CN108317974A - One discharge plate coal method and disk coal measures system - Google Patents
One discharge plate coal method and disk coal measures system Download PDFInfo
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- CN108317974A CN108317974A CN201810312993.4A CN201810312993A CN108317974A CN 108317974 A CN108317974 A CN 108317974A CN 201810312993 A CN201810312993 A CN 201810312993A CN 108317974 A CN108317974 A CN 108317974A
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- 239000003245 coal Substances 0.000 title claims abstract description 448
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005259 measurement Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 15
- 239000003610 charcoal Substances 0.000 description 10
- 238000004590 computer program Methods 0.000 description 4
- RHZUVFJBSILHOK-UHFFFAOYSA-N anthracen-1-ylmethanolate Chemical compound C1=CC=C2C=C3C(C[O-])=CC=CC3=CC2=C1 RHZUVFJBSILHOK-UHFFFAOYSA-N 0.000 description 2
- 239000003830 anthracite Substances 0.000 description 2
- 239000000571 coke Substances 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000003077 lignite Substances 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 230000003647 oxidation Effects 0.000 description 2
- 238000007254 oxidation reaction Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000002269 spontaneous effect Effects 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000010485 coping Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G9/00—Methods of, or apparatus for, the determination of weight, not provided for in groups G01G1/00 - G01G7/00
- G01G9/005—Methods of, or apparatus for, the determination of weight, not provided for in groups G01G1/00 - G01G7/00 using radiations, e.g. radioactive
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application provides a discharge plate coal methods and disk coal measures to unite, for easily carrying out disk coal work.Disk coal method provided by the present application, including：Disk coal measures system determines starting point；Disk coal measures system obtains the coal storage information of coal yard around coordinate origin from starting point；Disk coal system output coal storage information.As can be seen from the above technical solutions, the application has the following advantages：Disk coal measures system is by determining starting point, and from starting point, the coal storage information of coal yard is obtained around coordinate origin, coal storage information is exported again, so as to easily carry out the disk coal work of high automation, user's operation is largely avoided, higher accuracy can be also brought, so that the coal storage information that disk coal works is more reliable, to promote the intelligent operation in thermal power plant.
Description
Technical field
This application involves power field more particularly to a discharge plate coal methods and disk coal measures to unite.
Background technology
Currently, thermal power generation is main generation mode.
The main fuel in thermal power plant is coal, and thermal power plant is typically provided one or more coal yard to store
Coal is deposited, coal, which is put into burning in coal-burning boiler, can be obtained a large amount of thermal energy, then convert heat energy into electricity by relevant device
Can, to realize thermal power generation.
In the real work in thermal power plant, need to measure the coal storage of coal yard, to monitor coal
Consumption state, in existing disk coal mode, the user's operation being related to is actually cumbersome, how easily to carry out the work of disk coal and is still
Problem to be solved.
Invention content
This application provides a discharge plate coal methods and disk coal measures to unite, for easily carrying out disk coal work.
The application in a first aspect, provide a discharge plate coal method, including：
Disk coal measures system determines starting point；
Disk coal measures system obtains the coal storage information of coal yard around coordinate origin from starting point；
Disk coal system output coal storage information.
In conjunction with the application in a first aspect, in the application first aspect the first possible realization method, disk coal measures system from
Starting point, the coal storage information that coal yard is obtained around coordinate origin include：
Disk coal measures system obtains the polar angle for being tested coal storage point, polar angle and laser scanner from starting by Angle Measurement Module
Point is corresponding around the angle of coordinate origin to changing coordinates point；
Disk coal measures system is tested the polar diameter and height of coal storage point by laser scanner scans, and polar diameter and tested coal storage point are extremely
The distance of coordinate origin is corresponding；
Disk coal measures is united according to polar angle, polar diameter and height, and the threedimensional model of coal yard is established；
The coal storage information that disk coal measures is united according to obtaining three-dimensional model coal yard.
In conjunction with the first possible realization method of the application first aspect, in second of possible reality of the application first aspect
In existing mode, disk coal measures is united according to polar angle, polar diameter and height, and the threedimensional model for establishing coal yard includes：
Disk coal measures is united according to polar angle, polar diameter and height, and the triangular network threedimensional model of coal yard is established.
