Method and system for detecting filling rate of cylindrical mixer

Abstract

The invention discloses a method for detecting the filling rate of a cylindrical mixer, which comprises the following steps of: scanning unfilled materials and a mixer filled with the materials from an outlet end to obtain three-dimensional point clouds A and B respectively; extracting inlet and outlet data point clouds C and C'from the three-dimensional point cloud A, and extracting inlet and outlet data point clouds D and D 'from the three-dimensional point cloud B; respectively constructing inlet and outlet end face point sets RC and RC'of the cylindrical mixer based on the data point clouds C and C ', and respectively constructing inlet and outlet end face point sets RD and RD' of the cylindrical mixer based on the data point clouds D and D '; calculating the volume V of the cylindrical mixer based on the gridded three-dimensional point cloud A, the inlet end surface point set RC and the outlet end surface point set RC ', and calculating the volume V' of the cylindrical mixer based on the three-dimensional point cloud B, the inlet end surface point set RD and the outlet end surface point set RD '; the filling rate # imgabs0 # of the cylinder mixer is calculated through the three-dimensional point cloud of the cylinder mixer obtained through periodical scanning of three-dimensional laser, and instant and accurate detection of the filling rate of the cylinder mixer is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of steel sintering, and more particularly, to a filling rate detection method and system for a cylindrical mixer. Background Art

[0002] In the whole sintering process, the granulation process is an important part of iron ore sintering. The quality of sintering mixed granulation is inseparable from the drum mixer and various process parameters in the mixing granulation process. The filling rate is a major factor affecting the granulation effect of the mixture.

[0003] The filling rate refers to the percentage of the material volume within a drum mixer to the drum volume. This has a significant impact on output, mixing, and pelletizing performance. When the filling rate is too low, the interaction forces between materials are too weak, making it difficult for adherent fine powder to adhere to the pellet cores, resulting in slow pellet growth and unfavorable pelletizing. This also results in low productivity and fails to meet production requirements. Increasing the filling rate, while maintaining the same mixing time, not only increases the output of the drum mixer but also increases the proportion of material in a rolling state, increasing the interaction forces between materials, promoting the adhesion of fine powder to the pellet cores and the gradual growth of pellets. This improves pelletizing performance and increases the average particle size of the sintered mix. However, if the filling rate of a drum mixer is too high, while output increases, the thickened material layer restricts and disrupts material movement, affecting the otherwise optimal motion trajectory, hindering mixing and pelletizing, and worsening pelletizing performance. Therefore, the actual filling rate of the mixer is directly related to the efficiency of the sintering process and the effectiveness of pelletizing the sintered raw materials.

[0004] In the prior art, the filling rate of a cylindrical mixer is calculated based on parameters such as mixture flow rate, static bulk density, mixer size and mixing time. Since the static method is used to measure the mixture bulk density, the actual bulk density of the mixture after mixing and granulation in the mixer is quite different from the static bulk density, and the mixing time of the mixture is also difficult to accurately measure, which leads to a large error in the calculated filling rate of the cylindrical mixer. Summary of the Invention

[0005] The present invention provides a filling rate detection method for a drum mixer, aiming to improve at least one of the above problems.

[0006] The present invention is achieved by providing a method for detecting the filling rate of a drum mixer, the method being specifically as follows:

[0007] (1) The 3D laser radar scans the unfilled cylindrical mixer and the filled mixer from the outlet to obtain 3D point clouds A and B, respectively;

[0008] (2) extracting data point cloud C of the cylindrical mixer inlet and data point cloud C′ of the cylindrical mixer outlet from the three-dimensional point cloud A, and extracting data point cloud D of the cylindrical mixer inlet and data point cloud D′ of the cylindrical mixer outlet from the three-dimensional point cloud B;

[0009] (3) Based on the data point cloud C and the data point cloud C′, the three-dimensional point cloud A is constructed to correspond to the inlet end surface point set RC and the outlet end surface point set RC′ of the cylindrical mixer. Based on the data point cloud D and the data point cloud D′, the three-dimensional point cloud B is constructed to correspond to the inlet end surface point set RD and the outlet end surface point set RD of the cylindrical mixer.

