技术领域technical field
本发明属于体积动态测量技术领域，特别涉及基于激光扫描雷达的体积动态测量装置及测量方法。The invention belongs to the technical field of volume dynamic measurement, in particular to a volume dynamic measurement device and a measurement method based on laser scanning radar.
背景技术Background technique
在很多科学研究和工业生产中，常常需要获知相关物体的体积参数。但是当被测物体具有时变性、毒性、易爆性等特性时，为了安全起见，不方便人工直接进行测量。例如，在煤块的分选和分类过程中，需要动态的测量煤块的体积大小，从而能够自动的根据其体积对其进行分类或者结合质量计算其密度。目前根据体积对煤块进行分选的方法主要是振动筛选法，即根据煤块振动时的不同运动方向，筛选出体积相近的煤块。但是这种筛选方法只能粗略的对煤块进行分类，无法精确的获取煤块的体积大小，从而用于计算煤块的密度。另外，这种筛选方法也会使煤块造成破坏，大体积的煤块在振动下容易分裂成小体积的煤块。In many scientific researches and industrial productions, it is often necessary to know the volume parameters of related objects. However, when the measured object has characteristics such as time-varying, toxic, and explosive properties, it is inconvenient to measure directly manually for the sake of safety. For example, in the process of sorting and classifying coal, it is necessary to dynamically measure the volume of coal, so that it can be automatically classified according to its volume or combined with its mass to calculate its density. At present, the method of sorting coal blocks according to volume is mainly the vibration screening method, that is, according to the different movement directions of coal blocks when they vibrate, coal blocks with similar volumes are screened out. However, this screening method can only roughly classify the coal lumps, and cannot accurately obtain the volume of the coal lumps, so as to calculate the density of the coal lumps. In addition, this screening method will also cause damage to the coal lumps, and large-volume coal lumps are easily split into small-volume coal lumps under vibration.
发明内容Contents of the invention
本发明的目的在于提出基于激光扫描雷达的体积动态测量装置及测量方法。该体积动态测量装置投资费用少，测量速度快，便于实现自动控制，无需人工操作，能够方便的对被测物的体积进行动态测量。The object of the present invention is to propose a volume dynamic measuring device and a measuring method based on laser scanning radar. The volume dynamic measurement device has low investment cost, high measurement speed, is convenient for realizing automatic control, does not need manual operation, and can conveniently and dynamically measure the volume of the measured object.
为实现上述技术目的，本发明采用如下技术方案予以实现。In order to achieve the above-mentioned technical purpose, the present invention adopts the following technical solutions to achieve.
技术方案一：Technical solution one:
基于激光扫描雷达的体积动态测量装置，包括传送带，所述传送带的上方、左侧和右侧对应安装有第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达，所述第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达位于同一竖直平面内；所述第一激光扫描雷达垂直朝向传送带平面，所述第二激光扫描雷达和第三激光扫描雷达均水平朝向传送带平面；所述传送带的驱动电机的转轴上固定安装有增量式旋转编码器；The volume dynamic measurement device based on laser scanning radar includes a conveyor belt, and the first laser scanning radar, the second laser scanning radar and the third laser scanning radar are respectively installed on the top, left and right sides of the conveyor belt, and the first laser scanning radar The scanning radar, the second laser scanning radar and the third laser scanning radar are located in the same vertical plane; the first laser scanning radar is vertically facing the conveyor belt plane, and the second laser scanning radar and the third laser scanning radar are both horizontally facing the conveyor belt plane; an incremental rotary encoder is fixedly installed on the rotating shaft of the drive motor of the conveyor belt;
所述第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达均通过交换机电连接工控机，所述增量式旋转编码器通过数据采集卡电连接所述工控机。The first laser scanning radar, the second laser scanning radar and the third laser scanning radar are all electrically connected to the industrial computer through a switch, and the incremental rotary encoder is electrically connected to the industrial computer through a data acquisition card.
本技术方案的特点和进一步改进在于：The characteristics and further improvement of this technical solution are:
所述第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达的型号均为UXM-30LX-EW；所述增量式旋转编码器采用E6A2-CW3C增量式旋转编码器。The models of the first laser scanning radar, the second laser scanning radar and the third laser scanning radar are all UXM-30LX-EW; the incremental rotary encoder is an E6A2-CW3C incremental rotary encoder.
