CN112407979B - Automatic material taking method and system based on stock yard scanning imaging - Google Patents
Automatic material taking method and system based on stock yard scanning imaging Download PDFInfo
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- CN112407979B CN112407979B CN202011253361.9A CN202011253361A CN112407979B CN 112407979 B CN112407979 B CN 112407979B CN 202011253361 A CN202011253361 A CN 202011253361A CN 112407979 B CN112407979 B CN 112407979B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
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Abstract
The invention provides an automatic material taking method and system based on stock yard scanning imaging, belonging to the technical field of mechanical automatic material taking and comprising the steps of obtaining stock pile point cloud image data; extracting a three-dimensional point cloud model of the material pile in the material pile point cloud image data; carrying out point cloud merging, denoising, segmentation and fitting on the three-dimensional point cloud model of the stockpile to obtain the height of the stockpile; layering the material pile height according to a preset material taking process strategy; calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model; and controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking. According to the invention, the operation motion parameters of the reclaimer are determined according to the process requirements by processing the pile images acquired in real time, and the reclaimer is controlled to automatically reclaim the pile according to the operation motion parameters, so that manual field operation is not needed, the manual labor intensity is reduced, the working efficiency is improved, the manual labor cost is reduced, and the production safety is improved.
Description
Technical Field
The invention relates to the technical field of mechanical automatic material taking, in particular to an automatic material taking method and system based on stock yard scanning imaging.
Background
In the steel production, a raw material yard is used for storing, transferring and conveying raw materials, and the steel production is guaranteed. The raw material yard mainly stores raw materials and fuels required in the steel refining process. The area for stacking raw materials and raw materials is called a material pile, and the feeding process is the process of conveying the raw materials on the specified material pile to smelting devices such as a blast furnace and the like.
In the feeding process, the raw materials on the material pile need to be taken to a conveying belt through a material piling and taking machine, and the conveying belt conveys the raw materials to smelting devices such as a blast furnace and the like.
The existing stacker-reclaimer operation mode mostly takes manual operation as a main mode, and operators sit in a cab to operate the stacker-reclaimer, so that the spirit is high, the dust on an operation site is large, the operation environment is severe, and the labor intensity of operators is high. In addition, during operation, the sight is often blocked, and potential safety hazards are easy to appear in the operation process.
Disclosure of Invention
The invention aims to provide an automatic material taking method and system based on stockyard scanning imaging, which can obtain control parameters based on real-time acquired stockyard site pictures after processing and control a material taking machine to automatically take materials based on the control parameters, so as to solve at least one technical problem in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the invention provides an automatic material taking method based on stock yard scanning imaging, which comprises the following steps:
acquiring material pile point cloud image data;
extracting a three-dimensional point cloud model of the material pile in the material pile point cloud image data;
carrying out point cloud merging, denoising, segmentation and fitting treatment on the three-dimensional point cloud model of the stockpile to obtain the height of the stockpile;
layering the material pile height according to a preset material taking process strategy;
calculating operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
and controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking.
Preferably, the reclaimer operation control parameters include: pitch angle, reclaimer position, automatic alignment cut-in rotation point.
Preferably, the material taking process strategy comprises: the layering height, the cutting depth and the layering length of the material pile.
Preferably, calculating the pitch angle comprises: extracting the boundary of the material pile, mapping the boundary to a layer plane of a corresponding layer, and calculating a pitch angle corresponding to the layer according to the layer height of the corresponding layer:
wherein h is1Indicating the height of the pile, h2L-meter for indicating the height of the large arm rotation point of the reclaimer from the ground Showing the length of the large arm of the reclaimer.
Preferably, the position of the reclaimer is calculated according to the lower boundary of the pile and the relative position between the reclaimer and the boundary of the pile, and if the coordinate of the lower boundary of the pile is y, the position of the reclaimer is as follows: y is1＝y-L×cos(theta)。
Preferably, the automatic alignment cut-in rotation point is as follows:
and Dis represents the distance between the material taking machine and the material pile boundary.
