Circling measurement device and method for volume of large stacked material

A technology of measuring device and measuring method, which is applied in the direction of measuring device, optical device, instrument, etc., to achieve the effect of avoiding waste

Inactive Publication Date: 2014-11-19
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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.

Method used

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  • Circling measurement device and method for volume of large stacked material
  • Circling measurement device and method for volume of large stacked material
  • Circling measurement device and method for volume of large stacked material

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] see figure 1 and figure 2 , the large-scale accumulated material volume detour measurement device, including a laser scanner (21), an inertial measurement unit (22), a trolley controller (23), a trolley driver (24), and a carrying trolley (10) , two wheel encoders, a computer (60), characterized in that the laser scanner (21), the inertial measurement unit (22), and the wheel encoders are installed on the trolley (10), through which the trolley (10) moves Driven, the laser scanner (21) dynamically scans the pile (30), while the inertial measurement unit (22) installed at the center of gravity of the trolley (10) and the wheel encoder synchronously measure the trolley (10) and the laser scanner The attitude and displacement information of (21), the information of the three groups of sensors is collected and transmitted to the PC (60) through the wireless communication between the controller (23) and the PC (60), and the coordinates on the PC (60) After transfor...

Embodiment 2

[0032] see Figure 4 , the large-scale accumulation material volume detour measurement method, using the above-mentioned device for measurement, is characterized in that: the measurement operation steps are as follows. System initialization: control the movement of the carrying car (10) to a given position, set the scanning frequency and the moving speed of the carrying car (10); establish a standard coordinate system, turn on each sensor to start acquiring data; turn on the carrying car (10), detour For one week of the stockpile (30), each sensor collects information synchronously; data processing: the point cloud information is fitted into a three-dimensional contour, and the integral reconstruction of the stockpile (30) is carried out to obtain the volume of the stockpile (30); to complete the measurement: the sensor and The movement of the carrying trolley (10) is closed, and the carrying trolley (10) is reset.

[0033] After the measurement system is started, a fixed coo...

Embodiment 3

[0035] Implementation example three: measurement of sand pile volume

[0036] Since sand piles or grain piles are not as fixed as factory stockpile yards, they may migrate after a period of time. Therefore, the present invention adopts the method of moving the trolley to drive the measurement, which is more suitable for the measurement of this kind of material pile (30). see figure 2 As shown, the sand piles are piled up on the stockyard, and the carrying trolley (10) moves around the sand pile on the open space around the sand pile on the stockyard. The carrying trolley (10) drives the laser scanner (21) to quickly scan the sand pile. The inertial measurement unit (22) and the wheel encoder on the carrier car (10) synchronously collect the displacement and attitude information of the car (10). see figure 2 As shown, the car moves to any measurement point A on the trajectory (40), and the data to be obtained here are: the relative displacement of point A relative to the ...

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Abstract

The invention relates to a circling measurement device and method for the volume of a large stacked material. According to the device, a vehicle-mounted laser scanner, an inertial measurement unit and a wheel encoder are adopted and matched with one another to synchronously acquire material stack contour information and measure posture and position information of a trolley. The vehicle-mounted laser scanner, the inertial measurement unit and the wheel encoder are installed on the remotely controlled or autonomously navigated trolley, the laser scanner continuously scans the material stack contour information during movement, full-view measurement is performed through circling of a material stack, and synchronous information of multiple groups of sensors forms three-dimensional contour information of the material stack and the posture and position information of the trolley. The acquired material stack contour information and the posture and position information of the trolley is transmitted to a PC (personal computer) to be processed, point cloud data of the material stack contour are obtained through coordinate transformation, and the appearance and the volume of the material stack are reconstructed with an integration reconstruction method, so that the volume of the large stacked material is measured. Besides, a manager can make corresponding decisions timely after receiving the measured data, so that the device and the method provide technical support for management of the large stacked material by an enterprise.

Description

technical field [0001] The invention relates to a volume detour measuring device and method for large-scale accumulated materials. Specifically design a vehicle-mounted measuring device that simultaneously collects the running track coordinates of the trolley, the posture of the trolley, and the stockpile contour information scanned by the vehicle-mounted measuring device, and adopts the method of coordinate conversion to establish a point cloud of the stockpile contour in the same coordinate system for further reconstruction The outline of the stockpile, and then the volume and quality information of the stockpile can be obtained through data processing. Background technique [0002] 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 measur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 孟庆栩赵其杰屠大维
Owner SHANGHAI UNIV
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