[0010] (4) Based on the gridded three-dimensional point cloud A, the inlet end point set RC, and the outlet end point set RC′, the volume V of the cylindrical mixer is calculated. Based on the three-dimensional point cloud B, the inlet end point set RD, and the outlet end point set RD′, the volume V′ of the cylindrical mixer is calculated. The filling rate of the cylindrical mixer is calculated.

[0011] Furthermore, the extraction process of data point cloud C and data point cloud C′ is as follows:

[0012] (21) Based on the set scanning angle step α, the three-dimensional point cloud A is divided into a set of sectors SA.

[0013] (22) Calculate the i-th sector SA i The angle between each point and the oyz surface is calculated, and the point cloud with the maximum angle and the point cloud close to the maximum angle is identified as the import point cloud C of the i-th sector on the mixer. i (x c ,y c ,z c ), point cloud C i (x c ,y c ,z c ) into the data point cloud C, and the point cloud with the minimum angle and the point cloud close to the minimum angle is identified as the exit point cloud C of the i-th sector of the mixer i ′(x c ,y c ,z c ), point cloud C i ′(x c ,y c ,z c )Input the data point cloud C′;

[0014] (23) Traverse all sectors in the set of sectors SA.

[0015] Furthermore, the construction process of the import end face point set RC is as follows:

[0016] (31) From point cloud C i (xc ,y c ,z c ) Extraction point and point in,

[0017] (32) At the point with dot Insert equally spaced data points between them;

[0018] (33) Traverse all sectors in the set of sectors SA and complete the construction of the import end face point set RC.

[0019] Further, the fan SA i Import point cloud C i (x c ,y c ,z c ) The coordinates of the j-th data point inserted in RC ij (x c-ij ,y c-ij ,z c-ij ) The calculation formula is as follows:

[0020]

[0021] Among them, J represents the point with dot The number of equally spaced data points inserted between

[0022] Furthermore, the point cloud above the horizontal plane oxy in the point cloud dataset A is put into the point cloud dataset A′, and the point cloud below the horizontal plane oxy in the point cloud dataset A is put into the point cloud dataset A″. The calculation formula of the volume V of the cylindrical mixer is as follows:

[0023] V=uv(∑z Ckk′ +∑z A′kk′ -∑z A″kk′ -∑z C′kk′ )

[0024] Among them, (x A′kk′ ,y A′kk′ ,z A′kk′ )∈WA′(x kk′ ,y kk′ ,z kk' ), WA′(x kk' ,y kk' ,z kk' ) is the point cloud in the point cloud dataset A′ mapped to the grid cells to form a dataset; (x A″kk′ ,y A″kk′ ,zA″kk′ )∈WA″(x kk' ,y kk' ,z kk' ), WA″(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the point cloud dataset A″ mapped to the grid cells to form a dataset; (x Ckk′ ,r Ckk′ ,z Ckk′ )∈WRC(x kk′ ,y kk′ ,z kk′ ), WRC(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the imported end face point set RC mapped to the grid unit to form a data set; (x C′kk′ ,r C′kk′ ,z C′kk′ )∈WRC′(x kk′ ,y kk′ ,z kk′ ), WRC′(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the outlet end face point set RC′ mapped to the grid cells to form a data set;.

[0025] Furthermore, the point cloud above the horizontal plane oxy in the point cloud dataset B is put into the point cloud dataset B′, and the point cloud below the horizontal plane oxy in the point cloud dataset B is put into the point cloud dataset B″. The calculation formula of the material volume V′ of the cylindrical mixer is as follows:

[0026] V′=uv(∑z Dkk′ +∑z B′kk′ -∑z B″kk′ -∑z D′kk′ );

[0027] Among them, (x B′kk′ ,y B′kk′ ,z B′kk′ )∈WB′(x kk' ,y kk' ,z kk′ ), WB′(x kk' ,y kk' ,z kk' ) is the point cloud in the point cloud dataset B′ mapped to the grid unit to form a dataset; (x B″kk′ ,y B″kk′ ,z B″kk′ )∈WB″(x kk' ,y kk' ,z kk' ), WB″(xkk' ,y kk' ,z kk' ) is the point cloud in the point cloud dataset B″ mapped to the grid cells to form a dataset; (x Dkk′ ,r Dkk′ ,z Dkk′ )∈WRD(x kk′ ,y kk′ ,z kk′ ), WRD(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the import end face point set RD mapped to the grid unit to form a data set; (x D′kk′ ,r D′kk′ ,z D′kk′ )∈WRD′(x kk′ ,y kk′ ,z kk′ ), WRD′(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the outlet end face point set RD′ mapped to the grid unit to form a data set.