In conjunction with the first possible realization method of the application first aspect, in the third possible reality of the application first aspect
In existing mode, laser scanner is set to the pick-up arm of coal yard or the end of windrow arm, and Angle Measurement Module is set to pick-up arm
Or the turning positioning apparatus of windrow arm, Angle Measurement Module include velocity sensor and/or angular transducer.
In conjunction with the application in a first aspect, in the 4th kind of possible realization method of the application first aspect, disk coal measures system is defeated
Going out coal storage information includes：
Disk coal measures system exports coal storage information by wireless transmission to server so that server storage coal storage information,
And/or server is made to export coal storage information to user by terminal device.
In conjunction with the application in a first aspect, in the 5th kind of possible realization method of the application first aspect, coal yard includes
Multiple sub- Coal Storage Areas, every sub- Coal Storage Area correspond to different coals respectively.
The application provides discharge plate coal measures system in second aspect, including：
Determination unit, for determining starting point；
Acquiring unit, for from starting point, the coal storage information of coal yard to be obtained around coordinate origin；
Output unit, for exporting coal storage information.
In conjunction with the application second aspect, in the application second aspect the first possible realization method, acquiring unit, tool
Body is used for：
By Angle Measurement Module, the polar angle for being tested coal storage point is obtained, polar angle is with laser scanner from starting point around seat
The angle for marking origin to changing coordinates point is corresponding；
The polar diameter and height of coal storage point, polar diameter and tested coal storage point to coordinate origin are tested by laser scanner scans
Distance it is corresponding；
According to polar angle, polar diameter and height, the threedimensional model of coal yard is established；
According to the coal storage information of obtaining three-dimensional model coal yard.
In conjunction with the first possible realization method of the application second aspect, in second of possible reality of the application second aspect
In existing mode, laser scanner is set to the pick-up arm of coal yard or the end of windrow arm, and Angle Measurement Module is set to pick-up arm
Or the turning positioning apparatus of windrow arm, Angle Measurement Module include velocity sensor and/or angular transducer.
In conjunction with the application second aspect, in the application second aspect the third possible realization method, output unit, tool
Body is used for：
By wireless transmission coal storage information is exported to server so that server storage coal storage information, and/or make
Server exports coal storage information by terminal device to user.
The application provides a kind of computer readable storage medium in the third aspect, and computer readable storage medium includes
Instruction, when the instruction is run on disk coal measures system so that disk coal measures system executes such as above-mentioned the application first aspect and first
The flow of at least one of possible realization method in aspect.
The application provides a kind of computer program product in fourth aspect, and computer program product includes that computer is soft
Part instructs, when computer software instructions are run on disk coal measures system so that disk coal measures system executes such as above-mentioned the embodiment of the present application
The flow of at least one of possible realization method in first aspect and first aspect.
As can be seen from the above technical solutions, the application has the following advantages：
Disk coal measures system, from starting point, the coal storage information of coal yard is obtained around coordinate origin by determining starting point,
Coal storage information is exported again, so as to easily carry out the disk coal work of high automation, largely avoided user's operation, it can also band
Carry out higher accuracy so that the coal storage information that disk coal works is more reliable, to promote the intelligence in thermal power plant
Energyization is run.
Description of the drawings
Fig. 1 is a kind of embodiment schematic diagram of disk coal method provided by the present application；
Fig. 2 is a kind of schematic diagram of a scenario provided by the present application；
Fig. 3 is another embodiment schematic diagram of disk coal method provided by the present application；
Fig. 4 is another schematic diagram of a scenario provided by the present application；
Fig. 5 is another schematic diagram of a scenario provided by the present application；
Fig. 6 is a kind of embodiment schematic diagram of disk coal measures provided by the present application system.
Specific implementation mode
This application provides a discharge plate coal methods and disk coal measures to unite, for easily carrying out disk coal work.
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those skilled in the art's acquired every other implementation without creative efforts
Example, shall fall in the protection scope of this application.