所述第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达具有相同的采样频率。The first laser scanning radar, the second laser scanning radar and the third laser scanning radar have the same sampling frequency.
技术方案二：Technical solution two:
基于激光扫描雷达的体积动态测量方法，基于上述基于激光扫描雷达的体积动态测量装置，包括以下步骤：The volume dynamic measurement method based on laser scanning radar, based on the above-mentioned volume dynamic measurement device based on laser scanning radar, comprises the following steps:
激光扫描雷达标定：制作一个八面体形状的标定物，所述八面体具有两个底面和六个侧面，所述两个底面分别为两个正六边形，所述两个正六边形具有相同的边长，所述六个侧面均为矩形；将所述标定物放置在传送带上，所述标定物的六个侧面均与所述传送带的运动方向平行；使用传送带传送所述标定物，第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达对应采集标定物截面的三组点云数据，将其中两组点云数据的坐标转换至另一组点云数据所在的坐标系，确定所述两组点云数据对应的坐标转换的参数；Laser scanning radar calibration: make an octahedron-shaped calibration object, the octahedron has two bottoms and six sides, the two bottoms are two regular hexagons, and the two regular hexagons have the same The length of the side, the six sides are all rectangular; the calibration object is placed on the conveyor belt, and the six sides of the calibration object are all parallel to the moving direction of the conveyor belt; the transmission belt is used to transmit the calibration object, the first The laser scanning radar, the second laser scanning radar and the third laser scanning radar correspondingly collect three sets of point cloud data of the cross-section of the calibration object, and convert the coordinates of the two sets of point cloud data to the coordinate system where the other set of point cloud data is located, and determine The parameters of the coordinate transformation corresponding to the two groups of point cloud data;
采集传送带运转速度和被测物截面轮廓的点云数据：使用传送带传送被测物，利用增量式旋转编码器和工控机测量传送带的实时运转速度；第一激光扫描雷达按时间顺序依次采集第1被测物截面至第M被测物截面的上轮廓线的点云数据，M为大于1的自然数；第i被测物截面为：第一激光扫描雷达对被测物进行第i次采样所对应的被测物截面，i取1至M，第i被测物截面为竖直截面，并与传送带运动方向垂直；第二激光扫描雷达按时间顺序依次采集第1被测物截面至第M被测物截面的左轮廓线的点云数据，第三激光扫描雷达按时间顺序依次采集第1被测物截面至第M被测物截面的右轮廓线的点云数据；将采集到的点云数据通过交换机输入至工控机；Collect the point cloud data of the running speed of the conveyor belt and the cross-sectional profile of the measured object: use the conveyor belt to transmit the measured object, use an incremental rotary encoder and an industrial computer to measure the real-time running speed of the conveyor belt; 1 The point cloud data of the upper contour line from the cross-section of the measured object to the M-th cross-section of the measured object, M is a natural number greater than 1; the i-th cross-section of the measured object is: the first laser scanning radar samples the measured object for the i-th time The corresponding section of the measured object, i is taken from 1 to M, and the i-th section of the measured object is a vertical section, which is perpendicular to the moving direction of the conveyor belt; the second laser scanning radar collects the first measured object section to the first The point cloud data of the left contour line of the M measured object cross-section, the third laser scanning radar collects the point cloud data of the first measured object cross-section to the right contour line of the M measured object cross-section in chronological order; the collected The point cloud data is input to the industrial computer through the switch;
坐标转换：工控机按照所述两组点云数据对应的坐标转换的参数，对第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达同一时间采集的点云数据进行对应的坐标转换，工控机根据坐标转换的结果构造出对应的被测物截面图像；Coordinate conversion: The industrial computer performs corresponding coordinate conversion on the point cloud data collected at the same time by the first laser scanning radar, the second laser scanning radar and the third laser scanning radar according to the coordinate conversion parameters corresponding to the two sets of point cloud data , the industrial computer constructs the corresponding cross-sectional image of the measured object according to the result of the coordinate transformation;
被测物截面面积计算：根据所述被测物截面图像计算出对应的被测物截面面积；Calculate the cross-sectional area of the measured object: calculate the corresponding cross-sectional area of the measured object according to the cross-sectional image of the measured object;