[0028] Furthermore, the dataset WA′(x kk' ,y kk' ,z kk' ) is represented as follows:

[0029]

[0030] Among them, k, k'∈Z, Z is an integer, WA'(x kk' ,y kk' ,z kk' ) represents the centroid coordinates formed after the point cloud in the point cloud dataset A′ is mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K1 represents the number of points in the point cloud dataset A′ mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0031] The present invention also provides a filling rate detection system for a drum mixer, the system comprising:

[0032] A three-dimensional laser radar is installed at the outlet of the cylindrical mixer;

[0033] The processing unit is connected to the three-dimensional laser radar for communication. The three-dimensional laser radar sends the three-dimensional point cloud B currently scanned to the processing unit. The processing unit stores the three-dimensional point cloud A scanned when the cylindrical mixer is not filled with materials. The processing unit calculates the filling rate of the cylindrical mixer based on the above-mentioned filling rate detection method of the cylindrical mixer.

[0034] Furthermore, the three-dimensional laser radar periodically scans the three-dimensional point cloud A of the drum mixer that is not filled with materials, and updates the three-dimensional point cloud A stored in the processing unit.

[0035] The present invention obtains three-dimensional point clouds of the cylindrical mixer and the mixture in the cylinder through three-dimensional laser periodic scanning, calculates the filling rate of the cylindrical mixer based on the scanned three-dimensional point cloud, and realizes instant and accurate detection of the filling rate of the cylindrical mixer, providing key technical support for further optimization of the mixing and granulation link in the sintering control process, thereby laying a solid foundation for improving the granulation effect and quality of the mixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of a method for detecting a filling rate of a drum mixer provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of segmenting a three-dimensional point cloud into sectors according to an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of extracting the inlet and outlet points of a mixer based on a sector point cloud according to an embodiment of the present invention;

[0039] Figure 4 The fan SA provided by the embodiment of the present invention i Schematic diagram of part of the outlet end face of the area. DETAILED DESCRIPTION

[0040] The specific implementation methods of the present invention will be further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0041] Figure 1 This is a flow chart of a method for detecting the filling rate of a drum mixer provided by an embodiment of the present invention. The method is specifically as follows:

[0042] (1) The 3D laser radar scans the unfilled cylindrical mixer and the filled mixer from the outlet to obtain 3D point clouds A and B, respectively;

[0043] The 3D LiDAR scans the unfilled cylindrical mixer from the outlet, obtaining 3D point clouds A and B. The 3D LiDAR scans the filled cylindrical mixer from the outlet, obtaining 3D point cloud B. Of course, the point cloud data obtained by the 3D LiDAR scan includes some background point clouds, which need to be removed to form 3D point clouds A and B.

[0044] (2) extracting data point cloud C of the cylindrical mixer inlet and data point cloud C′ of the cylindrical mixer outlet from the three-dimensional point cloud A, and extracting data point cloud D of the cylindrical mixer inlet and data point cloud D′ of the cylindrical mixer outlet from the three-dimensional point cloud B;

[0045] In the embodiment of the present invention, the extraction process of the data point cloud C and the data point cloud C′ is as follows:

[0046] (21) Based on the set scanning angle step α, the three-dimensional point cloud A is divided into a set of sectors SA.

[0047] In z a ≥0, the i-th sector SA i The specific meaning is as follows:

[0048]

[0049] In z a <0, the i-th sector SA i The specific meaning is as follows:

[0050]

[0051] Among them, (x a ,y a ,z a ) is the coordinate of the point in the three-dimensional point cloud A in the laser radar coordinate system, and the fan SA i like Figure 2 shown.

