CN109490901A - UAV system laser scanning system and its measurement method for coal handling capacity - Google Patents
UAV system laser scanning system and its measurement method for coal handling capacity Download PDFInfo
- Publication number
- CN109490901A CN109490901A CN201811394423.0A CN201811394423A CN109490901A CN 109490901 A CN109490901 A CN 109490901A CN 201811394423 A CN201811394423 A CN 201811394423A CN 109490901 A CN109490901 A CN 109490901A
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- point cloud
- handling capacity
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- 239000003245 coal Substances 0.000 title claims abstract description 30
- 238000000691 measurement method Methods 0.000 title claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000007728 cost analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of UAV system laser scanning systems and its measurement method for coal handling capacity, wherein UAV system laser scanning system includes unmanned plane, and be installed in the unmanned plane load position Laser Light Plane Scanning module, inertia measuring module, point cloud data integrate module, data integrity flies control module and volume differences resolve module；It is an advantage of the current invention that can accurately measure coal handling capacity, while having the characteristics that low in cost, operation is convenient in measurement process.
Description
Technical field
The present invention relates to a kind of laser scanning measurement methods, more particularly, to a kind of UAV system for coal handling capacity
Laser scanning system and its measurement method.
Background technique
Mining listed corporations need to be related to a large amount of coal feedstocks in bulk in daily production work, and fixed venue pair need to be arranged
It is stored.As the coal feedstock in daily production is constantly stored in and takes out, stockpile is difficult to timely be cleared up
And check, it is therefore provided that the clear heap period reach 1 year it is even longer so that the volume of coal feedstock be difficult to obtain it is accurate
Record.During deposit and taking-up, largely weighing belt is used to measure coal feedstock, and belt scale metering misses
Difference is larger, it is difficult to the access situation of accurate recording raw material.Above-mentioned reason result according to deposit weight and take out weight statistics and
To deposit deviation larger for the quantity in stock and actual library amount come, and inventory's deviation is larger brings many adverse effects, such as inventory to production
Error is larger, and guidance buying kind and purchase quantity that can be wrong cause business capital to waste；Or the inventory when Qing Dui makes an inventory of goods in a warehouse
Profit and loss are larger, and profit and loss are shared in of that month cost, are affected to bona fide cost, are unfavorable for cost analysis.
To solve the above-mentioned problems, the manufacturing enterprise in existing market mostly uses the methods of laser or far infrared ranging to carry out
Coal material stack volume calculates, using the above method, needed for external device it is more and complicated, advantage is had no in cost control；
Measurement process is relatively complicated simultaneously, and measuring result error is larger, or even manifest error occurs, so be difficult to effectively survey
Measure the volume of bulk cargo stockpile.
Summary of the invention
Object of the present invention is to: it provides a kind of for the UAV system laser scanning system of coal handling capacity and its measurement side
Method can accurately measure coal handling capacity, while have the characteristics that low in cost, operation is convenient in measurement process.
The technical scheme is that a kind of UAV system laser scanning system for coal handling capacity, including installation
Module, data integrity are integrated in the Laser Light Plane Scanning module in unmanned plane load position, inertia measuring module, point cloud data
Fly control module and volume differences resolve module.
A kind of measurement method of the UAV system laser scanning system as described above for coal handling capacity, the measurement side
Method includes the following steps:
Laser Light Plane Scanning module, inertia measuring module, point cloud data are integrated module by step 1), data integrity flies control
Module, volume differences resolve the load position that module is installed on unmanned plane, then by Laser Light Plane Scanning module perpendicular to nothing
Scanning coal stacks region and obtains laser scanning data in the plane of man-machine heading；
Step 2) uses inertia measuring module rectification step 1) in obtained laser scanning data, and according to scanning element
Height and distance records the point cloud data of each scanning element；
Step 3) integrates the point cloud data that module deletes the same scanning element of redundancy using point cloud data, so that one is swept
Described point only corresponds to a point cloud data；
Step 4) according to preset standard scan point quantity, position with currently measure scanning element quantity, position into
Row comparison, flies the position of control module park scan blind area using data integrity, and controls unmanned plane and carry out secondary sweep in blind area
It retouches, until obtain preset standard scan point quantity, control unmanned plane ends task return；
Step 5) finally resolves module according to the current stereo data and initial volumetric in coal stacking region using volume differences
The difference of data calculates the handling capacity of coal.