In the following, starting to introduce the application.
First, referring to Fig. 1, Fig. 1 shows a kind of embodiment schematic diagram of disk coal method provided by the present application, such as Fig. 1
Shown, disk coal method method specifically includes as follows：
Step 101, disk coal measures system determines starting point；
In this application, disk coal measures system can be made of one or more equipment, such as with data-handling capacity
Output equipments such as the input equipments such as the processing equipments such as computer, scanner, display screen etc., do not limit specifically herein.
It is appreciated that starting point is a coordinate information, starting point is opposite with needing to carry out the target coal yard of disk coal work
Answer, disk coal measures system since starting point create target coal yard in institute's coal storage charcoal model, so as to carry out target coal yard its
The calculating of coal storage.
Specifically, starting point can be set in advance in by user in disk coal measures system, or carry out at the scene when disk coal works again
It is inputted in real time by user, or can also be stored with transmission in the equipment of starting point from other and obtain, do not limited herein specifically.
By determining that starting point, disk coal measures system can carry out executing operation needed for subsequent disk coal work.
Step 102, disk coal measures system obtains the coal storage information of coal yard around coordinate origin from starting point；
After determining starting point, disk coal measures, which is united, can create the model of institute's coal storage charcoal in coal yard, i.e., from starting point, surround
Coordinate origin starts to scan institute's coal storage charcoal in coal yard, obtains the coal storage information of coal yard.
By Fig. 2 shows a kind of schematic diagram of a scenario for, disk coal measures system determines starting point A first, is opened around coordinate origin O
Begin scanning coal yard in institute's coal storage charcoal, it will be understood that disk coal measures system can be created that according to this fan as shown in Figure 2 it is cricoid
Coal model S1, S2, S3, S4 can combine to obtain the complete coal model of coal yard after 360 ° when rounding.Certainly, it fans
The number of ring model does not limit specifically herein depending on actual demand, also, coal model is in addition to fan ring-type, or fan
Shape does not limit specifically herein.
It should be understood that disk coal measures system may be configured as obtaining the coal storage letter of coal yard around coordinate dot O clockwise
Breath, or the coal storage information of coal yard can also be obtained around coordinate dot O counterclockwise.
After obtaining the coal model of coal yard, disk coal measures is united can calculate the volume of coal storage according to coal model, meter
Calculate the quality of coal storage.
It is appreciated that in this application, the coal storage information of coal yard may include the volume, quality or area of coal storage
Equal parameter informations, do not limit specifically herein.
Coal storage information can be that the forms such as figure, report are constituted.
Step 103, disk coal system output coal storage information.
After getting the coal storage information of coal yard, disk coal measures system can export it.
Specifically, coal storage information can be shown to user, or coal storage information is transmitted to relevant device to carry out
Using.
From the foregoing, it will be observed that in disk coal method provided by the present application, disk coal measures system is by determining starting point, and from starting
Point, the coal storage information of coal yard is obtained around coordinate origin, then exports coal storage information, high automatic so as to easily carry out
The disk coal of change works, and largely avoided user's operation, can also bring higher accuracy so that the coal storage that disk coal works
Information is more reliable, to promote the intelligent operation in thermal power plant.
Further, another embodiment schematic diagram as shown in Figure 3, in practical applications, above-mentioned steps 102 specifically may be used
To include：
Step 301, disk coal measures system obtains the polar angle for being tested coal storage point by Angle Measurement Module；
Wherein, polar angle is corresponding around the angle of coordinate origin to changing coordinates point from starting point with laser scanner.
Step 302, disk coal measures system is tested the polar diameter and height of coal storage point by laser scanner scans；
Wherein, polar diameter is corresponding at a distance from tested coal storage point to coordinate origin.
In this application, the coal storage information of disk coal measures system acquisition coal yard by Angle Measurement Module and can specifically swash
Photoscanner is realized, wherein the LD-LRS3100 series that German western gram (SICK) company specifically may be used in laser scanner swashs
Photoscanner.