[0052] (22) Calculate the i-th sector SA i The angle between each point and the oyz surface is calculated, and the point cloud with the maximum angle and the point cloud close to the maximum angle is identified as the i-th sector import point cloud C on the mixer. i (x c ,y c ,z c ), point cloud C i (x c ,y c ,z c ) into the data point cloud C, and the point cloud with the minimum angle and the point cloud close to the minimum angle is identified as the exit point cloud C′ of the i-th sector of the mixer i (x c ,y c ,z c ), point cloud C′ i (x c ,y c ,z c )Input the data point cloud C′;

[0053]

[0054] Due to the sector SA i There may be several points at the inlet of the cylindrical mixer, whose angles with the oyz plane are very close to the maximum angle, so the points whose difference with the maximum angle is less than the set difference threshold are identified as the points at the inlet of the cylindrical mixer. Similarly, due to the sector SA i There may be several points located at the outlet of the cylindrical mixer, whose angles with the oyz plane are very close to the minimum angle. Therefore, all points whose difference with the minimum angle is less than the set difference threshold are identified as the points at the outlet of the cylindrical mixer.

[0055] (23) Traverse all sectors in the set of sectors SA.

[0056] In the embodiment of the present invention, the extraction process of the data point cloud D and the data point cloud D′ is as follows:

[0057] (24) Based on the set scanning angle step α, the three-dimensional point cloud B is divided into a set of sectors SB.

[0058] In z b ≥0, the i-th sector SB i The specific meaning is as follows:

[0059]

[0060] In z b <0, the i-th sector SB i The specific meaning is as follows:

[0061]

[0062] Among them, (x b ,y b ,z b ) is the coordinate of the point in the three-dimensional point cloud B in the lidar coordinate system.

[0063] (25) Calculate the i-th sector SB i The angle between each point and the oyz surface is calculated, and the point cloud with the maximum angle or close to the maximum angle is identified as the imported point cloud D of the mixer. i (x d ,y d ,z d ), point D i (x d ,y d ,z d ) into the data point cloud D, and the point cloud with the minimum angle and the point cloud close to the minimum angle are identified as the output point cloud D′ of the mixer i (x d ,y d ,z d ), point D′i (x d ,y d ,z d ) into the data point cloud C′.

[0064]

[0065] Due to the fan SB i There may be several points located at the inlet of the cylindrical mixer, and the angle between them and the oyz plane is very close to the maximum angle. Therefore, the points whose difference with the maximum angle is less than the set difference threshold are identified as the points at the inlet of the cylindrical mixer. Similarly, due to the fan SB i There may be several points located at the outlet of the cylindrical mixer, whose angles with the oyz plane are very close to the minimum angle. Therefore, all points whose difference with the minimum angle is less than the set difference threshold are identified as the points at the outlet of the cylindrical mixer. Figure 3 Given sector SA i Schematic diagram of the extraction of the import point cloud and export point cloud in , ox′ is the fan SA i The projection line of the line connecting the entry point, exit point and coordinate origin on the oyz plane.

[0066] (26) Traverse all sectors in the set of sectors SB.

[0067] (3) Based on the data point cloud C and the data point cloud C′, the three-dimensional point cloud A corresponding to the inlet end surface point set RC and the outlet end surface point set RC′ of the cylindrical mixer are constructed respectively; based on the data point cloud D and the data point cloud D′, the three-dimensional point cloud B corresponding to the inlet end surface point set RD and the outlet end surface point set RD′ of the cylindrical mixer are constructed respectively;

[0068] In the embodiment of the present invention, the construction process of the inlet end face point set RC is as follows:

[0069] (31) From point cloud C i (x c ,y c ,z c ) Extraction point and point in,

[0070] (32) At the point with dot Insert equidistant data points between to complete the i-th sector SA i Construction of part of the inlet end face in the area;

[0071] In the embodiment of the present invention, the sector SA i Import point cloud C i (xc ,y c ,z c ) The coordinates of the j-th data point inserted in RC ij (x c-ij ,y c-ij ,z c-ij ) The calculation formula is as follows:

[0072]

[0073] Among them, J represents the point with dot The number of equally spaced data points inserted between

[0074] (33) Traverse all sectors in the set of sectors SA and complete the construction of the import end face point set RC.

