Method and device for automatically measuring coal pile volume based on image and laser

Abstract

The invention provides a method and a special device for automatically measuring coal pile volume. The method comprises the steps of: firstly, disposing a plurality of markers on a coal pile; secondly, cruising the coal pile a circle by a cruising car, wherein while moving, the cruising car scans every marker, a laser range finder on the cruising car acquires the distances S from the cruising car to the markers and pitch rotation angles Phi, a GPS (global positioning system) sensor arranged on the cruising car provides a current horizontal rotation angle beta, the distance from the laser range finder to the ground is H, and the spatial coordinate of one marker can be obtained; processing the acquired spatial coordinates of all markers to form a three-dimensional figure of the coal pile; and calculating the volume of the coal pile according to the three-dimensional figure of the coal pile. The method and the special device can accurately measure the volume of the coal pile and are easy to implement.

Description

technical field [0001] The invention relates to a method for automatically measuring the volume of coal piles and a special device thereof. technical background [0002] The calculation of power generation costs in thermal power plants is closely related to coal consumption. Solving the problem of coal consumption is ultimately a problem of calculating the volume of coal piles. Over the years, surveying and mapping colleagues have been working hard to explore a reasonable, fast and efficient coal pile volume calculation scheme, usually in the following categories, however, the results are not satisfactory: 1. Measure the coal pile volume by manual measurement: The volume of a coal pile in a medium-sized thermal power plant is generally hundreds of thousands of cubic meters (about 100m in length and width, and about 10m in height). The coal pile was transported to the site by car in strange shapes. In order to measure the volume of the coal pile more accurately, it was manu...

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Problems solved by technology

It has been verified that the error is between 10% and 30%, and the method is clumsy, time-consuming and labor-intensive, which is extremely disproportionate to the production and operation of modern thermal power plants

2. Measure the volume of the coal pile by the total station: use the prism mode of the total station to measure the volume of the coal pile. Although the accuracy is high, it must have a reflective prism to cooperate with the operation. The observer must stand the prism on each measuring point

To express a complete coal pile appearance, at least thousands of effective measuring points are needed, so the observer has to climb up and down, consuming a lot of observation time

3. The coal yard is measured by laser triangulation. The laser triangulation distance measuring sensor is installed on the trolley of the gantry crane, and the plane of the coal yard is scanned by the walking of the trolley on the gantry crane to complete the data collection, and realize the reserve calculation and graphics through the computer Drawing, this method can realize the automatic measurement of the coal yard, but this method needs to use large-scale equipment such as gantry cranes, and the equipment cost is high. Some small and medium-sized power plants do not have such equipment. In addition, this method uses single-point sampling, and then calculates the volume based on a set of sampling data , the measurement time is longer

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