By taking another schematic diagram of a scenario shown in Fig. 4 as an example, herein, starting point A is set as laser scanner M start bits
The coordinate set is tested when laser scanner M is rotated clockwise around coordinate origin O by Angle Measurement Module
The polar angle θ of coal storage point C, it should be understood that polar angle θ is in horizontal plane projection, and the projection a of starting point A is rotated clockwise to currently
The angle ∠ aOb of the projection b of coordinate points B.
Meanwhile laser scanner M can also scan the polar diameter Y and height H of tested coal storage point C, it should be understood that polar diameter Y is quilt
The distance of the floor projection c to coordinate origin O of coal storage point C is surveyed, height H is tested coal storage point C at a distance from its floor projection c.
It should be appreciated that step 301 can be performed simultaneously with step 302；Alternatively, can also first carry out step 301, then execute step
302；Or can also Steps 302, then execute step 301, do not limit herein specifically.
Step 303, disk coal measures system establishes the threedimensional model of coal yard according to polar angle, polar diameter and height；
After the point of polar angle θ, the polar diameter Y and height H that get multiple tested coal storage points converge conjunction, disk coal measures system is
Conjunction can be converged according to the point, establish the threedimensional model of coal yard.
In practical applications, can default disk coal measures system 360 ° of complete scan is carried out around coordinate origin O, obtain coal yard
Complete coal model, or starting point A can also be respectively set and the point D that finishes, it is sat to which disk coal measures system is surround from starting point A
Origin O to the point D that finishes is marked, the coal model of coal yard part is obtained.
Step 304, disk coal measures system is according to the coal storage information of obtaining three-dimensional model coal yard.
After establishing the threedimensional model of coal yard, disk coal measures system can quickly and accurately be calculated according to the threedimensional model
To the volume of coal, to obtain the coal storage information of coal yard.
Further, converged according to polar angle θ, the polar diameter Y of multiple tested coal storage points and the point of height H above-mentioned build jointly it is vertical
During the threedimensional model of coal yard, disk coal measures system can also converge conjunction according to the point and build irregular triangular network, to
Triangular network threedimensional model is established, the true appearance of coal yard can be more accurately restored.
During this structure triangular network threedimensional model, the shape of coal is broken down into ten hundreds of triangular prisms
Body, disk coal measures system add up to the volume of all triangular prisms, you can more accurate by the volume of each tri-prismoid of calculating
Ground obtains the volume of coal, and then obtains the coal storage information of more accurate coal yard.
Further, also multiple sub- Coal Storage Areas, every sub- Coal Storage Area point can be arranged according to the classification of institute's coal storage charcoal in coal yard
Different coals is not corresponded to, as shown in Fig. 2, coal yard has been specifically divided into the totally 4 sub- Coal Storage Areas S1, S2, S3, S4.
Specifically, sub- Coal Storage Area can correspond to lignite, jet coal, non-caking coal, weakly caking coal, bottle coal, rich coal, coke respectively
The coals such as coal, lean coal, meager coal and anthracite.
It is appreciated that behind the sub- Coal Storage Area of setting, the coal of different types of coal can be distinguished, be convenient for the coal of different types of coal
Separately displaying and statistics, to contribute to coal yard management personnel that can grasp the different coal amounts and items of live subregion dump in real time
The index of coal, and accurately mixed according to Coal Blending Schemes with upper storehouse, take it is old deposit new, can also reduce part coal and deposit coal overlong time and make
At the risk of oxidation, spontaneous combustion.
Simultaneously it should be understood that after obtaining coal storage information, can also obtain again multiple tested coal storage points polar angle θ,
The point of polar diameter Y and height H converges conjunction, establishes the threedimensional model of coal yard wholly or partially, the data before covering, to
Carry out the update of wholly or partially data.
The application for ease of understanding may also be combined with a kind of schematic diagram of a scenario of the coal yard shown in Fig. 5, to the reality of the application
Border application illustrates.