[0075] In the embodiment of the present invention, the process of constructing the outlet end face point set RC′ is as follows:

[0076] (34) From the point cloud C′ i (x c ,y c ,z c ) Extraction point and point in,

[0077] (35) At the point with dot Insert equidistant data points between them to complete the i-th sector SA of the export i The construction of some inlet end faces in the area, such as Figure 4 As shown;

[0078] In the embodiment of the present invention, the sector SA i The export point cloud C′ i (x c ,y c ,z c ) The coordinates of the j-th data point inserted in RC′ ij (x c-ij ,y c-ij ,z c-ij ) The calculation formula is as follows:

[0079]

[0080] Among them, J represents the point with dot The number of equally spaced data points inserted between

[0081] (36) Traverse all sectors in the set of sectors SA and complete the construction of the exit end face point set RC′.

[0082] In the embodiment of the present invention, the construction process of the inlet end face point set RD is as follows:

[0083] (37) From point cloud D i (x d ,y d ,z d ) Extraction point and point in,

[0084] (38) At the point with dot Insert equidistant data points between them to complete the import of the i-th sector SB i Construction of part of the inlet end face in the area;

[0085] In the embodiment of the present invention, the fan SB i Import point cloud D i (x d ,y d ,z d ) The coordinates of the j-th data point inserted in RD ij (x d-ij ,y d-ij ,z d-ij ) The calculation formula is as follows:

[0086]

[0087] Among them, J represents the point with dot The number of equally spaced data points inserted between

[0088] (39) Traverse all sectors in the set of sectors SA and complete the construction of the import end face point set RD.

[0089] In the embodiment of the present invention, the process of constructing the outlet end face point set RD′ is as follows:

[0090] (310) From the point cloud D′ i (x d ,y d ,z d ) Extraction point and point in,

[0091] (311) At the point with dot Insert equidistant data points between them to complete the i-th sector SB of the export i Construction of part of the inlet end face in the area;

[0092] In the embodiment of the present invention, the fan SB i The export point cloud D′ i (x d ,y d ,z d ) The coordinates of the j-th data point inserted in RD′ ij (x d-ij ,y d-ij ,z d-ij ) The calculation formula is as follows:

[0093]

[0094] Among them, J represents the point with dot The number of equally spaced data points inserted between

[0095] (312) Traverse all sectors in the set of sectors SB to complete the construction of the exit end face point set RD′.

[0096] (4) Based on the gridded three-dimensional point cloud A, the inlet end point set RC, and the outlet end point set RC′, the volume V of the cylindrical mixer is calculated. Based on the three-dimensional point cloud B, the inlet end point set RD, and the outlet end point set RD′, the volume V′ of the cylindrical mixer is calculated.

[0097] In an embodiment of the present invention, a grid with an x-axis spacing of u and a y-axis spacing of v is set on the horizontal plane oxy of the three-dimensional laser scanning points, the point cloud dataset A and the point cloud dataset B are mapped to the corresponding grid cells, the centroid of the point cloud above and below the oxy surface in each grid is calculated, and the corresponding hybrid volume gridded dataset is constructed.

[0098] In the embodiment of the present invention, the gridding process of the point cloud dataset A is as follows:

[0099] Put the point cloud above the horizontal plane oxy in the point cloud dataset A into the point cloud dataset A′, and put the point cloud below the horizontal plane oxy in the point cloud dataset A into the point cloud dataset A″;

[0100] Map the point cloud in the point cloud dataset A′ to the grid cells as follows:

[0101]

[0102] Among them, k, k'∈Z, Z is an integer, WA'(xkk' ,y kk' ,z kk' ) represents the centroid coordinates formed after the point cloud in the point cloud dataset A′ is mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K1 represents the number of points in the point cloud dataset A′ mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0103] The point cloud in the point cloud dataset A″ is mapped to the grid cells as follows:

[0104]

[0105] Among them, k, k'∈Z, Z is an integer, WA″(x kk' ,y kk' ,z kk' ) represents the centroid coordinates formed after the point cloud in the point cloud dataset A″ is mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction, and K2 represents the number of points in the point cloud dataset A″ mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction.

[0106] In this embodiment of the present invention, the gridding process of the point cloud dataset B is as follows:

[0107] The point cloud in the point cloud dataset B that is above the horizontal plane oxy is put into the point cloud dataset B′, and the point cloud in the point cloud dataset B that is below the horizontal plane oxy is put into the point cloud dataset B″.

