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Modeling method and system for stockyard materials based on 3D laser scanning

A technology of three-dimensional laser and modeling method, which is applied in the field of three-dimensional laser scanning, can solve the problems of mechanical empty running, wear and tear, and low operating efficiency, and achieve the effect of avoiding interference, high-precision scanning, and improving work efficiency

Active Publication Date: 2021-02-19
BEIJING ZHONGSHENG BOFANG ENVIRONMENTAL PROTECTION ENG TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, the large-scale mechanical walking drives the scanner to scan the stock yard in sections, and the scanned images are modeled and stitched together. However, this method cannot know the stockpile situation of the on-site materials before the operation, and the large arm must be Lift to the highest position, and start to run from the edge of the pile area, and run section by section, that is, the machine only scans the image of the material in the stockyard, but the machine does not carry out the actual operation of stacking or reclaiming the material, so that the machine runs empty, Therefore, the operation efficiency of this method is low, and the loss is serious.

Method used

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  • Modeling method and system for stockyard materials based on 3D laser scanning
  • Modeling method and system for stockyard materials based on 3D laser scanning

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Effect test

Embodiment 1

[0065] 1. Modeling method of stockyard materials based on 3D laser scanning

[0066] Such as figure 1 as shown, figure 1 A schematic flow chart of a modeling method for stockyard materials based on three-dimensional laser scanning provided in an embodiment of the present invention, the modeling method for stockyard materials includes the following steps:

[0067] Scanning steps: Use a 3D laser scanner fixedly installed above the stockyard to scan the stockyard materials to form the first point cloud data,

[0068] Cleaning step: cleaning the first point cloud data to form second point cloud data;

[0069] Stitching step: splicing the second point cloud data to obtain the third point cloud data;

[0070] Removal step: Obtain the point cloud data of the material arm on the blanking accumulation surface of the material, remove the point cloud data of the material arm from the third point cloud data to obtain the fourth point cloud data;

[0071] Filling step: use the trilinea...

Embodiment 2

[0116] A specific implementation of a modeling system for a stockyard based on three-dimensional laser scanning provided by the present invention is introduced below.

[0117] Such as figure 2 As shown, it is a schematic structural diagram of a modeling system based on three-dimensional laser scanning provided by an embodiment of the present invention; the modeling system includes a three-dimensional laser scanner, a cleaning module, a splicing module, a removal module, a filling module and modeling module;

[0118] Use the 3D laser scanner fixedly installed above the stockyard to scan the stockyard materials to form the first point cloud data;

[0119] The cleaning module is used to clean the first point cloud data to form second point cloud data;

[0120] The splicing module is used to splice the second point cloud data to obtain the third point cloud data;

[0121] The three-dimensional laser scanner acquires the point cloud data of the material arm on the blanking and ...

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Abstract

The invention discloses a modeling method of stockyard materials based on three-dimensional laser scanning. A three-dimensional laser scanner fixedly installed above the stockyard is used to scan the stockyard materials to form first point cloud data; the first point cloud data Perform cleaning to form the second point cloud data; splicing the second point cloud data to obtain the third point cloud data; obtain the point cloud data of the material arm on the blanking and accumulation surface of the material, and remove the material arm from the third point cloud data The point cloud data of the second point cloud data is obtained to obtain the fourth point cloud data; the blank area in the second point cloud data is filled to obtain the filled point cloud data, and the fourth point cloud data is combined with the filled point cloud data to obtain the fifth point cloud data; according to the second point cloud data Five-point cloud data and preset reference feature points are used to carry out three-dimensional modeling of stockyard materials. The invention also discloses a stockyard material modeling system based on three-dimensional laser scanning. By fixedly installing the 3D laser scanning above the stock yard, it realizes fast scanning modeling in all directions without dead ends, and the data is true and accurate.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional laser scanning, and in particular relates to a modeling method and system for stockyard materials based on three-dimensional laser scanning. Background technique [0002] The coal stockyard of power generation enterprises is a place for storing various coal fuels, which provides an important storage function for boiler combustion. In the prior art, the large-scale mechanical walking drives the scanner to scan the stock yard in sections, and the scanned images are modeled and stitched together. However, this method cannot know the stockpile situation of the on-site materials before the operation, and the large arm must be Lift to the highest position, and start to run from the edge of the pile area, and run section by section, that is, the machine only scans the image of the material in the stockyard, but the machine does not carry out the actual operation of stacking or reclaiming the ma...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/20
CPCG06T17/20
Inventor 孟祥伍陈迟
Owner BEIJING ZHONGSHENG BOFANG ENVIRONMENTAL PROTECTION ENG TECH
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