As shown in Figure 5, on the one hand, velocity sensor and/or angular transducer can be equipped in Angle Measurement Module, pass through speed
Rotary speed, the rotation angle that degree sensor, angular transducer detect obtain the polar angle θ of tested coal storage point C, Angle Measurement Module
Turning positioning apparatus is installed on windrow arm or windrow arm end in the pick-up arm either turning positioning apparatus of windrow arm
Swiveling gear side, while turning positioning apparatus realizes the rotation of pick-up arm or windrow arm, Angle Measurement Module
Get the polar angle θ of tested coal storage point；On the other hand, laser scanner M is set to the end of pick-up arm or windrow arm, so as to
Larger scanning range is got, convenient for obtaining the polar diameter Y and height H that are tested coal storage point.
It is above-mentioned be related to data processing operation specifically can by set on data acquisition and procession center processing equipment realize,
Angle Measurement Module and laser scanner M are connected with processing equipment, to carry out the transmission of data.
After data acquisition and procession center obtains the coal storage information of coal yard, you can export it.
Specifically, for example data acquisition and procession center can pass through the display screen of itself processing equipment, loud speaker, vibrations horse
It reaches or the devices such as indicator light shows coal storage information to user；Alternatively, can also be connected by wire/wireless, such as data line,
The connection types such as cable, Wireless Fidelity (wireless fidelity, WIFI), bluetooth transmit coal storage to relevant presentation device
Information is measured, presentation device is after receiving the stability data, you can passes through the display screen, loud speaker, shake of presentation device itself
The dynamic devices such as motor or indicator light show that coal storage information, presentation device are specifically as follows computer, mobile phone, intelligent hand to user
The equipment such as the smartwatch such as ring, alternatively, can also be specifically display screen, loud speaker, the vibrations devices such as motor or indicator light, tool
Body does not limit herein.
Alternatively, data acquisition and procession center can also export coal storage information by wireless transmission to the server of distal end,
Make server storage coal storage information, carries out the calling of coal storage information in server end convenient for user or relevant device.
Alternatively, server also may make to export coal storage information to user by terminal device, terminal device is specifically as follows computer, hand
The equipment such as the smartwatch such as machine, Intelligent bracelet, to realize push of the coal storage information for user by server.
By the above-mentioned application in the outer server of disk coal measures system, the hardware cost of disk coal measures system itself can be not only saved, also
It may make disk coal systematic difference more flexible, have more generalization.
It is the introduction to disk coal method provided by the present application above, in the following, referring to Fig. 6, Fig. 6 is shown and disk coal method
The embodiment schematic diagram of corresponding disk coal measures system, disk coal measures system specifically include：
Determination unit 601, for determining starting point；
In this application, disk coal measures system can be made of one or more equipment, such as with data-handling capacity
Output equipments such as the input equipments such as the processing equipments such as computer, scanner, display screen etc., do not limit specifically herein.
It is appreciated that starting point is a coordinate information, starting point is opposite with needing to carry out the target coal yard of disk coal work
Answer, disk coal measures system since starting point create target coal yard in institute's coal storage charcoal model, so as to carry out target coal yard its
The calculating of coal storage.
Specifically, starting point can be set in advance in by user in disk coal measures system, or carry out at the scene when disk coal works again
It is inputted in real time by user, or can also be stored with transmission in the equipment of starting point from other and obtain, do not limited herein specifically.
By determining that starting point, disk coal measures system can carry out executing operation needed for subsequent disk coal work.
Acquiring unit 602, for from starting point, the coal storage information of coal yard to be obtained around coordinate origin；
After determining starting point, disk coal measures, which is united, can create the model of institute's coal storage charcoal in coal yard, i.e., from starting point, surround
Coordinate origin starts to scan institute's coal storage charcoal in coal yard, obtains the coal storage information of coal yard.
By Fig. 2 shows a kind of schematic diagram of a scenario for, disk coal measures system determines starting point A first, is opened around coordinate origin O
Begin scanning coal yard in institute's coal storage charcoal, it will be understood that disk coal measures system can be created that according to this fan as shown in Figure 2 it is cricoid
Coal model S1, S2, S3, S4 can combine to obtain the complete coal model of coal yard after 360 ° when rounding.Certainly, it fans
The number of ring model does not limit specifically herein depending on actual demand, also, coal model is in addition to fan ring-type, or fan
Shape does not limit specifically herein.