[0108] Map the point cloud in the point cloud dataset B′ to the grid cells as follows:

[0109]

[0110] Among them, k, k'∈Z, Z is an integer, WB'(x kk' ,y kk' ,z kk' ) represents the centroid coordinates formed after the point cloud in the point cloud dataset B′ is mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction, and K3 represents the number of points in the point cloud dataset B′ mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction.

[0111] Map the point cloud in the point cloud dataset B" to the grid cells as follows:

[0112]

[0113] Among them, k, k'∈Z, Z is an integer, WB″(x kk' ,y kk' ,z kk') represents the centroid coordinates formed after the point cloud in the point cloud dataset B″ is mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction, and K4 represents the number of points in the point cloud dataset B″ mapped to the k-th grid in the x-axis direction and the k′-th grid in the y-axis direction.

[0114] In the embodiment of the present invention, the meshing process of the inlet end face point set RC is specifically as follows:

[0115]

[0116] Among them, k, k'∈Z, Z is an integer, WRC(x kk′ ,y kk′ ,z kk′ ) represents the centroid coordinates formed by mapping the point cloud in the import end face point set RC to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K5 represents the number of points in the import end face point set RC mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0117] In the embodiment of the present invention, the meshing process of the outlet end face point set RC′ is specifically as follows:

[0118]

[0119] Among them, k, k'∈Z, Z is an integer, WRC'(x kk′ ,y kk′ ,z kk′ ) represents the centroid coordinates formed after the point cloud in the outlet end face point set RC′ is mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K6 represents the number of points in the outlet end face point set RC′ mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0120] In the embodiment of the present invention, the meshing process of the inlet end face point set RD is specifically as follows:

[0121]

[0122] Among them, k, k'∈Z, Z is an integer, WRD(x kk′ ,y kk′ ,z kk′ ) represents the centroid coordinates formed by mapping the point cloud in the import end face point set RD to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K6 represents the number of points in the import end face point set RD mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0123] In the embodiment of the present invention, the meshing process of the outlet end face point set RD′ is specifically as follows:

[0124]

[0125] Among them, k, k'∈Z, Z is an integer, WRD'(x kk′ ,y kk′ ,z kk′ ) represents the centroid coordinates formed after the point cloud in the outlet end face point set RD′ is mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K7 represents the number of points in the outlet end face point set RD′ mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

[0126] In the embodiment of the present invention, the calculation formula of the volume V of the cylindrical mixer when not filled with material is as follows:

[0127] V=uv(∑z Ckk′ +∑z A′kk′ -∑z A″kk′ -∑z C′kk′ )

[0128] Among them, (x A′kk′ ,y A′kk′ ,z A′kk′ )∈WA′(x kk' ,y kk' ,z kk' ), (x A″kk′ ,y A″kk′ ,z A″kk′ )∈WA″(x kk' ,y kk' ,z kk' );

[0129] (x Ckk′ ,r Ckk′ ,z Ckk ′)∈WRC(x kk′ ,y kk′ ,z kk′ ), (x C′kk′ ,r C′kk′ ,z C′kk′ )∈WRC′(x kk′ ,y kk′ ,z kk′ ).

[0130] In the embodiment of the present invention, the difference between the volume V of the cylindrical mixer when not filled with material and the volume of the material is defined as the material capacity volume. The calculation formula of the material capacity volume V′ of the cylindrical mixer is as follows:

[0131] V′=uv(Σz Dkk′ +∑z B′kk′ -∑z B″kk′ -Σz D′kk′ );

[0132] Among them, (x B′kk′ ,y B′kk′ ,zB′kk′ )∈WB′(x kk' ,y kk' ,z kk' ), (x B″kk′ ,y B″kk′ ,z B″kk′ )∈WB″(x kk' ,y kk' ,z kk' );

[0133] (x Dkk′ ,r Dkk′ ,z Dkk′ )∈WRD(x kk′ ,y kk′ ,z kk′ ), (x D′kk′ ,r D′kk′ ,z D′kk′ )∈WRD′(x kk′ ,y kk′ ,z kk′ ).

