Method and system for determining the grabbing range of slag flushing pool

Abstract

The present invention provides a method and system for determining the grabbing range of a slag flushing pool, the method comprising: scanning the slag flushing pool to obtain three-dimensional coordinate data of the material surface of the slag flushing pool, determining the point cloud data of the slag flushing pool according to the three-dimensional coordinate data; determining the grabbing operation process and the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool. The present invention solves the problems of low work efficiency, high energy consumption, large equipment loss and environmental hazards in the grabbing operation of the slag flushing pool in the prior art. The material surface is modeled using a three-dimensional object recognition algorithm, and the water accumulation in the slag flushing pool is identified, and a reasonable grabbing position is calculated, so that the working mode of the overhead crane is more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation coefficient of the equipment and reducing environmental pollution hazards.

Description

Technical Field

[0001] The invention relates to a detection technology, in particular to a method and a system for determining a material grabbing range of a slag flushing pool. Background Art

[0002] The slag flushing pool is a bucket-shaped concrete structure with a large top and a small bottom, which is used to collect blast furnace slag. In the metallurgical industry, a large amount of slag is produced during blast furnace smelting. The slag enters the slag flushing pool after being granulated by high-speed water quenching. A large amount of slag is easily deposited at the bottom of the pool, which can easily lead to poor water permeability, affecting the work of related pump groups and even affecting the normal production of the blast furnace. At the same time, the slag after water quenching is a high-quality cement raw material, so in actual production, the slag needs to be continuously removed from the slag flushing pool, and the overhead crane is one of the most important slag removal equipment.

[0003] Traditional overhead crane systems mainly use manned overhead cranes. When the blast furnace slags out too quickly, part of the molten iron enters the slag flushing pool and meets water. The molten iron and high-temperature slag are extremely hot, decomposing water into hydrogen and oxygen. If the hydrogen and oxygen are mixed and encounter a suitable environment, it is very easy to explode, posing a threat to the life safety of the overhead crane driver. In addition, manual operation often leads to a high equipment failure rate due to poor vision and work fatigue. At the same time, water vapor contains sulfides, which are very harmful to the human body, making it increasingly difficult to recruit skilled overhead crane drivers. Therefore, more and more slag flushing pool overhead crane systems have been upgraded to unmanned overhead crane systems. The more advanced unmanned overhead crane system has largely solved the various problems of manned overhead cranes, but because the existing unmanned overhead crane system does not have an effective method for detecting the material surface, it does not know the distribution of slag, and often grabs materials in places where there is less slag and less thickness, so it cannot grab a full bucket, which affects work efficiency, increases energy consumption, and increases the degree of equipment loss. Summary of the invention

[0004] In order to solve at least one defect in the prior art, the present invention provides a method for determining the grabbing range of a slag flushing pool, the method comprising:

[0005] Scan the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface;

[0006] Determine the slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0007] The material grabbing range of the slag flushing pool material surface is determined according to the slag flushing pool point cloud data.

[0008] In the embodiment of the present invention, the scanning of the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface includes:

[0009] Use laser equipment to scan the slag pool surface to obtain laser scanning data;

[0010] The three-dimensional coordinate data of the slag flushing pool material surface is determined according to the laser scanning data.

[0011] In an embodiment of the present invention, determining the slag flushing pool point cloud data according to the three-dimensional coordinate data includes:

[0012] Performing point cloud formatting processing according to the three-dimensional coordinate data to generate point cloud data;

[0013] The point cloud data is calibrated and cut according to the preset slag flushing pool characteristic point data to generate the slag flushing pool point cloud data.

[0014] In the embodiment of the present invention, the calibrating of the point cloud data according to the preset slag flushing pool feature point data includes:

[0015] The point cloud data is calibrated according to the characteristic points of the slag flushing pool and the coordinates of the overhead crane controlling the grab bucket.

[0016] In the embodiment of the present invention, the determining of the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool includes:

[0017] Determine the extreme value points of the slag flushing pool point cloud data according to the slag flushing pool point cloud data;

[0018] The grabbing range of the slag pool material surface is determined according to the extreme point, the pre-acquired edge position of the slag pool and the grab bucket parameters.

[0019] In the embodiment of the present invention, the grab bucket parameters include: grab bucket size data and grab bucket swing value.

[0020] In the embodiment of the present invention, the method further includes:

[0021] Determine the water accumulation position in the slag flushing pool according to the laser scanning data;

[0022] The material grabbing range of the material surface of the slag flushing pool is determined according to the water accumulation position of the slag flushing pool and the point cloud data of the slag flushing pool.