It should be understood that disk coal measures system may be configured as obtaining the coal storage letter of coal yard around coordinate dot O clockwise
Breath, or the coal storage information of coal yard can also be obtained around coordinate dot O counterclockwise.
After obtaining the coal model of coal yard, disk coal measures is united can calculate the volume of coal storage according to coal model, meter
Calculate the quality of coal storage.
It is appreciated that in this application, the coal storage information of coal yard may include the volume, quality or area of coal storage
Equal parameter informations, do not limit specifically herein.
Coal storage information can be that the forms such as figure, report are constituted.
Output unit 603, for exporting coal storage information.
After getting the coal storage information of coal yard, disk coal measures system can export it.
Specifically, coal storage information can be shown to user, or coal storage information is transmitted to relevant device to carry out
Using.
From the foregoing, it will be observed that uniting in disk coal measures provided by the present application, by determining starting point, and from starting point, around seat
It marks origin and obtains the coal storage information of coal yard, then export coal storage information, so as to easily carry out the disk coal of high automation
Work, largely avoided user's operation, can also bring higher accuracy so that the coal storage information that disk coal works is more
It is reliable, to promote the intelligent operation in thermal power plant.
Further, in practical applications, above-mentioned acquiring unit 602 specifically can be used for：
By velocity sensor and/or angular transducer, the polar angle for being tested coal storage point is obtained；
Wherein, polar angle is corresponding around the angle of coordinate origin to changing coordinates point from starting point with laser scanner.
The polar diameter and height of coal storage point are tested by laser scanner scans；
Wherein, polar diameter is corresponding at a distance from tested coal storage point to coordinate origin.
In this application, the coal storage information of the acquisition of acquiring unit 602 coal yard can specifically pass through velocity sensor, angle
Sensor and laser scanner are realized, wherein the LD- of German western gram (SICK) company specifically may be used in laser scanner
LRS3100 series laser scanners.
By taking another schematic diagram of a scenario shown in Fig. 4 as an example, herein, starting point A is set as laser scanner M start bits
The coordinate set passes through velocity sensor, angular transducer when laser scanner M is rotated clockwise around coordinate origin O
Rotary speed, the rotation angle of detection obtain the polar angle θ of tested coal storage point C, it should be understood that polar angle θ be in horizontal plane projection,
The projection a of starting point A is rotated clockwise to the angle ∠ aOb of the projection b of changing coordinates point B.
Meanwhile laser scanner M can also scan the polar diameter Y and height H of tested coal storage point C, it should be understood that polar diameter Y is quilt
The distance of the floor projection c to coordinate origin O of coal storage point C is surveyed, height H is tested coal storage point C at a distance from its floor projection c.
According to polar angle, polar diameter and height, the threedimensional model of coal yard is established；
After the point of polar angle θ, the polar diameter Y and height H that get multiple tested coal storage points converge conjunction, acquiring unit
602 can converge conjunction according to the point, establish the threedimensional model of coal yard.
In practical applications, can default disk coal measures system 360 ° of complete scan is carried out around coordinate origin O, obtain coal yard
Complete coal model, or starting point A can also be respectively set and the point D that finishes, it is sat to which disk coal measures system is surround from starting point A
Origin O to the point D that finishes is marked, the coal model of coal yard part is obtained.
According to the coal storage information of obtaining three-dimensional model coal yard.
After establishing the threedimensional model of coal yard, acquiring unit 602 can quickly and accurately be counted according to the threedimensional model
Calculation obtains the volume of coal, to obtain the coal storage information of coal yard.
Further, converged according to polar angle θ, the polar diameter Y of multiple tested coal storage points and the point of height H above-mentioned build jointly it is vertical
During the threedimensional model of coal yard, acquiring unit 602 can also converge conjunction according to the point and build irregular triangular network, from
And triangular network threedimensional model is established, it can more accurately restore the true appearance of coal yard.
During this structure triangular network threedimensional model, the shape of coal is broken down into ten hundreds of triangular prisms
Body, disk coal measures system add up to the volume of all triangular prisms, you can more accurate by the volume of each tri-prismoid of calculating
Ground obtains the volume of coal, and then obtains the coal storage information of more accurate coal yard.
