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Method and system for calculating height of residual stack of material pile

A calculation method and residual stacking technology, which can be used in computing, image analysis, instruments, etc., to solve problems such as the collision of the reclaimer and the inability to obtain the residual stacks.

Active Publication Date: 2021-04-16
YANSHAN UNIV +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Therefore, there is an urgent need for a method for calculating the height of residual stacks in order to solve the problem of reclaimers colliding with residual stacks in the process of reclaiming or failure of bucket wheels to pick up residual stacks caused by errors in the generation of point cloud models before retrieving materials from residual stacks. to bulk phenomenon

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  • Method and system for calculating height of residual stack of material pile
  • Method and system for calculating height of residual stack of material pile

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Embodiment 1

[0085] like figure 1 As shown, the present invention proposes a method for calculating the height of a residual stack of a stockpile, the method comprising:

[0086] S1. Acquire two-dimensional point cloud data of the radar 1 detecting the material pile 3 in the pre-scanning process of the reclaimer.

[0087] Reclaimer, also known as bucket wheel stacker and reclaimer, refers to a high-efficiency loading and unloading machine used for continuous transportation of both stacking and reclaiming materials in large dry bulk storage yards. It is composed of a cantilever with a conveyor belt that can tilt and swing horizontally, and a bucket wheel, frame, and operating mechanism at the front end. The conveyor belt can run in both directions. Then the goods transported by the main conveyor are sent to the yard via the conveyor belt.

[0088]The pre-scanning process of the reclaimer means that the reclaimer performs pre-scanning through the radar 1, and before reclaiming the target s...

Embodiment 2

[0159] like Figure 10 As shown, Embodiment 2 of the present invention proposes a system for calculating the height of residual stacks of 3 stacks, and the system includes:

[0160] The two-dimensional point cloud data acquisition module 4 is used to acquire the two-dimensional point cloud data of the radar 1 detecting the stockpile 3 in the pre-scanning process of the reclaimer.

[0161] The three-dimensional point cloud data conversion module 5 is used to convert the two-dimensional point cloud data into three-dimensional point cloud data according to the rotation angle of the cantilever 2 of the reclaimer.

[0162] The three-dimensional point cloud data preprocessing module 6 is used for preprocessing the three-dimensional point cloud data to obtain processed three-dimensional point cloud data.

[0163] The RANSAC plane extraction module 7 is used to perform plane recognition and extraction processing of the RANSAC algorithm on the processed three-dimensional point cloud d...

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Abstract

The invention relates to a method and a system for calculating the height of a residual stack of a material pile. The method comprises the following steps: acquiring two-dimensional point cloud data of a radar detection material pile in a pre-scanning process of a material taking machine; converting the two-dimensional point cloud data into three-dimensional point cloud data according to the rotation angle of the cantilever of the material taking machine; preprocessing the three-dimensional point cloud data to obtain processed three-dimensional point cloud data; performing RANSAC algorithm plane recognition and extraction processing on the processed three-dimensional point cloud data to obtain a reclaiming platform plane of the current residual stack point cloud; calculating a Z-axis coordinate mean value of the point cloud set in the plane of the material taking platform, and marking the Z-axis coordinate mean value as a height value of the material taking platform; judging whether the number of material taking platform planes is equal to the actual layering number of the residual stacks or not; and if not, obtaining the material taking platform planes repeatedly, and if yes, calculating the height difference, namely the material pile residual stack layer height, between the material taking platform planes, so that the calculation precision of the material pile residual stack layer height can be effectively improved, and the material taking efficiency of the material taking machine is improved.

Description

technical field [0001] The invention relates to the field of computer vision detection and calculation, in particular to a method and a system for calculating the height of a residual stack of a stockpile. Background technique [0002] With the development of science and technology, new detection technologies are continuously integrated into traditional industrial equipment, and the management of stockyards gradually requires informatization and refinement. At present, some port bulk material yard has introduced digital yard technology, and its stacker and reclaimer realizes unmanned operation through the three-dimensional model of the material pile, satellite positioning, and radar system. The mainstream digital yard solution is still to reconstruct the 3D point cloud model through lidar, and delete the point cloud model of the fetched material pile through the attitude perception of the reclaimer during the reclaiming process. However, compared with the yard area, the las...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T17/05
Inventor 张钰姜波闫海龙刘志明王伟申禹沈阅
Owner YANSHAN UNIV
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