surface of the target bin model, the top surface of the column is the height of the laser point in the current cubic column (if a plurality of laser points exist, the maximum, the minimum or the average value is taken), and the height difference of the upper surface and the lower surface is the height of the column, so that the volume of the cubic column formed by the garbage surface vertically extending downwards to the surface of the target bin model is obtained; the volumes of all the cubic columns are accumulated to obtain the total volume of the cubic columns formed by extending downwards in the height direction of the garbage surface
The sum of the volumes of the garbage in the partitions is the current volume of the garbage in the whole target bin, and the real-time volumes of the partitions and the corresponding total volume can be obtained through continuous measurement according to a time sequence.
The embodiment of the invention further provides application of the real-time measuring and calculating method for the volume of the garbage in the target garbage bin in accurate control of the feeding amount of the incineration system, and the discharging speed of the discharging system is corrected by calculating the density of the garbage and the real-time volume change value in the bin, so that the accurate amount of the garbage obtained by the incineration system is ensured, the subsequent combustion is more stable, and the stable operation of a combustion control system of the incineration system is facilitated.
In the embodiment of the present invention, the implementation process in step S5 is as follows:
the density of the garbage is obtained,
wherein rho is the density kg/m of the garbage3Unit is m3W is the weighing data of the feeding system, Δ V is the volume change of the target bin, the unit is kg, and m is the number of minutes from the current moment to a certain time before, namely the density of the garbage is obtained through the statistical data of the weighing weight of the feeding system and the volume change of the target bin.
In the embodiment of the present invention, the implementation process in step S6 is as follows:
obtaining the discharge speed, v, of the discharge devices＝QRiV is/A rho, where vsIn order to obtain the discharge speed, m/h, QRiThe current garbage discharging demand is kg/h, rho is the garbage density kg/m3A is the nominal discharge channel cross-sectional area of the discharge device in m2Determined by the design of the discharging system.
At a speed v of the discharge devicesDuring working, the real-time volume change delta V in the current target bin can be obtained, and Q is calculatedRaObtaining the actual discharging amount of the discharging device, kg/h and the current garbage discharging demand Q by gamma and delta VRiAfter comparison, the next discharge demand value Q is correctedRi+1＝QRi+1+QRi-QRaAnd then the discharging speed of the next discharging device is obtained, and the discharging amount of the discharging device is continuously fed back and corrected, so that the combustion control of the incineration system is more stable.
In the embodiment of the present invention, the implementation process in step S7 is as follows:
when the real-time volume data in the silo is presented in the manner of table 1.
TABLE 1 real-time volumetric data in the bin
| | Partition | 1 | Partition 2 | Partition 3 | Partition 4 |
| 1 | 21.38 | 18.78 | 19.59 | 21.21 | |
| 2 | 21.13 | 18.78 | 19.67 | 21.94 | |
| 3 | 21.16 | 18.75 | 19.63 | 21.89 | |
| 4 | 21.04 | 18.69 | 19.62 | 21.90 | |
| 5 | 20.93 | 19.42 | 19.68 | 21.87 | |
| 6 | 20.87 | 19.41 | 19.66 | 21.94 | |
| 7 | 20.90 | 19.38 | 19.68 | 21.95 | |
| 8 | 21.03 | 19.38 | 19.64 | 21.89 | |
| 9 | 20.97 | 19.29 | 19.70 | 21.97 |
From table 1, it can be seen that the volume values in zone 2 and zone 3 are small, and a signal is sent to the feed system to indicate that zone 2 and zone 3 should be fed preferentially.
The laser radar measuring module is connected with the laser radar operation module, and the model and the point cloud automatic calibration model module, the material volume calculation module and the material volume change value calculation module transmit data to the laser radar operation module; and finally, the burning control module transmits the data to the garbage density calculation module, the discharging device discharging speed correction module and the feeding system operation instruction module.
The method of the invention can also be applied to a fluidized bed and a grate furnace process system for treating industrial garbage, domestic garbage and sludge.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (9)
1. A method for measuring the volume of materials in a storage bin in real time is characterized by comprising the following steps: the method comprises the following steps:
s1: constructing a three-dimensional model of the inner surface of the target stock bin based on the design drawing size of the target stock bin, and carrying out arbitrary partition on the model;
s2: laser radar equipment is arranged on the outer side and the upper side of a target storage bin, and three-dimensional laser point clouds on the surfaces of materials in the target storage bin are obtained through real-time scanning;
s3: the obtained three-dimensional laser point cloud and the target bin three-dimensional model are subjected to automatic rigid body transformation registration, and the three-dimensional laser point cloud coordinate is converted into the target bin three-dimensional model coordinate, so that a coordinate system is unified;
s4: automatically removing laser point clouds outside the target bin according to the space range of the three-dimensional model of the target bin to obtain material surface laser point clouds corresponding to all partitions of the target bin, calculating the volume of materials in all partitions based on an integral principle, wherein the sum of the volumes is the current volume of the materials in the whole target bin, and continuously measuring to obtain the real-time volumes of all the partitions and the corresponding total volume according to a time sequence;
s5: counting real-time data in a time period, and calculating the density of the material;
s6: the calculation result is uploaded to an upper computer through communication, each subarea measures the volume change value of each subarea before and after the discharging action according to the movement moment of the discharging device, and the discharging requirement is corrected according to the real-time volume change value, so that the discharging speed is corrected;
s7: feeding zone signals are sent to the feeding system according to the absolute value of the volume of each zone.