In a second aspect, the invention provides an automatic material taking system based on stock yard scanning imaging, which implements the above automatic material taking method based on stock yard scanning imaging;
the automatic material taking system comprises:
the image acquisition devices are arranged on two sides of the large arm of the reclaimer and used for acquiring material pile point cloud image data and extracting a three-dimensional point cloud model of the material pile in the material pile point cloud image data;
the material pile height calculating module is used for carrying out point cloud merging, denoising, segmentation and fitting processing on the three-dimensional point cloud model of the material pile to obtain the height of the material pile;
the layering module is used for layering the height of the material pile according to a preset material taking process strategy;
the control parameter calculation module is used for calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
and the controller is used for controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking.
Preferably, the control parameter calculation module includes:
the pitch angle calculation unit is used for extracting the boundary of the material pile, mapping the boundary to a layer plane of a corresponding layer, and calculating a pitch angle corresponding to the layer according to the layer height of the corresponding layer;
the reclaimer position calculating unit is used for calculating the position of the reclaimer according to the lower boundary of the material pile and the relative position of the reclaimer and the boundary of the material pile;
and the automatic alignment cutting-in rotation point calculation unit is used for calculating an automatic alignment cutting-in rotation point.
In a third aspect, the present invention also provides a computer device comprising a memory and a processor, the processor and the memory being in communication with each other, the memory storing program instructions executable by the processor, the processor calling the program instructions to perform the method as described above.
In a fourth aspect, the present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method as described above.
The invention has the beneficial effects that: through processing the stockpile images acquired in real time, the operation motion parameters of the reclaimer are determined according to the process requirements, the reclaimer is controlled to automatically take the stockpile according to the operation motion parameters, manual field operation is not needed, the manual labor intensity is reduced, the working efficiency is improved, the manual labor cost is reduced, and the production safety is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an automatic material fetching method based on stock yard scanning imaging according to an embodiment of the present invention.
Fig. 2 is a schematic view of a pitch angle calculation model according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a calculation model of an automatic alignment plunge rotation point according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
For the purpose of facilitating an understanding of the present invention, the present invention will be further explained by way of specific embodiments with reference to the accompanying drawings, which are not intended to limit the present invention.
It should be understood by those skilled in the art that the drawings are merely schematic representations of embodiments and that the elements shown in the drawings are not necessarily required to practice the invention.
Example 1
The embodiment 1 of the invention provides an automatic material taking system based on stock yard scanning imaging, which comprises:
the image acquisition devices are arranged on two sides of the large arm of the reclaimer and used for acquiring stock pile point cloud image data and extracting a three-dimensional point cloud model of the stock pile in the stock pile point cloud image data;
the material pile height calculating module is used for carrying out point cloud merging, denoising, segmentation and fitting processing on the three-dimensional point cloud model of the material pile to obtain the height of the material pile;
the layering module is used for layering the height of the material pile according to a preset material taking process strategy;
the control parameter calculation module is used for calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
and the controller is used for controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking.
The control parameter calculation module includes:
The pitch angle calculation unit is used for extracting the boundary of the material pile, mapping the boundary to the layer plane of the corresponding layer and calculating the pitch angle corresponding to the layer according to the layer height of the corresponding layer;
the reclaimer position calculating unit is used for calculating the position of the reclaimer according to the lower boundary of the material pile and the relative position of the reclaimer and the boundary of the material pile;
and the automatic alignment cutting-in rotation point calculation unit is used for calculating an automatic alignment cutting-in rotation point.
In this embodiment 1, when the automatic material taking system based on stock yard scanning imaging is used, the following automatic material taking method is implemented:
firstly, acquiring pile point cloud image data;
then, extracting a three-dimensional point cloud model of the material pile in the material pile point cloud image data;
carrying out point cloud merging, denoising, segmentation and fitting treatment on the three-dimensional point cloud model of the stockpile to obtain the height of the stockpile;
layering the material pile height according to a preset material taking process strategy;
calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
and controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking.
