Three-dimensional laser scanning visible light confirmation method used for steel mill travelling crane scheduling
A three-dimensional laser and visible light technology, applied in the direction of using optical devices, measuring devices, instruments, etc., to avoid manual adjustment work, improve accuracy and reliability, and improve work efficiency
Active Publication Date: 2019-04-09
SOUTHEAST UNIV +2
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Problems solved by technology
[0004] Technical problem: In order to improve the accuracy and reliability of identifying the position and reduce the manual adjustment work in the later stage of unmanned driving operation, the present invention designs a method of using visible light beams to calibrate the target position, and combined with the set visible light to confirm the expert rules The method of fine-tuning the coordinates to ensure the safe and reliable operation of the unmanned driving system
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[0041] The method and related system equipment will be described in detail below.
[0042]Take the 3D laser scanning system of the cold-rolled raw material warehouse of the steel plant as an example. The 3D laser scanning device is installed above the truck parking space and on the ceiling more than 20 meters above the ground. The rotating pan tilts in the Y direction and the scanner moves in the X direction. scanning. When the truck arrives at the parking space, the truck driver swipes an RFID card with radio frequency identification at the identification place to notify the system of the arrival of the vehicle, and the system obtains the loading and unloading operation information; the driver operates the upper computer to start the 3D laser scanning operation, and the upper computer processes And identify the three-dimensional data of the truck compartment, and get the corresponding target position on the truck {P 1 ,P 2 ,...,P n}.
[0043] In the storage area of the ...
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The invention discloses a three-dimensional laser scanning visible light confirmation method used for steel mill travelling crane scheduling, and carries out three-dimensional identification positionconfirmation. Traditional manual calibration efficiency is low, and a three-dimensional laser scanning system is difficult in carrying out position calibration since laser is invisible. Coaxial visible light equipment is added into a three-dimensional laser scanning device to control a motor to drive the visible light equipment to irradiate identification positions in sequence according to steps which are put forward, the comparison and the fine tuning of a position relationship are carried out by an expert rule which is put forward, and the accurate confirmation of the identification positionis realized. The method effectively improves position identification accuracy, avoids later-period manual regulation brought by an inaccurate position and greatly improves the working efficiency of steel mill travelling crane scheduling. The three-dimensional laser scanning visible light confirmation method used for steel mill travelling crane scheduling mainly comprises a two-dimensional laser scanner (1), a servo rotation motor (2), an absolute value coder (3), a PLC (Programmable Logic Controller) (4), visible laser equipment (5), a camera (6) and an upper computer (7).
Description
technical field [0001] The invention relates to a three-dimensional laser scanning visible light confirmation technology for loading and unloading trucks in the automatic driving system of a steel plant. Background technique [0002] The unmanned driving system is a complex system that includes multiple subsystems. The 3D laser scanning system is one of the subsystems, which is responsible for performing 3D laser scanning on the trucks leaving and entering the warehouse, and identifying the vehicles on the truck through point cloud data processing. Coil and stack coordinates for unmanned driving system scheduling. In the material management of the warehouse area of iron and steel enterprises, the traditional outbound and inbound operations mainly adopt semi-automatic methods. During the operation process, the staff needs to continuously guide the driving on the ground to adjust the position. The work efficiency is low and the reliability of manual adjustment is poor. With...
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IPC IPC(8): G01B11/24G01B11/22G01B11/00
CPCG01B11/00G01B11/22G01B11/24
Inventor 魏双牛丹李奇陈有成刘进波朱昱璇
Owner SOUTHEAST UNIV