[0134] An embodiment of the present invention further provides a filling rate detection system for a drum mixer, the system comprising:

[0135] A three-dimensional laser radar is installed at the outlet of the cylindrical mixer;

[0136] The processing unit is connected to the three-dimensional laser radar for communication. The three-dimensional laser radar sends the three-dimensional point cloud B currently scanned to the processing unit. The processing unit stores the three-dimensional point cloud A scanned when the cylindrical mixer is not filled with materials. The processing unit calculates the filling rate of the cylindrical mixer based on the above-mentioned filling rate detection method of the cylindrical mixer.

[0137] In an embodiment of the present invention, in order to more accurately calculate the filling rate of the cylindrical mixer, the three-dimensional laser radar periodically scans the three-dimensional point cloud A of the cylindrical mixer that is not filled with materials, and updates the three-dimensional point cloud A stored in the processing unit.

[0138] The present invention obtains three-dimensional point clouds of the cylindrical mixer and the mixture in the cylinder through three-dimensional laser periodic scanning, calculates the filling rate of the cylindrical mixer based on the scanned three-dimensional point cloud, and realizes instant and accurate detection of the filling rate of the cylindrical mixer, providing key technical support for further optimization of the mixing and granulation link in the sintering control process, thereby laying a solid foundation for improving the granulation effect and quality of the mixture.

[0139] The present invention has been described exemplarily. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A method for detecting the filling rate of a drum mixer, characterized in that: The method is specifically as follows: (1) The 3D laser radar scans the unfilled cylindrical mixer and the filled mixer from the outlet to obtain 3D point clouds A and B, respectively; (2) extracting data point cloud C of the cylindrical mixer inlet and data point cloud C′ of the cylindrical mixer outlet from the three-dimensional point cloud A, and extracting data point cloud D of the cylindrical mixer inlet and data point cloud D′ of the cylindrical mixer outlet from the three-dimensional point cloud B; (3) Based on the data point cloud C and the data point cloud C′, the three-dimensional point cloud A corresponding to the inlet end surface point set RC and the outlet end surface point set RC′ of the cylindrical mixer are constructed respectively; based on the data point cloud D and the data point cloud D′, the three-dimensional point cloud B corresponding to the inlet end surface point set RD and the outlet end surface point set RD′ of the cylindrical mixer are constructed respectively; (4) Based on the gridded three-dimensional point cloud A, the inlet end point set RC, and the outlet end point set RC′, the volume V of the cylindrical mixer is calculated. Based on the three-dimensional point cloud B, the inlet end point set RD, and the outlet end point set RD′, the volume V′ of the cylindrical mixer is calculated. The filling rate of the cylindrical mixer is calculated.

2. The method for detecting the filling rate of a drum mixer according to claim 1, wherein: The extraction process of data point cloud C and data point cloud C′ is as follows: (21) Based on the set scanning angle step α, the three-dimensional point cloud A is divided into a set of sectors SA. (22) Calculate the i-th sector SA i The angle between each point and the oyz surface is calculated, and the point cloud with the maximum angle and the point cloud close to the maximum angle is identified as the import point cloud C of the i-th sector on the mixer. i (x c ,y c ,z c ), point cloud C i (x c ,y c ,z c ) into the data point cloud C, and the point cloud with the minimum angle and the point cloud close to the minimum angle is identified as the exit point cloud C of the i-th sector of the mixer i ′(x c ,y c ,z c ), point cloud C i ′(x c ,y c ,z c )Input the data point cloud C′; (23) Traverse all sectors in the set of sectors SA.

3. The method for detecting the filling rate of a drum mixer according to claim 2, wherein: The construction process of the imported end point set RC is as follows: (31) From point cloud C i (x c ,y c ,z c ) Extraction point and point in, (32) At the point with dot Insert equally spaced data points between them; (33) Traverse all sectors in the set of sectors SA and complete the construction of the import end face point set RC.

