Measuring stockpiles
Patent Information
- Application Number
- EP2023787016
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-09-30
- Filing Date
- 2023-09-22
- Publication Date
- 2025-03-26
AI Technical Summary
Current methods for determining the position and orientation of scanners in stockpile measurement are time-consuming, error-prone, and require manual calculations and a surveyor, making them inefficient and costly.
A method and system where a scanner detects reference points on a reference body to determine its position and orientation using software, allowing for precise measurement of stockpile position and volume without manual calculations, utilizing a computing unit and scanners like 2D or 3D laser scanners.
This approach simplifies and reduces the cost of scanner positioning, enables easier and quicker orientation determination, and provides real-time monitoring of stockpile volume and position, reducing the need for manual know-how and maintaining high measurement accuracy.
Smart Images
Figure 1.1
Abstract
Description
[0001] Description
[0002] Surveying of dumps
[0003] The invention relates to a method, a measuring system, a computer program and a computer program product for measuring stockpiles.
[0004] Surveying dumps is used particularly in the mining industry, but also, for example, during the loading and / or unloading of ships. To measure objects—such as a (bulk material) dump—the (mounting) position and orientation of the scanner must be precisely known. Drone systems that determine their position via GPS are now also available for this purpose.
[0005] For terrestrial systems, the current process for determining the position and orientation of a scanner is typically as follows:
[0006] 1 . Determination of the scanner position by surveyor or by hand,
[0007] 2 . Determination of the scanner orientation , 3a . Installation of an inclinometer or
[0008] 3b. Recording scan data, manual calculation of scanner alignment, and re-recording scan data to verify the calculated parameters.
[0009] The invention is based on the object of improving the measurement of dumps compared to the state of the art.
[0010] This object is achieved by a method for measuring a stockpile, wherein at least one scanner detects at least one reference point of at least one reference body, wherein at least one scanner position and one scanner orientation are determined for the at least one scanner based on the at least one detected reference point, wherein scan data from the stockpile are detected by the at least one scanner and wherein at least the position and the volume of the stockpile are determined based on the scan data.
[0011] The object is further achieved by a measuring system for measuring a stockpile, comprising at least one computing unit, at least one scanner and at least one reference body which has at least one reference point, wherein at least one reference point can be detected by at least one scanner, wherein at least one scanner position and one scanner orientation can be determined on the basis of the at least one reference point for the at least one scanner in the computing unit, wherein scan data from the stockpile can be detected by the at least one scanner and wherein at least the position and the volume of the stockpile can be determined in the computing unit on the basis of the scan data.
[0012] The object is further achieved by a computer program and a computer program product having the features specified in claims 11 and 12.
[0013] The position of characteristic (reference) points of the reference body in space is known through measurement using simple tools. Existing reference bodies (walls, etc.) or specially constructed reference bodies (cubes of sufficient size, etc.) can be used as reference bodies and measured by the scanner. Software then determines the position and orientation of the scanner through calculations. Using this information, the position and volume of the stockpile can then be measured very precisely. It is clear that, depending on the visibility of the stockpile from the respective scanner position or positions, several scanners and / or reference bodies can be used for this purpose. The available options naturally always depend on the specific application in each individual case. For example, depending on the bulk material,Increased dust development can lead to a scanner position that would otherwise be well suited to the end of a stacker being replaced by perhaps two scanners positioned to the side of the stockpile. With the solution according to the invention, the scanner position can be determined using software without the need for a surveyor. This makes determining the scanner position easier and cheaper. The alignment of the scanner can also be determined much more easily and quickly using software. The time-consuming and error-prone manual calculation is no longer necessary, meaning that significantly less expertise is required.
[0014] In an advantageous embodiment, a 2D or 3D laser scanner is used as at least one scanner. Various types of scanners are, of course, conceivable (optical, acoustic, etc.), but these laser scanners have now become established and are available at a reasonable price, offering high quality.
[0015] In a further advantageous embodiment, at least the position and volume of the stockpile are transmitted to a higher-level control system. This way, the control system, which controls, for example, a stacker, is informed of the size and thus, if applicable, the remaining capacity of the stockpile and can act accordingly.
[0016] In another advantageous embodiment, a profile of the stockpile is visualized based on its position and volume. This makes it easier for a human operator to assess the situation.
[0017] In a further advantageous embodiment, the steps of acquiring the scan data and determining the position and volume of the stockpile are carried out repeatedly.
[0018] With a sufficiently high "frequency" of repetition, the heap can be monitored in real time.
[0019] In a further advantageous embodiment, the steps of detecting at least one reference point and determining the scanner position and orientation are performed repeatedly. This allows the scanner position and orientation to be recalibrated at least occasionally, particularly with scanners that are not completely stationary (such as attachment points on spreaders, excavators, etc.), so that the accuracy of the Haiden measurement can be maintained at a consistently high level.