[0023] At the same time, the present invention also provides a system for determining the material grabbing range of a slag flushing pool, the system comprising:

[0024] A laser scanning device is used to scan the slag flushing pool to obtain three-dimensional coordinate data of the slag flushing pool material surface;

[0025] A scanning data processing device, used to determine the point cloud data of the slag flushing pool according to the three-dimensional coordinate data;

[0026] The range determination device is used to determine the material grabbing range of the slag flushing pool material surface according to the slag flushing pool point cloud data.

[0027] At the same time, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the above method is implemented when the processor executes the computer program.

[0028] At the same time, the present invention also provides a computer-readable storage medium, which stores a computer program for executing the above method.

[0029] The method for determining the grabbing range of a slag flushing pool provided by the present invention scans the slag flushing pool to obtain three-dimensional coordinate data of the material surface of the slag flushing pool, determines the point cloud data of the slag flushing pool according to the three-dimensional coordinate data; and determines the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool. An automatic detection system for the material surface of a slag flushing pool based on laser detection technology is provided to solve the problems of low work efficiency, high energy consumption, large equipment loss and environmental hazards in the grabbing operation of the slag flushing pool in the prior art. In view of the defects of the prior art, the present invention performs laser scanning on the slag material surface of the slag flushing pool, models the material surface using a three-dimensional object recognition algorithm, identifies the water accumulation in the slag pool, calculates a reasonable grabbing position, and makes the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation coefficient of the equipment and reducing environmental pollution hazards.

[0030] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A flow chart of a method for determining a material grabbing range of a slag flushing pool provided by the present invention;

[0033] Figure 2 It is a schematic diagram of grabbing materials in the prior art;

[0034] Figure 3 is a block diagram in an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of an embodiment of the present invention;

[0036] Figure 5 is a flow chart in an embodiment of the present invention;

[0037] Figure 6 A block diagram of a device for determining a material grabbing range of a slag flushing pool provided by the present invention;

[0038] Figure 7A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The present invention provides a method for determining the grabbing range of a slag flushing pool, laser scanning the slag flushing pool to obtain three-dimensional coordinate data of the slag flushing pool material surface, determining the slag flushing pool point cloud data according to the three-dimensional coordinate data; and determining the grabbing range of the slag flushing pool material surface according to the slag flushing pool point cloud data. The present invention provides an automatic detection system for the slag flushing pool material surface based on laser detection technology to solve the problems of low work efficiency, high energy consumption, large equipment loss and environmental risks in the grabbing operation of the slag flushing pool in the prior art.

[0041] like Figure 1 As shown, it is a flow chart of the method for determining the grabbing range of the slag flushing pool provided by the present invention, which includes:

[0042] Step S101, scanning the slag flushing pool to obtain three-dimensional coordinate data of the slag flushing pool material surface;

[0043] Step S102, determining the slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0044] Step S103, determining the material grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool.

[0045] Among them, point cloud data is a data set of point surfaces of an object obtained by measuring instruments.

[0046] The present invention performs laser scanning on the slag pool slag material surface, uses a three-dimensional object recognition algorithm to model the material surface, and calculates a reasonable material grabbing position, so that the working mode of the overhead crane is more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation coefficient of the equipment and reducing the hidden dangers of environmental pollution.

[0047] like Figure 2 As shown, it is a sequential schematic diagram of the working cycle of the unmanned overhead crane system in the prior art. The sequential method is generally used in normal operation. Using the sequential method, the slag flushing pool needs to be virtually divided into several grids according to the size of the grab bucket, and the size of each grid is as close as possible to the size of the grab bucket when it is fully opened. When the unmanned overhead crane system receives the working signal, it grabs the material in sequence according to the proximity principle based on the preset physical model, moves the slag in one virtual grid to the outside of the slag flushing pool, and then grabs the slag in the next virtual grid.

[0048] The sequential method used in the prior art cannot dynamically adjust the model state because there is no detection of the slag surface in actual work, so it is easy to cause the model to not match the actual situation when the external environment changes. For example, when the slag flushing pool has a poor water filtration effect, a large amount of slag will accumulate at the slag outlet, while there will be less slag at the farther end from the slag flushing outlet. If the number of grabbing times for each virtual grid is still evenly distributed, it may cause some places to have less slag and thus fail to fill the bucket. The operation that could have been completed once needs to be completed multiple times, which reduces work efficiency and increases energy consumption. The increase in operation frequency will also increase the degree of equipment loss. Moreover, this undetected grabbing method cannot know the water accumulation in the slag flushing pool. When the accumulated water is not drained, the overhead crane system will operate with water, which will cause the slag loaded by the transport vehicle to contain a large amount of water, which is very easy to leak during transportation. It not only fails to meet environmental protection requirements, but also reduces transportation efficiency.