4. The method for detecting the filling rate of a drum mixer according to claim 3, wherein: Fan SA i Import point cloud C i (x c ,y c ,z c ) The coordinates of the j-th data point inserted in RC ij (x c-ij ,y c-ij ,z c-ij ) The calculation formula is as follows: Among them, J represents the point with dot The number of equally spaced data points inserted between 5. The method for detecting the filling rate of a drum mixer according to claim 3, wherein: The point cloud above the horizontal plane oxy in the point cloud dataset A is placed in the point cloud dataset A′, and the point cloud below the horizontal plane oxy in the point cloud dataset A is placed in the point cloud dataset A″. The calculation formula for the volume V of the cylindrical mixer is as follows: V=uv(∑z Ckk′ +∑z A′kk′ +∑z A″kk′ -∑z C′kk′ ) Among them, (x A′kk′ ,y A′kk′ ,z A′kk′ )∈WA′(x kk′ ,y kk′ ,z kk′ ), WA′(x kk' ,y kk' ,z kk' ) is the point cloud in the point cloud dataset A′ mapped to the grid cells to form a dataset; (x A″kk′ ,y A″kk′ ,z A″kk′ )∈WA″(x kk' ,y kk' ,z kk' ), WA″(x kk' ,y kk′ ,z kk′ ) is the point cloud in the point cloud dataset A″ mapped to the grid cells to form a dataset; (x Ckk′ ,r Ckk′ ,z Ckk′ )∈WRC(x kk′ ,y kk′ ,z kk′ ), WRC(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the imported end face point set RC mapped to the grid unit to form a data set; (x C′kk′ ,r C′kk′ ,z C′kk′ )∈WRC′(x kk′ ,y kk′ ,z kk′ ), WRC′(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the outlet end face point set RC′ mapped to the grid cells to form a data set.

6. The method for detecting the filling rate of a drum mixer according to claim 3, wherein: The point cloud above the horizontal plane oxy in the point cloud dataset B is placed in the point cloud dataset B′, and the point cloud below the horizontal plane oxy in the point cloud dataset B is placed in the point cloud dataset B″. The calculation formula for the volume V′ of the cylindrical mixer is as follows: V′=uv(∑z Dkk′ +∑z B′kk′ -∑z B″kk′ -∑z D′kk′ ); Among them, (x B′kk′ ,y B′kk′ ,z B′kk′ )∈WB′(x kk′ ,y kk′ ,z kk' ), WB′(x kk' ,y kk′ ,z kk′ ) is the point cloud in the point cloud dataset B′ mapped to the grid unit to form a dataset; (x B″kk′ ,y B″kk′ ,z B″kk′ )∈WB″(x kk′ ,y kk′ ,z kk′ ), WB″(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the point cloud dataset B″ mapped to the grid cells to form a dataset; (x Dkk′ ,r Dkk′ ,z Dkk′ )∈WRD(x kk′ ,y kk′ ,z kk′ ), WRD(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the import end face point set RD mapped to the grid unit to form a data set; (x D′kk′ ,r D′kk′ ,z D′kk′ )∈WRD′(x kk′ ,y kk′ ,z kk′ ), WRD′(x kk′ ,y kk′ ,z kk′ ) is the point cloud in the outlet end face point set RD′ mapped to the grid unit to form a data set.

7. The method for detecting the filling rate of a drum mixer according to claim 5, wherein: Dataset WA′(x kk′ ,y kk′ ,z kk′ ) is represented as follows: Among them, k, k'∈Z, Z is an integer, WA'(x kk′ ,y kk′ ,z kk′ ) represents the centroid coordinates formed after the point cloud in the point cloud dataset A′ is mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction, and K1 represents the number of points in the point cloud dataset A′ mapped to the kth grid in the x-axis direction and the k′th grid in the y-axis direction.

8. A filling rate detection system for a drum mixer, characterized in that: The system comprises: A three-dimensional laser radar is installed at the outlet of the cylindrical mixer; The processing unit is communicatively connected to the three-dimensional laser radar. The three-dimensional laser radar sends the three-dimensional point cloud B currently scanned to the processing unit. The processing unit stores the three-dimensional point cloud A scanned when the cylindrical mixer is not filled with material. The processing unit calculates the filling rate of the cylindrical mixer based on the filling rate detection method of the cylindrical mixer described in any one of claims 1 to 7.

9. The filling rate detection system for a drum mixer according to claim 8, wherein: The three-dimensional laser radar periodically scans the three-dimensional point cloud A of the drum mixer that is not filled with materials, and updates the three-dimensional point cloud A stored in the processing unit.

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