2. The method for measuring the volume of the material in the bin in real time according to claim 1, wherein the method comprises the following steps: the orientation of the three-dimensional model of the target bin is consistent with the actual installation orientation of the target bin, namely, the upper edge of the target bin is horizontally placed upwards, feeding is carried out on the upper edge, and discharging is carried out on the lower edge.
3. The method for measuring the volume of the material in the bin in real time according to claim 2, wherein the method comprises the following steps: in S1, the scanning range of the lidar covers the entire upper edge of the target bin.
4. The method for measuring the volume of the material in the bin in real time according to claim 3, wherein the method comprises the following steps: and in the S2, after the laser point cloud is registered with the target bin three-dimensional model, the laser radar scans and displays the contour of the surface of the material in the bin in real time to form the laser point cloud.
5. The method for measuring the volume of the material in the bin in real time according to claim 4, wherein the method comprises the following steps: in the step S3, rigid transformation registration of the laser point cloud and the target bin model is performed, and the calculation process is as follows:
the laser point cloud is automatically matched with a target bin model through rigid transformation of rotation and translation, the orientation of the conversion from a laser radar coordinate system omega to a target bin model coordinate system c is represented by a rotation matrix R, and the position is represented by a translation matrix T, namely: pc＝R·Pw+ T, where the rotation matrix
Translation matrix
If R and T are known, the three-dimensional space laser point P in the laser radar coordinate system is determinedwAnd a spatial point P in the coordinate system of the target bin modelcEstablishing a one-to-one correspondence relationship:
6. the method for measuring the volume of the material in the bin in real time according to claim 5, wherein the method comprises the following steps: the S4 specifically includes the following steps:
s41: according to the three-dimensional model coordinate range of the target storage bin, automatically removing laser point clouds of coordinates outside the three-dimensional model space range through space calculation to obtain material surface laser point clouds in the target storage bin space range;
s42: dividing the target bin into a plurality of cubic columns with specified sizes by uniformly arranging the upper edge of the target bin in the maximum range and perpendicular to the bottom of the target bin in the transverse and longitudinal directions, wherein the bottom surface of each column is an intersecting surface of the cubic column and a model shell of the target bin, and the top surface of each column is the height of a laser point in the current cubic column, wherein if a plurality of laser points exist, the maximum, the minimum or the average value is obtained; the height difference of the upper surface space and the lower surface space is the height of the column, so that the volume of a cubic column formed by the fact that the material surface laser point extends downwards to the shell of the target storage bin model is obtained; adding the volumes of all the cubic columns to obtain the total volume of the cubic columns formed by vertically extending the materials downwards
The sum of the volumes of the materials in the partitions is the current volume of the materials in the whole target storage bin, and the real-time volumes of the partitions and the corresponding total volume are obtained through continuous measurement according to a time sequence.
7. The method for measuring the volume of the material in the bin in real time according to claim 6, wherein the method comprises the following steps: the real-time measurement method further comprises the following steps:
s8: recording the volume change condition of the material in the target material bin within a set time interval, and performing difference operation on volume values at the previous moment and the next moment to obtain the discharging speed;
s9: the discharging speed is calculated through the weighing data of the feeding system, the real-time measurement data of the volume of the target storage bin and the discharging demand of the discharging system;
vs＝QRiv/A rhosIn order to obtain the discharge speed, m/h, QRiThe current material discharging demand is kg/h, rho is material density kg/m3A is the nominal discharge channel cross-sectional area of the discharge device in m2Determined by the design of the discharging system.
8. The method for measuring the volume of the material in the bin in real time according to claim 7, wherein the method comprises the following steps: the S5 specifically includes:
9. The method for measuring the volume of the material in the bin in real time according to claim 8, wherein the method comprises the following steps: the S6 specifically includes:
when the discharging system is in v obtained by calculationsWhen working at speed, the volume change quantity delta V in the current target storage bin can be obtained, and Q is calculatedRaObtaining the actual discharge quantity and the current material discharge demand Q according to rho gamma delta VRiAfter comparison, the next discharge demand value Q is correctedRi+1＝QRi+1+QRi-QRaAnd the control of the discharge amount is more stable.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117053727A (en) * | 2023-07-03 | 2023-11-14 | 淮北矿业股份有限公司临涣选煤厂 | Scanning detection device for accumulating volume of outer surface of material by ranging method |
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