被测物采样距离计算：根据第一激光扫描雷达的采样频率，计算出第一激光扫描雷达的采样时间，所述第一激光扫描雷达的采样时间为第一激光扫描雷达采集相邻两个被测物截面的点云数据之间的时间间隔；将采集被测物截面轮廓的点云数据时传送带的实时运转速度与第一激光扫描雷达的采样时间相乘，得到每两个相邻被测物截面之间的采样距离；Calculate the sampling distance of the measured object: calculate the sampling time of the first laser scanning radar according to the sampling frequency of the first laser scanning radar, and the sampling time of the first laser scanning radar is that the first laser scanning radar collects two adjacent The time interval between the point cloud data of the cross-section of the measured object; when the point cloud data of the cross-sectional profile of the measured object is collected, the real-time running speed of the conveyor belt is multiplied by the sampling time of the first laser scanning radar to obtain Sampling distance between object sections;
被测物截体体积计算：所述被测物截体体积指位于两个相邻的被测物截面之间的被测物的体积；根据每个被测物截面面积以及对应的两个相邻被测物截面之间的采样距离，采用棱台计算方法得出对应的被测物截体体积；Calculation of the truncated volume of the measured object: the truncated volume of the measured object refers to the volume of the measured object located between two adjacent sections of the measured object; according to the cross-sectional area of each measured object and the corresponding two phases For the sampling distance between adjacent cross-sections of the measured object, the corresponding truncated volume of the measured object is obtained by using the prism calculation method;
被测物体积计算：所有被测物截体体积累加即为被测物体积。Calculation of the volume of the measured object: the cumulative sum of all the cut bodies of the measured object is the volume of the measured object.
本技术方案的特点和进一步改进在于：The characteristics and further improvement of this technical solution are:
在采集传送带运转速度和被测物截面轮廓的点云数据时，增量式旋转编码器将单位时间内记录的脉冲数据通过数据采集卡发送至工控机，工控机根据所述脉冲数据计算出传送带的实时运转速度。When collecting the point cloud data of the running speed of the conveyor belt and the cross-sectional profile of the measured object, the incremental rotary encoder sends the pulse data recorded per unit time to the industrial computer through the data acquisition card, and the industrial computer calculates the conveyor belt according to the pulse data. real-time running speed.
在进行激光扫描雷达标定时，将第二激光扫描雷达采集到的标定物截面的点云数据的坐标转换至第一激光扫描雷达的坐标系，得出对应的坐标转换的参数；将第三激光扫描雷达采集到的标定物截面的点云数据的坐标转换至第一激光扫描雷达的坐标系，得出对应的坐标转换的参数；第一激光扫描雷达的坐标系为第一激光扫描雷达采集到的标定物截面的点云数据所在的坐标系。When performing laser scanning radar calibration, the coordinates of the point cloud data of the calibration object section collected by the second laser scanning radar are converted to the coordinate system of the first laser scanning radar to obtain the corresponding coordinate conversion parameters; The coordinates of the point cloud data of the cross section of the calibration object collected by the scanning radar are converted to the coordinate system of the first laser scanning radar to obtain the corresponding coordinate conversion parameters; the coordinate system of the first laser scanning radar is collected by the first laser scanning radar The coordinate system where the point cloud data of the calibration object section is located.
本发明的有益效果为：该体积动态测量装置投资费用少，测量速度快，便于实现自动控制，无需人工操作，能够方便的对被测物体积进行动态测量。The beneficial effects of the invention are: the volume dynamic measuring device has low investment cost, fast measuring speed, easy automatic control, no manual operation, and convenient dynamic measurement of the volume of the measured object.
附图说明Description of drawings
图1为本发明的基于激光扫描雷达的煤块体积动态测量装置的机械结构示意图；Fig. 1 is the mechanical structure schematic diagram of the coal block volume dynamic measuring device based on the laser scanning radar of the present invention;
图2为本发明的基于激光扫描雷达的煤块体积动态测量装置的电路连接示意图；Fig. 2 is the circuit connection schematic diagram of the coal lump volume dynamic measuring device based on the laser scanning radar of the present invention;
图3为本发明的基于激光扫描雷达的煤块体积动态测量方法的流程图；Fig. 3 is the flow chart of the coal lump volume dynamic measurement method based on the laser scanning radar of the present invention;
图4为煤块截面的面积计算示意图。Fig. 4 is a schematic diagram of calculating the area of a coal block section.