Further, also multiple sub- Coal Storage Areas, every sub- Coal Storage Area point can be arranged according to the classification of institute's coal storage charcoal in coal yard
Different coals is not corresponded to, as shown in Fig. 2, coal yard has been specifically divided into the totally 4 sub- Coal Storage Areas S1, S2, S3, S4.
Specifically, sub- Coal Storage Area can correspond to lignite, jet coal, non-caking coal, weakly caking coal, bottle coal, rich coal, coke respectively
The coals such as coal, lean coal, meager coal and anthracite.
It is appreciated that behind the sub- Coal Storage Area of setting, the coal of different types of coal can be distinguished, be convenient for the coal of different types of coal
Separately displaying and statistics, to contribute to coal yard management personnel that can grasp the different coal amounts and items of live subregion dump in real time
The index of coal, and accurately mixed according to Coal Blending Schemes with upper storehouse, take it is old deposit new, can also reduce part coal and deposit coal overlong time and make
At the risk of oxidation, spontaneous combustion.
Simultaneously it should be understood that after obtaining coal storage information, can also obtain again multiple tested coal storage points polar angle θ,
The point of polar diameter Y and height H converges conjunction, establishes the threedimensional model of coal yard wholly or partially, the data before covering, to
Carry out the update of wholly or partially data.
The application for ease of understanding may also be combined with a kind of schematic diagram of a scenario of the coal yard shown in Fig. 5, to the reality of the application
Border application illustrates.
As shown in Figure 5, on the one hand, velocity sensor and/or angular transducer can be equipped in Angle Measurement Module, pass through speed
Rotary speed, the rotation angle that degree sensor, angular transducer detect obtain the polar angle θ of tested coal storage point C, Angle Measurement Module
Turning positioning apparatus is installed on windrow arm or windrow arm end in the pick-up arm either turning positioning apparatus of windrow arm
Swiveling gear side, while turning positioning apparatus realizes the rotation of pick-up arm or windrow arm, Angle Measurement Module
Get the polar angle θ of tested coal storage point；On the other hand, laser scanner M is set to the end of pick-up arm or windrow arm, so as to
Larger scanning range is got, convenient for obtaining the polar diameter Y and height H that are tested coal storage point.
It is above-mentioned be related to data processing operation specifically can by set on data acquisition and procession center processing equipment realize,
Angle Measurement Module and laser scanner M are connected with processing equipment, to carry out the transmission of data.
After data acquisition and procession center obtains the coal storage information of coal yard, you can export it.
Specifically, for example data acquisition and procession center can pass through the display screen of itself processing equipment, loud speaker, vibrations horse
It reaches or the devices such as indicator light shows coal storage information to user；Alternatively, can also be connected by wire/wireless, such as data line,
The connection types such as cable, WIFI, bluetooth transmit coal storage information to relevant presentation device, and presentation device is receiving this surely
After qualitative data, you can by the display screen of presentation device itself, loud speaker, shake the devices such as motor or indicator light to user
Show coal storage information, presentation device is specifically as follows the equipment such as the smartwatch such as computer, mobile phone, Intelligent bracelet, alternatively, specifically
It can also be display screen, loud speaker, the vibrations devices such as motor or indicator light, not limit herein specifically.
Alternatively, data acquisition and procession center can also export coal storage information by wireless transmission to the server of distal end,
Make server storage coal storage information, carries out the calling of coal storage information in server end convenient for user or relevant device.
Alternatively, server also may make to export coal storage information to user by terminal device, terminal device is specifically as follows computer, hand
The equipment such as the smartwatch such as machine, Intelligent bracelet, to realize push of the coal storage information for user by server.
By the above-mentioned application in the outer server of disk coal measures system, the hardware cost of disk coal measures system itself can be not only saved, also
It may make disk coal systematic difference more flexible, have more generalization.
The embodiment of the present application also provides a kind of computer readable storage medium, computer readable storage medium includes referring to
It enables, when the instruction is run on disk coal measures system so that disk coal measures system is executed such as the disk coal side in Fig. 1 or Fig. 3 corresponding embodiments
Flow in method.