The operation control parameters of the reclaimer comprise: pitch angle, reclaimer position, automatic alignment cut-in rotation point.
In this embodiment 1, the material taking process strategy includes: the layering height, the cutting depth and the layering length of the material pile. And inputting the material taking process strategy into a layering module, and layering the material pile by the post-layering module according to the process strategy.
Calculating the pitch angle comprises: extracting the boundary of the material pile, mapping the boundary to the layer plane of the corresponding layer, and calculating the pitch angle corresponding to the layer according to the layer height of the corresponding layer:
wherein h is1Indicating the height of the pile, h2The height of the rotation point of the large arm of the reclaimer from the ground is shown, and L represents the length of the large arm of the reclaimer.
Calculating the position of the reclaimer according to the lower boundary of the material pile and the relative position of the reclaimer and the boundary of the material pile, and assuming that the coordinate of the lower boundary of the material pile is y, the position of the reclaimer is as follows: y is1＝y-L×cos(theta)。
The automatic alignment cut-in rotation point is as follows:
wherein Dis represents the distance between the reclaimer and the material pile boundary.
In this embodiment 1, the automatic material taking system determines the operation motion parameters of the material taking machine according to the process requirements by processing the material pile images acquired in real time, controls the material taking machine to automatically take materials from the material pile according to the operation motion parameters, does not need manual field operation, reduces the manual labor intensity, improves the working efficiency, reduces the manual labor cost, and improves the production safety.
Example 2
As shown in fig. 1, this embodiment 2 provides an automatic material taking method based on stock yard scanning imaging, which is implemented on the premise that a model of a stock pile is obtained, and before operation, a point cloud image of the stock pile is obtained through a scanning imaging device. After the material pile point cloud image data is obtained, whether the material pile is a new pile needs to be judged at first, if the material pile is the new pile, the control parameters of the material pile taking machine need to be calculated according to the material pile point cloud image data, if the material pile point cloud image data is operated, last-time operation records are directly called, the control parameters of the material pile taking machine do not need to be recalculated, and the efficiency is improved. After a material pile point cloud data model is extracted, the height of the material pile can be obtained through point cloud merging, denoising, segmentation and fitting, and the height of the material pile is required to be layered according to the existing material taking technological parameters.
Taking a certain layer as an example, as shown in fig. 2, when a specified layer of material is taken, a pitch angle can be determined according to the height because the height of a material pile is determined, and a pitch angle solving formula is as follows:
wherein h is1Indicating the height of the pile, h2The height of the rotation point of the large arm of the reclaimer from the ground is shown, and L represents the length of the large arm of the reclaimer.
The position calculation of the stacker-reclaimer can be carried out according to the lower boundary of the material pile and the relative position between the stacker-reclaimer and the boundary of the material pile, and if the coordinate of the lower boundary of the material pile is y, the position of the stacker-reclaimer is as follows: y is 1＝y-L×cos(theta)。
As shown in FIG. 3, the automatic alignment plunge rotation point is
And Dis represents the distance between the material taking machine and the material pile boundary.
The realization of other layers can be realized according to the method, and the walking position points of the stacker-reclaimer can be increased progressively according to the inch value in the process. And finally, all the control parameter sets of the stacker-reclaimer are packaged and sent to the PLC, and the stacker-reclaimer executes according to the set execution set to complete automatic stacking and reclaiming.
In summary, the automatic material taking method based on stock yard scanning imaging according to the embodiment of the present invention can realize automatic material taking, and is stable and reliable in operation, so that on one hand, operators are liberated from complicated labor, and on the other hand, the existing potential safety hazard is solved. Automatic scanning imaging devices are arranged on two sides of the large arm of the stacker-reclaimer and used for scanning a material pile to image and transmitting point cloud data to an image processing unit, the image processing unit analyzes the point cloud image data, the material pile is layered according to process requirements, boundary values are calculated and used for determining operation motion parameters of the stacker-reclaimer, parameters such as a pitch angle, a gyration angle, a walking position and the like of the operation of a cart on each layer are obtained and transmitted to a cart PLC to realize automatic operation. Through processing the stockpile images acquired in real time, the operation motion parameters of the reclaimer are determined according to the process requirements, the reclaimer is controlled to automatically take the stockpile according to the operation motion parameters, manual field operation is not needed, the manual labor intensity is reduced, the working efficiency is improved, the manual labor cost is reduced, and the production safety is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to the specific embodiments shown in the drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive faculty based on the technical solutions disclosed in the present disclosure.