The invention has the advantages that
1. the present invention is used for the UAV system laser scanning system and its measurement method of coal handling capacity, can accurately measure
Coal handling capacity, while having the characteristics that low in cost, operation is convenient in measurement process.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is the UAV system laser scanning system schematic diagram for coal handling capacity of the invention.
Specific embodiment
Embodiment: shown in referring to Fig.1, a kind of UAV system laser scanning system for coal handling capacity, including nobody
Machine, and the Laser Light Plane Scanning module that is installed in unmanned plane load position, inertia measuring module, point cloud data integrate mould
Block, data integrity fly control module and volume differences resolve module.
Measurement method for the UAV system laser scanning system of coal handling capacity as described above, includes the following steps:
Laser Light Plane Scanning module, inertia measuring module, point cloud data are integrated module by step 1), data integrity flies control
Module, volume differences resolve the load position that module is installed on unmanned plane, then by Laser Light Plane Scanning module perpendicular to nothing
Scanning coal stacks region and obtains laser scanning data in the plane of man-machine heading；
Step 2) uses inertia measuring module rectification step 1) in obtained laser scanning data, and according to scanning element
Height and distance records the point cloud data of each scanning element；
Step 3) integrates the point cloud data that module deletes the same scanning element of redundancy using point cloud data, so that one is swept
Described point only corresponds to a point cloud data；
Step 4) according to preset standard scan point quantity, position with currently measure scanning element quantity, position into
Row comparison, flies the position of control module park scan blind area using data integrity, and controls unmanned plane and carry out secondary sweep in blind area
It retouches, until obtain preset standard scan point quantity, control unmanned plane ends task return；
Step 5) finally resolves module according to the current stereo data and initial volumetric in coal stacking region using volume differences
The difference of data calculates the handling capacity of coal.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (2)
1. a kind of UAV system laser scanning system for coal handling capacity, which is characterized in that including unmanned plane, and installation
In in the unmanned plane load position Laser Light Plane Scanning module, inertia measuring module, that point cloud data integrates module, data is complete
Whole property flies control module and volume differences resolve module.
2. a kind of measurement method for the UAV system laser scanning system of coal handling capacity as described in claim 1, special
Sign is that the measurement method includes the following steps:
Laser Light Plane Scanning module, inertia measuring module, point cloud data are integrated module by step 1), data integrity flies control mould
Block, volume differences resolve the load position that module is installed on unmanned plane, then by Laser Light Plane Scanning module perpendicular to nobody
Scanning coal stacks region and obtains laser scanning data in the plane of machine heading；
Step 2) uses inertia measuring module rectification step 1) in obtained laser scanning data, and the height according to scanning element
The point cloud data of each scanning element is recorded with distance；
Step 3) integrates the point cloud data that module deletes the same scanning element of redundancy using point cloud data, so that a scanning element
Only correspond to a point cloud data；
Step 4) carries out pair according to preset standard scan point quantity, position and the scanning element quantity that currently measures, position
Than flying the position of control module park scan blind area using data integrity, and control unmanned plane and carry out rescan in blind area, directly
To obtaining preset standard scan point quantity, control unmanned plane ends task return；
Step 5) finally resolves module according to the current stereo data and initial volumetric data in coal stacking region using volume differences
Difference, calculate the handling capacity of coal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394423.0A CN109490901A (en) | 2018-11-21 | 2018-11-21 | UAV system laser scanning system and its measurement method for coal handling capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394423.0A CN109490901A (en) | 2018-11-21 | 2018-11-21 | UAV system laser scanning system and its measurement method for coal handling capacity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109490901A true CN109490901A (en) | 2019-03-19 |
Family
ID=65697355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811394423.0A Pending CN109490901A (en) | 2018-11-21 | 2018-11-21 | UAV system laser scanning system and its measurement method for coal handling capacity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109490901A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| WO2017092180A1 (en) * | 2015-12-01 | 2017-06-08 | 中国矿业大学 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
| CN108801236A (en) * | 2018-06-27 | 2018-11-13 | 苏州瑞耀三维科技有限公司 | A kind of mine laser indicator device |
-
2018
- 2018-11-21 CN CN201811394423.0A patent/CN109490901A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104279955A (en) * | 2014-09-26 | 2015-01-14 | 华北电力大学（保定） | Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft |
| WO2017092180A1 (en) * | 2015-12-01 | 2017-06-08 | 中国矿业大学 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
| CN108801236A (en) * | 2018-06-27 | 2018-11-13 | 苏州瑞耀三维科技有限公司 | A kind of mine laser indicator device |
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Application publication date: 20190319 |