[0049] The method for determining the grabbing range of a slag flushing pool provided by the present invention scans the slag flushing pool to obtain three-dimensional coordinate data of the material surface of the slag flushing pool, determines the point cloud data of the slag flushing pool according to the three-dimensional coordinate data; and determines the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool. An automatic detection system for the material surface of a slag flushing pool based on laser detection technology is provided to solve the problems of low work efficiency, high energy consumption, large equipment loss and environmental hazards in the grabbing operation of the slag flushing pool in the prior art. In view of the defects of the prior art, the present invention performs laser scanning on the slag material surface of the slag flushing pool, models the material surface using a three-dimensional object recognition algorithm, identifies the water accumulation in the slag pool, calculates a reasonable grabbing position, and makes the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation coefficient of the equipment and reducing environmental pollution hazards.

[0050] Further, in the embodiment of the present invention, scanning the slag flushing pool in step S101 to obtain the three-dimensional coordinate data of the slag flushing pool material surface includes:

[0051] Use laser equipment to scan the slag pool surface to obtain laser scanning data;

[0052] The three-dimensional coordinate data of the slag flushing pool material surface is determined according to the laser scanning data.

[0053] In one embodiment of the present invention, the slag flushing pool is scanned by a laser radar to obtain three-dimensional data of the slag material surface. When the laser radar is working, it continuously obtains two-dimensional data of the scanned section, and the laser radar determines the three-dimensional coordinate data of the slag flushing pool based on the polar coordinate data of the measured object.

[0054] In an embodiment of the present invention, determining the slag flushing pool point cloud data according to the three-dimensional coordinate data includes:

[0055] Performing point cloud formatting processing according to the three-dimensional coordinate data to generate point cloud data;

[0056] The point cloud data is calibrated and cut according to the preset slag flushing pool characteristic point data to generate the slag flushing pool point cloud data.

[0057] Specifically, in the embodiment of the present invention, point cloud formatting, point cloud data calibration, point cloud data cutting, and point cloud data filtering are performed on the collected three-dimensional data. A standard point cloud data message header is generated according to the three-dimensional data information, and then the position information is added according to the scanning order to form complete point cloud data, thereby completing the point cloud formatting of the data.

[0058] Point cloud data calibration first selects the characteristic point of the slag flushing pool and detects its coordinates. The embodiment of the present invention further moves the grab bucket to the characteristic point to read the coordinates of the overhead crane. Finally, the point cloud data is translated and rotated to make it coincide with the coordinates of the overhead crane, thereby achieving data calibration. Specifically, in the embodiment of the present invention, the point cloud data is calibrated according to the preset slag flushing pool characteristic point data, including: the point cloud data is calibrated according to the characteristic point of the slag flushing pool and the coordinates of the overhead crane that controls the grab bucket.

[0059] In one embodiment of the present invention, point cloud data is cut by selecting a reasonable data range according to the characteristics of the slag flushing pool and the operating range of the overhead crane system, and invalid data is cut off to optimize display and improve calculation speed.

[0060] Furthermore, it also includes filtering the point cloud data. The point cloud data filtering uses a data statistical algorithm to remove discrete points. First, the average and standard deviation of the distance between all points in the specified neighborhood of any point are calculated, and the standard deviation multiple is set as a threshold. If the point distance is greater than the set threshold, it is a discrete point. The discrete points are deleted to achieve filtering to reduce noise interference. The present invention can further improve the speed of data processing and reduce the amount of data processing by converting the collected three-dimensional data into point cloud data and using the point cloud data to determine the material grabbing range.

[0061] In the embodiment of the present invention, the determining of the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool includes:

[0062] Determine the extreme value points of the slag flushing pool point cloud data according to the slag flushing pool point cloud data;

[0063] The grabbing range of the slag pool material surface is determined according to the extreme point, the pre-acquired edge position of the slag pool and the grab bucket parameters.

[0064] In the embodiment of the present invention, a reasonable grabbing position is calculated according to the extreme point information, the edge position information of the slag flushing pool, the grab bucket size and the grab bucket swing value.

[0065] Specifically, in one embodiment of the present invention, when it is detected that the height of the slag position is abnormal, it is necessary to first pile up the material, and then continue to grab the material after the pile height is normal. When piling up the material, first calculate the grabbing position, and then form a ring with the grabbing position as the center, n times the grabbing bucket length as the inner diameter, and n+1 times the grabbing bucket length as the outer diameter, calculate the extreme point of the point cloud within the ring range, and then calculate the reasonable grabbing pile position based on the extreme point information, the edge information of the slag pool, the grabbing bucket size and the grabbing bucket swing value.