Claims (5)
1. An automatic material taking method based on stock yard scanning imaging is characterized in that:
acquiring material pile point cloud image data;
extracting a three-dimensional point cloud model of the material pile in the material pile point cloud image data;
carrying out point cloud merging, denoising, segmentation and fitting on the three-dimensional point cloud model of the stockpile to obtain the height of the stockpile;
layering the material pile height according to a preset material taking process strategy;
calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking;
the operation control parameters of the reclaimer comprise: pitching angle, reclaimer position, automatic alignment cutting-in rotation point;
after the material pile point cloud image data is obtained, firstly, judging whether the material pile is a new pile or not, if so, calculating control parameters of a material pile material taking machine according to the material pile point cloud image data, and if the material pile point cloud image data is operated, directly calling the last operation record;
The material taking process strategy comprises the following steps: the layering height, the cutting depth and the layering length of the material pile;
calculating the pitch angle includes: extracting the boundary of the material pile, mapping the boundary to a layer plane of a corresponding layer, and calculating a pitch angle corresponding to the layer according to the layer height of the corresponding layer:
wherein, the first and the second end of the pipe are connected with each other,
the height of the stock pile is shown,
the height of the rotation point of the large arm of the reclaimer from the ground is shown,
the length of the large arm of the reclaimer is shown;
calculating the position of the reclaimer according to the lower boundary of the material pile and the relative position of the reclaimer and the boundary of the material pile, and assuming that the coordinates of the lower boundary of the material pile are
Then the reclaimer position is:
；
the automatic alignment cut-in rotation point is as follows:
(ii) a Wherein the content of the first and second substances,
representing the distance between the reclaimer and the boundary of the material pile;
and solving the turning-in and turning-out angles of the cart and the turning-out angles of the cart according to the relative position relation and the material pile boundary for each layer.
2. An automatic material taking system based on stock yard scanning imaging is characterized in that the automatic material taking method based on stock yard scanning imaging as claimed in claim 1 is realized; the automatic material taking system comprises:
the image acquisition devices are arranged on two sides of the large arm of the reclaimer and used for acquiring stock pile point cloud image data and extracting a three-dimensional point cloud model of the stock pile in the stock pile point cloud image data;
The material pile height calculating module is used for carrying out point cloud merging, denoising, segmentation and fitting processing on the three-dimensional point cloud model of the material pile to obtain the height of the material pile;
the layering module is used for layering the height of the material pile according to a preset material taking process strategy;
the control parameter calculation module is used for calculating the operation control parameters of the reclaimer according to the layered three-dimensional point cloud model;
and the controller is used for controlling the movement of the material taking machine according to the operation control parameters to realize automatic material taking.
3. The automated reclaiming system based on stock yard scan imaging according to claim 2, wherein the control parameter calculation module comprises:
the pitch angle calculation unit is used for extracting the boundary of the material pile, mapping the boundary to a layer plane of a corresponding layer, and calculating a pitch angle corresponding to the layer according to the layer height of the corresponding layer;
the reclaimer position calculating unit is used for calculating the position of the reclaimer according to the lower boundary of the material pile and the relative position of the reclaimer and the boundary of the material pile;
and the automatic alignment cutting-in rotation point calculation unit is used for calculating an automatic alignment cutting-in rotation point.
4. A computer device comprising a memory and a processor, the processor and the memory in communication with each other, the memory storing program instructions executable by the processor, characterized in that: the processor calls the program instructions to perform the method of claim 1.
5. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the method of claim 1.
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