The embodiment of the present application also provides a kind of computer program product, computer program product includes that computer software refers to
It enables, when computer software instructions are run on disk coal measures system so that disk coal measures system is executed as in Fig. 1 or Fig. 3 corresponding embodiments
Disk coal method in flow.
It should be appreciated that in the various embodiments of the application, size of the sequence numbers of the above procedures is not meant to execute
The execution sequence of the priority of sequence, each process should be determined by its function and internal logic, the reality without coping with the embodiment of the present application
It applies process and constitutes any restriction.
The above, above example are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to before
Embodiment is stated the application is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the range of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a discharge plate coal method, which is characterized in that including：
Disk coal measures system determines starting point；
The disk coal measures system obtains the coal storage information of coal yard around coordinate origin from the starting point；
Coal storage information described in the disk coal system output.
2. disk coal method according to claim 1, which is characterized in that the disk coal measures system is from the starting point, around seat
Mark origin obtain coal yard coal storage information include：
Disk coal measures system obtains the polar angle for being tested coal storage point by Angle Measurement Module, the polar angle and laser scanner from
The starting point is corresponding around the angle of the coordinate origin to changing coordinates point；
Disk coal measures system by being tested the polar diameter and height of coal storage point described in the laser scanner scans, the polar diameter and
The distance of tested coal storage point to the coordinate origin is corresponding；
The disk coal measures system establishes the threedimensional model of the coal yard according to the polar angle, the polar diameter and the height；
The disk coal measures system is according to coal storage information described in the obtaining three-dimensional model.
3. disk coal method according to claim 2, which is characterized in that the disk coal measures system is according to the polar angle, the pole
Diameter and the height, the threedimensional model for establishing the coal yard include：
The disk coal measures system establishes the triangular network three of the coal yard according to the polar angle, the polar diameter and the height
Dimension module.
4. disk coal method according to claim 2, which is characterized in that the laser scanner is set to taking for the coal yard
Expect that the end Angle Measurement Module of arm either windrow arm is set to the revolution positioning dress of the pick-up arm or the windrow arm
It sets, the Angle Measurement Module includes velocity sensor and/or angular transducer.
5. disk coal method according to claim 1, which is characterized in that coal storage packet described in the disk coal system output
It includes：
The disk coal measures system exports the coal storage information by wireless transmission to server so that described in the server storage
Coal storage information, and/or the server is made to export the coal storage information to user by terminal device.
6. disk coal method according to claim 1, which is characterized in that the coal yard includes multiple sub- Coal Storage Areas, each
The sub- Coal Storage Area corresponds to different coals respectively.
7. a discharge plate coal measures is united, which is characterized in that including：
Determination unit, for determining starting point；
Acquiring unit, for from the starting point, the coal storage information of coal yard to be obtained around coordinate origin；
Output unit, for exporting the coal storage information.
8. disk coal measures system according to claim 7, which is characterized in that the acquiring unit is specifically used for：
By Angle Measurement Module, the polar angle for being tested coal storage point, the polar angle and laser scanner are obtained from the starting point ring
Angle around the coordinate origin to changing coordinates point is corresponding；
By being tested the polar diameter and height of coal storage point, the polar diameter and the tested coal storage described in the laser scanner scans
The distance of point to the coordinate origin is corresponding；
According to the polar angle, the polar diameter and the height, the threedimensional model of the coal yard is established；
According to coal storage information described in the obtaining three-dimensional model.
9. disk coal measures system according to claim 8, which is characterized in that the laser scanner is set to taking for the coal yard
Expect that the end Angle Measurement Module of arm either windrow arm is set to the revolution positioning dress of the pick-up arm or the windrow arm
It sets, the Angle Measurement Module includes velocity sensor and/or angular transducer.
10. disk coal measures system according to claim 7, which is characterized in that the output unit is specifically used for：
By wireless transmission the coal storage information is exported to server so that coal storage information described in the server storage,
And/or the server is made to export the coal storage information to user by terminal device.
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