[0066] The present invention obtains three-dimensional coordinate data of the slag flushing pool material surface by scanning the slag flushing pool, determines the point cloud data of the slag flushing pool according to the three-dimensional coordinate data, and determines the grabbing range of the slag flushing pool material surface according to the point cloud data of the slag flushing pool, so that the working mode of the overhead crane is more reasonable, the working efficiency is improved, the energy consumption is reduced, the safe operation coefficient of the equipment is improved, and the hidden dangers of environmental pollution are reduced.

[0067] Furthermore, in the embodiment of the present invention, the method further includes:

[0068] Determine the water accumulation position in the slag flushing pool according to the laser scanning data;

[0069] The material grabbing range of the material surface of the slag flushing pool is determined according to the water accumulation position of the slag flushing pool and the point cloud data of the slag flushing pool.

[0070] The present invention performs laser scanning on the slag material surface of the slag pool, models the material surface using a three-dimensional object recognition algorithm, further identifies the water accumulation in the slag pool, and calculates a reasonable material grabbing position, making the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation coefficient of the equipment and reducing the risk of environmental pollution.

[0071] The technical solution of the present invention is further described below in conjunction with an embodiment of the present invention.

[0072] This embodiment provides a system and method for automatically detecting the material surface of a slag pool based on laser detection technology to solve the problems of low work efficiency, high energy consumption, large equipment loss and environmental risks in the prior art. In view of the defects of the prior art, this embodiment performs laser scanning on the slag material surface of the slag pool, models the material surface using a three-dimensional object recognition algorithm, identifies the water accumulation in the slag pool, calculates a reasonable material grabbing position, and makes the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the safety operation coefficient of the equipment and reducing environmental pollution risks.

[0073] To achieve the above purpose, this embodiment provides a slag pool material surface automatic detection system based on laser detection technology, the system includes: data acquisition module, communication module, data processing module, visualization module, wherein the data processing module includes a data preprocessing module and an algorithm module. Figure 3As shown, it is a block diagram of the automatic detection system for the slag pool material surface based on laser detection technology provided in this embodiment.

[0074] The data acquisition module obtains the point cloud data of the slag surface in the slag pool by scanning the slag pool. In this embodiment, the three-dimensional data is obtained by combining the laser radar with the turntable. When the laser radar is working, it will continuously obtain the two-dimensional data of the scanned section. The laser radar is fixed on the shaft connection of the turntable. The controller controls the rotation of the turntable. The laser radar moves with the turntable and obtains the data of the objects within the scanning range in real time, thereby realizing the acquisition of three-dimensional data of the slag surface. Figure 4 As shown in FIG. 1 , it is a schematic diagram of the data acquisition module scanning the slag material surface and collecting three-dimensional data in this embodiment. Figure 4 As shown, the data acquisition module needs to be installed above the slag flushing pool, and its scanning range needs to be able to completely cover the slag flushing pool. The data processing module, communication module and visualization module are installed in the industrial computer and placed in an appropriate area where the status of the slag flushing pool can be observed. When the data acquisition module receives a work instruction, the system uses the laser radar and turntable to obtain the three-dimensional information of the objects in its scanning range. After that, the data is transmitted to the data processing module through the communication module. The data processing module determines whether the material can be grasped, the grasping position and the stacking position through the water accumulation analysis algorithm, the material grabbing algorithm and the material stacking algorithm, and finally transmits the results to the overhead crane system and displays the scanning results at the same time.

[0075] In this embodiment, the data acquisition module uses a laser radar to obtain polar coordinate data of the measured object, and then converts the polar coordinate data into a world coordinate system according to the following formula:

[0076] x=dsinα

[0077] y=cosαcosβ

[0078] z=cosαsinβ

[0079] Where x is the x direction value in the world coordinate system;

[0080] y is the y direction value in the world coordinate system;

[0081] z is the z direction value in the world coordinate system;

[0082] d is the distance value measured by the laser radar according to the TOF method;

[0083] α is the angle between the single pulse laser and the plane formed by the vertical ground scanning of the lidar

[0084] β is the angle between the projection of the plane formed by the vertical ground scanning of the laser radar by a single pulse laser and the horizontal plane;

[0085] During use, the parameters of the turntable and laser radar can be set to achieve control of 3D data density, scanning range, and scanning time. The scanned data is stored in the data acquisition module. When other modules apply for use, the currently saved data is sent through the communication module and the register is cleared.