[0020] In the following, the invention is described and explained in more detail with reference to the embodiment shown in the figure.
[0021] The figure shows a schematic representation of a stockpile 1 onto which bulk material is unloaded via a spreader. At the end of the spreader there is a scanner 2 for measuring the stockpile 1. To calibrate the scanner 2, i.e. to determine the scanner position and the scanner orientation, reference points 3 on a reference body 4 are recorded and from these the scanner position and the scanner orientation are determined with the help of a program that runs in a computing unit 5 of the measuring system, which comprises at least the computing unit 5, the scanner 2 and the reference body 4. The scanner 2, which is advantageously designed as a 2D or 3D laser scanner, then scans the stockpile 1 and transmits the scan data to the computing unit 5 for determining the position and volume of the stockpile 1. This can be done for example via a wireless data connection, as shown in the figure.The position and volume of the stockpile 1 can be transmitted from the computing unit 5, preferably via a suitable communication interface 6, to a higher-level control system. The computing unit 5 can either be mobile or integrated into another system, for example, into a stacker's control system. Advantageously, a profile of the stockpile 1 can also be visualized in an output unit 7 of the computing unit 5, which makes it easier for a stacker operator, for example, to assess the situation.
[0022] In summary, the invention relates to a method, a
[0023] Measuring system, a computer program and a computer program product for measuring stockpiles. In order to improve the measurement of stockpiles compared to the prior art, a method for measuring a stockpile is proposed, wherein at least one scanner detects at least one reference point of at least one reference body, wherein at least one scanner position and one scanner orientation are determined for the at least one scanner based on the at least one detected reference point, wherein scan data from the stockpile are detected by the at least one scanner and wherein at least the position and the volume of the stockpile are determined based on the scan data.The object is further achieved by a measuring system for measuring a stockpile, comprising at least one computing unit, at least one scanner and at least one reference body which has at least one reference point, wherein at least one reference point can be detected by at least one scanner, wherein at least one scanner position and one scanner orientation can be determined on the basis of the at least one reference point for the at least one scanner in the computing unit, wherein scan data from the stockpile can be detected by the at least one scanner and wherein at least the position and the volume of the stockpile can be determined in the computing unit on the basis of the scan data. With the solution according to the invention, the scanner position and the scanner orientation can be determined with the aid of software without the need for a surveyor. This makes measuring the stockpile simpler and cheaper.
Claims
Patent claims 1. Method for measuring a stockpile (1), wherein at least one scanner (2) detects at least one reference point (3) of at least one reference body (4), wherein at least one scanner position and one scanner orientation are determined for the at least one scanner (2) on the basis of the at least one detected reference point (3), wherein scan data from the stockpile (1) are detected by the at least one scanner (2) and wherein at least the position and the volume of the stockpile (1) are determined on the basis of the scan data.
2. Method according to claim 1, wherein a 2D or 3D laser scanner is used as at least one scanner (2).
3. Method according to claim 1 or 2, wherein at least the position and the volume of the stockpile (1) are transmitted to a higher-level control system.
4. Method according to one of the preceding claims, wherein a profile of the stockpile (1) is visualized based on the position and the volume.
5. Method according to one of the preceding claims, wherein the steps of acquiring the scan data and determining the position and volume of the stockpile (1) are carried out repeatedly.
6. Method according to one of the preceding claims, wherein the steps of detecting at least one reference point (3) and determining the scanner position and the scanner orientation are carried out repeatedly.
7. Measuring system for measuring a stockpile (1), comprising at least one computing unit (5), at least one scanner (2) and at least one reference body (4) having at least one reference point (3), wherein at least one reference point (3) can be detected by at least one scanner (2), wherein at least one scanner position and one scanner orientation can be determined on the basis of the at least one reference point (3) for the at least one scanner (2) in the computing unit (5), wherein scan data from the stockpile (1) can be detected by the at least one scanner (2) and wherein at least the position and the volume of the stockpile (1) can be determined in the computing unit (5) on the basis of the scan data.
8. Measuring system according to claim 7, wherein at least one scanner (2) is designed as a 2D or 3D laser scanner.
9. Measuring system according to claim 7 or 8, wherein at least the position and the volume of the stockpile (1) can be transmitted to a higher-level control system via a communication interface (6).
10. Measuring system according to one of claims 7 to 9, wherein a profile of the stockpile (1) can be visualized in an output unit (7) based on the position and the volume.
11. Computer program for carrying out a method according to one of claims 1 to 6 when executed in a computing unit (5) of a measuring system according to one of claims 7 to 10.
12. A computer program product comprising at least one computer program according to claim 11.