[0086] The communication module is used for communication between the data processing module and the data acquisition module, and between the data processing module and the unmanned overhead crane system. The data processing module sends a scanning command to trigger the data acquisition module to work, and sends a read data command to obtain the three-dimensional data in the data acquisition module; the data processing module sends the information of water accumulation in the slag flushing pool to notify the overhead crane whether to continue the operation, and sends the position coordinates to notify the unmanned overhead crane to grab or pile materials.

[0087] In this embodiment, the data processing module includes a data preprocessing module and an algorithm module.

[0088] The data preprocessing module is used to perform point cloud formatting, point cloud data calibration, point cloud data cutting, and point cloud data filtering on the collected three-dimensional data. When the three-dimensional data point cloud is formatted, the data processing module sends a scanning data request to obtain the three-dimensional data of the data acquisition module. A standard point cloud data message header is generated based on the three-dimensional data information, and then the position information is added according to the scanning order to form a complete point cloud data, completing the point cloud formatting of the data. Point cloud data calibration first selects the characteristic point of the slag pool and detects its coordinates, then moves the grab to the characteristic point to read the crane coordinates, and finally realizes data calibration by translating and rotating the point cloud data to make it coincide with the crane coordinates. Point cloud data cutting is to select a reasonable data range based on the characteristics of the slag pool and the operating range of the crane system, and remove invalid data to optimize the display and increase the calculation speed. Point cloud data filtering uses data statistical algorithms to remove discrete points. First, the average and standard deviation of the distance between all points in the specified neighborhood of any point are calculated, and the standard deviation multiple is set as the threshold. If the point spacing is greater than the set threshold, it is a discrete point. The discrete points are deleted to achieve filtering to reduce noise interference.

[0089] The algorithm module mainly includes water accumulation analysis algorithm, material grabbing algorithm and material stacking algorithm. The water accumulation analysis algorithm uses the insensitivity of laser to water detection. When there is water accumulation at the detection position, the returned point cloud is empty. Based on this characteristic, it is analyzed whether there is still water accumulation in the slag flushing pool. That is, due to the refraction or reflection of the laser by water, the returned laser signal used for calculation does not meet the signal threshold range of the laser detection device, that is, the coordinate value corresponding to the laser signal exceeding the signal threshold range is determined as the water surface of the slag flushing pool.

[0090] The grabbing algorithm first calculates the extreme points of the preprocessed point cloud data, and then calculates the reasonable grabbing position based on the extreme point information, the edge position information of the slag pool, the grab bucket size and the grab bucket swing value. The stacking algorithm first calculates the grabbing position, and then forms a ring with the grabbing position as the center, n times the grab bucket length as the inner diameter, and n+1 times the grab bucket length as the outer diameter, and calculates the extreme points of the point cloud within the ring range, and then calculates the reasonable stacking position based on the extreme point information, the edge information of the slag pool, the grab bucket size and the grab bucket swing value.

[0091] The visualization module is used to display the three-dimensional view of the pile and key information. The three-dimensional view of the pile is updated after each scan, so that the staff can understand the situation of the pile more intuitively. The display of key information of the system can facilitate the staff to monitor the working status of the system and make timely diagnosis when encountering problems.

[0092] That is, the method for determining the grabbing range of the slag flushing pool provided by the present invention further includes displaying the point cloud data of the slag flushing pool, the parameter data involved and the determined grabbing range of the material surface of the slag flushing pool.

[0093] Figure 5 As shown in FIG. 1 , the workflow of the three-dimensional laser scanning automatic detection system provided in this embodiment specifically includes:

[0094] Initialize system parameters, only need to be executed at first use.

[0095] Waiting for the work instruction signal sent by the overhead crane system.

[0096] The communication module receives the work instruction signal and triggers the data acquisition module to scan the slag pile.

[0097] After scanning, the data acquisition module sends the data to the data processing module.

[0098] The data processing module detects whether the data is normal. If the data is abnormal, the pile is scanned repeatedly. If the data is normal, the data is pre-processed to facilitate subsequent data analysis.

[0099] The water accumulation analysis algorithm is used to judge the water accumulation situation. If there is too much water accumulation, a signal to stop grabbing is sent. If the water accumulation is normal, the process continues.

[0100] The grabbing algorithm is used to calculate the grabbing position and determine whether the grabbing position height is normal.

[0101] If the height of the grabbing position is abnormal or too low, the stacking algorithm is run to calculate the stacking position information and send the stacking position information to the overhead crane system to merge the surrounding slag;

[0102] If the material grabbing position height is reasonable, the material grabbing position will be sent to the overhead crane system.

[0103] Visualize the 3D data of the slag pool and display key information and parameters.

[0104] This embodiment scans the slag pool to obtain the three-dimensional coordinate data of the slag pool material surface, determines the slag pool point cloud data based on the three-dimensional coordinate data, and determines the material grabbing range of the slag pool material surface based on the slag pool point cloud data. Laser detection of the slag pool material pile, identification of water accumulation in the slag pool, and calculation of a reasonable material grabbing position make the overhead crane work more reasonable, improve its work efficiency, reduce energy consumption, improve the equipment safety operation coefficient and reduce environmental pollution risks.

[0105] At the same time, the present invention also provides a system for determining the material grabbing range of a slag flushing pool, such as Figure 6 As shown, the system includes:

[0106] The laser scanning device 601 is used to scan the slag flushing pool to obtain the three-dimensional coordinate data of the material surface of the slag flushing pool;

[0107] Scanning data processing device 602, used to determine the slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0108] The range determination device 603 is used to determine the material grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool.

[0109] In this embodiment, the laser scanning device includes:

[0110] Laser equipment, used to scan the slag pool surface to obtain laser scanning data;

[0111] The laser data processing unit is used to determine the three-dimensional coordinate data of the slag flushing pool material surface according to the laser scanning data.

[0112] In an embodiment of the present invention, the scanned data processing module includes:

[0113] A three-dimensional data processing unit, used for performing point cloud formatting processing according to the three-dimensional coordinate data to generate point cloud data;

[0114] The point cloud data generating unit is used for the user to calibrate and cut the point cloud data according to the preset slag flushing pool characteristic point data to generate the slag flushing pool point cloud data.

[0115] In an embodiment of the present invention, the three-dimensional data processing unit calibrates the point cloud data according to the preset slag flushing pool feature point data, including:

[0116] The point cloud data is calibrated according to the characteristic points of the slag flushing pool and the coordinates of the overhead crane controlling the grab bucket.

[0117] In the embodiment of the present invention, the range determination device determines the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool, including:

[0118] An extreme point determination unit, used for determining the extreme point of the slag flushing pool point cloud data according to the slag flushing pool point cloud data;

[0119] The range determination unit determines the grabbing range of the slag pool material surface according to the extreme point, the pre-acquired edge position of the slag pool and the grab bucket parameters.

[0120] In the embodiment of the present invention, the grab bucket parameters include: grab bucket size data and grab bucket swing value.

[0121] In an embodiment of the present invention, the scan data processing device further includes:

[0122] The water accumulation position determination unit is used to determine the water accumulation position of the slag flushing pool according to the laser scanning data and the pre-acquired laser scanning data threshold, so as to determine the material grabbing range of the slag flushing pool material surface according to the water accumulation position of the slag flushing pool and the slag flushing pool point cloud data.

[0123] For those skilled in the art, the implementation method of the slag flushing pool grabbing range determination system provided by the present invention can be clearly known through the description of the aforementioned embodiments. For example, the scanning data processing device and the range determination device of the slag flushing pool grabbing range determination system provided by the present invention can be implemented by the aforementioned data processing device. For those skilled in the art, according to the description of the aforementioned embodiments, the implementation method of the slag flushing pool grabbing range determination system provided by the present invention is clear and will not be repeated here.

[0124] The system for determining the grabbing range of a slag pool provided by the present invention scans the slag pool to obtain three-dimensional coordinate data of the material surface of the slag pool, determines the point cloud data of the slag pool according to the three-dimensional coordinate data; and determines the grabbing range of the material surface of the slag pool according to the point cloud data of the slag pool. An automatic detection system for the material surface of a slag pool based on laser detection technology is provided to solve the problems of low work efficiency, high energy consumption, large equipment loss and environmental hazards in the grabbing operation of the slag pool in the prior art. In view of the defects of the prior art, the present invention performs laser scanning on the slag material surface of the slag pool, models the material surface using a three-dimensional object recognition algorithm, identifies the water accumulation in the slag pool, calculates a reasonable grabbing or stacking position, and makes the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the safe operation factor of the equipment and reducing environmental pollution hazards.

[0125] This embodiment also provides an electronic device, which may be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the electronic device may refer to the embodiments of the aforementioned method and device, the contents of which are incorporated herein, and the repeated parts are not repeated.

[0126] Figure 7FIG. 6 is a schematic block diagram of a system structure of an electronic device 600 according to an embodiment of the present invention. Figure 7 As shown, the electronic device 600 may include a central processor 100 and a memory 140; the memory 140 is coupled to the central processor 100. It should be noted that this figure is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0127] In one embodiment, the function of determining the material grabbing range of the slag flushing pool may be integrated into the central processor 100. The central processor 100 may be configured to perform the following control:

[0128] Scan the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface;

[0129] Determine the slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0130] The material grabbing range of the slag flushing pool material surface is determined according to the slag flushing pool point cloud data.

[0131] In this embodiment, scanning the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface includes:

[0132] Use laser equipment to scan the slag pool surface to obtain laser scanning data;

[0133] The three-dimensional coordinate data of the slag flushing pool material surface is determined according to the laser scanning data.

[0134] In this embodiment, determining the slag flushing pool point cloud data according to the three-dimensional coordinate data includes:

[0135] Performing point cloud formatting processing according to the three-dimensional coordinate data to generate point cloud data;

[0136] The point cloud data is calibrated and cut according to the preset slag flushing pool characteristic point data to generate the slag flushing pool point cloud data.

[0137] In this embodiment, the calibration of the point cloud data according to the preset slag flushing pool feature point data includes:

[0138] The point cloud data is calibrated according to the characteristic points of the slag flushing pool and the coordinates of the overhead crane controlling the grab bucket.

[0139] In this embodiment, the determining of the grabbing range of the material surface of the slag flushing pool according to the slag flushing pool point cloud data includes:

[0140] Determine the extreme value points of the slag flushing pool point cloud data according to the slag flushing pool point cloud data;

[0141] The grabbing range of the slag pool material surface is determined according to the extreme point, the pre-acquired edge position of the slag pool and the grab bucket parameters.

[0142] In this embodiment, the grab bucket parameters include: grab bucket size data and grab bucket swing value.

[0143] In this embodiment, the method further includes:

[0144] Determine the water accumulation position in the slag flushing pool according to the laser scanning data;

[0145] The material grabbing range of the material surface of the slag flushing pool is determined according to the water accumulation position of the slag flushing pool and the point cloud data of the slag flushing pool.

[0146] In another embodiment, the slag pool grabbing range determination device can be configured separately from the central processor 100. For example, the slag pool grabbing range determination device can be configured as a chip connected to the central processor 100, and the slag pool grabbing range determination function is realized through the control of the central processor.

[0147] like Figure 7 As shown, the electronic device 600 may further include: a communication module 110, an input unit 120, an audio processing unit 130, a display 160, and a power supply 170. It is worth noting that the electronic device 600 does not necessarily have to include Figure 7 In addition, the electronic device 600 may also include Figure 7 For components not shown, reference may be made to the prior art.

[0148] like Figure 7 As shown, the central processor 100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor devices and / or logic devices. The central processor 100 receives inputs and controls the operations of various components of the electronic device 600.

[0149] The memory 140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 100 may execute the program stored in the memory 140 to implement information storage or processing.

[0150] The input unit 120 provides input to the CPU 100. The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0151] The memory 140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 140 may also be some other type of device. The memory 140 includes a buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application / function storage unit 142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 600 through the central processor 100.

[0152] The memory 140 may also include a data storage unit 143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 144 of the memory 140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0153] The communication module 110 is a transmitter / receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter / receiver) 110 is coupled to the central processor 100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0154] Based on different communication technologies, multiple communication modules 110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module. The communication module (transmitter / receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide an audio output via the speaker 131 and receive an audio input from the microphone 132, thereby realizing a common telecommunication function. The audio processor 130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 130 is also coupled to the central processor 100, so that the sound can be recorded on the local machine through the microphone 132, and the sound stored on the local machine can be played through the speaker 131.

[0155] An embodiment of the present invention further provides a computer-readable program, wherein when the program is executed in an electronic device, the program enables a computer to execute the method for determining the material grabbing range of a slag flushing pool as described in the above embodiment in the electronic device.

[0156] An embodiment of the present invention further provides a storage medium storing a computer-readable program, wherein the computer-readable program enables a computer to execute the determination of the grabbing range of the slag flushing pool described in the above embodiment in an electronic device.

[0157] The present invention provides a slag pool material surface automatic detection system and method based on laser detection technology, which solves the problems of low work efficiency, high energy consumption, large equipment loss and environmental hazards in the slag pool material grabbing operation in the prior art. In view of the defects of the prior art, the present invention performs laser scanning on the slag pool slag material surface, models the material surface using a three-dimensional object recognition algorithm, identifies the water accumulation in the slag pool, calculates a reasonable material grabbing position, and makes the working mode of the overhead crane more reasonable, thereby improving efficiency, reducing energy consumption, improving the equipment safety operation coefficient and reducing environmental pollution hazards.

[0158] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings. Many features and advantages of these embodiments are clear from this detailed description, and therefore the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. In addition, since many modifications and changes are readily apparent to those skilled in the art, the embodiments of the present invention are not intended to be limited to the precise structure and operation illustrated and described, but all suitable modifications and equivalents that fall within their scope may be included.

[0159] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0163] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for determining the grabbing range of a slag flushing pool, characterized in that: The method includes: Scan the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface; Determine the slag flushing pool point cloud data according to the three-dimensional coordinate data; Determine the material grabbing range of the slag flushing pool material surface according to the slag flushing pool point cloud data; The method of determining the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool includes: Determine the extreme value points of the slag flushing pool point cloud data according to the slag flushing pool point cloud data; Determine the grabbing range of the slag flushing pool material surface according to the extreme value point, the pre-acquired edge position of the slag flushing pool and the grab bucket parameters; The grab bucket parameters include: grab bucket size data and grab bucket swing value; The scanning of the slag flushing pool to obtain the three-dimensional coordinate data of the slag flushing pool material surface includes: Use laser equipment to scan the slag pool surface to obtain laser scanning data; Determine the three-dimensional coordinate data of the slag flushing pool material surface according to the laser scanning data; The method further comprises: Determine the water accumulation position and material stacking position of the slag flushing pool according to the laser scanning data; Determining the extreme value points of the slag flushing pool point cloud data according to the slag flushing pool point cloud data, and determining the grabbing range of the slag flushing pool material surface according to the extreme value points, the pre-acquired slag flushing pool edge position and the grab bucket parameters, includes: The grabbing position is calculated by the grabbing algorithm, and then a circle is formed with the grabbing position as the center, n times the grabbing bucket length as the inner diameter, and n+1 times the grabbing bucket length as the outer diameter. The extreme point of the point cloud within the circle is calculated, and then the stockpile position is calculated based on the extreme point information, the edge information of the slag flushing pool, the grabbing bucket size and the grabbing bucket swing value; The material grabbing range of the material surface of the slag flushing pool is determined according to the water accumulation position, material stacking position and the point cloud data of the slag flushing pool.

2. The method for determining the grabbing range of the slag flushing pool according to claim 1, characterized in that: The step of determining the slag flushing pool point cloud data according to the three-dimensional coordinate data includes: Performing point cloud formatting processing according to the three-dimensional coordinate data to generate point cloud data; The point cloud data is calibrated and cut according to the preset slag flushing pool characteristic point data to generate the slag flushing pool point cloud data.

3. The method for determining the material grabbing range of the slag flushing pool according to claim 2, characterized in that: The calibrating of the point cloud data according to the preset slag flushing pool characteristic point data includes: The point cloud data is calibrated according to the characteristic points of the slag flushing pool and the coordinates of the overhead crane controlling the grab bucket.

4. A system for determining the material grabbing range of a slag flushing pool, characterized in that: The system comprises: A laser scanning device is used to scan the slag flushing pool to obtain three-dimensional coordinate data of the slag flushing pool material surface; A scanning data processing device, used to determine the point cloud data of the slag flushing pool according to the three-dimensional coordinate data; A range determination device, used to determine the material grabbing range of the slag flushing pool material surface according to the slag flushing pool point cloud data; The range determination device determines the grabbing range of the material surface of the slag flushing pool according to the point cloud data of the slag flushing pool, including: An extreme point determination unit, used for determining the extreme point of the slag flushing pool point cloud data according to the slag flushing pool point cloud data; A range determination unit determines the grabbing range of the slag flushing pool material surface according to the extreme value point, the pre-acquired edge position of the slag flushing pool and the grab bucket parameters; The grab bucket parameters include: grab bucket size data and grab bucket swing value; The laser scanning device is specifically used to: use laser equipment to scan the slag pool material surface to obtain laser scanning data, determine the three-dimensional coordinate data of the slag pool material surface according to the laser scanning data, and determine the water accumulation position and material stacking position of the slag pool according to the laser scanning data; The extreme point determination unit and the range determination unit are specifically used for: The grabbing position is calculated through the grabbing algorithm, and then a circle is formed with the grabbing position as the center, n times the grab length as the inner diameter, and n+1 times the grab length as the outer diameter, and the extreme points of the point cloud within the circle are calculated. The stacking position is calculated based on the extreme point information, the edge information of the slag pool, the grab size and the grab swing value. The grabbing range of the slag pool material surface is determined based on the water accumulation position of the slag pool, the stacking position and the point cloud data of the slag pool.

5. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method according to any one of claims 1 to 3.

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