具体实施方式detailed description
下面结合附图对本发明作进一步说明：（八面体）The present invention will be further described below in conjunction with accompanying drawing: (octahedron)
以煤块为例，说明基于激光扫描雷达的煤块体积动态测量装置及测量方法。参照图1，为本发明的基于激光扫描雷达的煤块体积动态测量装置的机械结构示意图。该基于激光扫描雷达的煤块体积动态测量装置，包括用于传送煤块的传送带1，在传送带1的上方、左侧和右侧对应安装有第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4，第一激光扫描雷达2的激光头垂直向下，第二激光扫描雷达3和第三激光扫描雷达4的激光头均水平朝向传送带平面。三个激光扫描雷达（第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4）位于同一竖直平面内，分别固定在三个支架上；三个激光扫描雷达分别用于采集煤块截面的上轮廓线、左轮廓线和右轮廓线的点云数据。Taking coal as an example, the dynamic measurement device and method of coal volume based on laser scanning radar are described. Referring to FIG. 1 , it is a schematic diagram of the mechanical structure of the laser scanning radar-based dynamic coal volume measurement device of the present invention. The coal block volume dynamic measurement device based on laser scanning radar includes a conveyor belt 1 for conveying coal blocks, and a first laser scanning radar 2 and a second laser scanning radar 3 are installed on the top, left and right sides of the conveyor belt 1 And the third laser scanning radar 4, the laser head of the first laser scanning radar 2 is vertically downward, and the laser heads of the second laser scanning radar 3 and the third laser scanning radar 4 are all horizontally facing the conveyor belt plane. The three laser scanning radars (the first laser scanning radar 2, the second laser scanning radar 3 and the third laser scanning radar 4) are located in the same vertical plane and fixed on three brackets respectively; the three laser scanning radars are respectively used for Collect the point cloud data of the upper contour, left contour and right contour of the coal block section.
传送带1的驱动电机的转轴上固定安装有增量式旋转编码器5，增量式旋转编码器5用于测量传送带1的实时运转速度。An incremental rotary encoder 5 is fixedly installed on the rotating shaft of the drive motor of the conveyor belt 1 , and the incremental rotary encoder 5 is used to measure the real-time running speed of the conveyor belt 1 .
参照图2，为本发明的基于激光扫描雷达的煤块体积动态测量装置的电路连接示意图；第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4均通过交换机电连接工控机，增量式旋转编码器5通过数据采集卡电连接工控机。具体地说，工控机通过自身的网络接口连接交换机，并通过自身的串口连接数据采集卡。工控机设置在传送带的一侧（左侧或右侧）。Referring to Fig. 2, it is the circuit connection schematic diagram of the coal block volume dynamic measuring device based on laser scanning radar of the present invention; machine, and the incremental rotary encoder 5 is electrically connected to the industrial computer through the data acquisition card. Specifically, the industrial computer is connected to the switch through its own network interface, and connected to the data acquisition card through its own serial port. The industrial computer is set on one side (left or right) of the conveyor belt.
本发明实施例中，第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4的型号均采用HOKUYO公司的UXM-30LX-EW激光测距仪。这种激光测距仪具有190°的测量范围、20Hz的采样频率、0.1～30m的测量距离。高性能的工控机接收增量式旋转编码器5发送的脉冲数据后，根据该脉冲数据计算得到传送带当前的实时运转速度。工控机接收第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4发送来的点云数据后，根据该点云数据采用图像拼接方法重构煤块截面的图像，并基于此，计算对应的煤块截面面积。In the embodiment of the present invention, the models of the first laser scanning radar 2 , the second laser scanning radar 3 and the third laser scanning radar 4 all adopt the UXM-30LX-EW laser range finder of HOKUYO Company. This laser rangefinder has a measurement range of 190°, a sampling frequency of 20Hz, and a measurement distance of 0.1 to 30m. After receiving the pulse data sent by the incremental rotary encoder 5, the high-performance industrial computer calculates the current real-time running speed of the conveyor belt according to the pulse data. After receiving the point cloud data sent by the first laser scanning radar 2, the second laser scanning radar 3 and the third laser scanning radar 4, the industrial computer uses the image stitching method to reconstruct the image of the coal block section according to the point cloud data, and based on Therefore, calculate the corresponding coal block cross-sectional area.
本发明实施例中，增量式旋转编码器5采用OMRON公司的E6A2-CW3C增量式旋转编码器。E6A2-CW3C增量式旋转编码器采用双相测速方式，其分辨率为500P/R，它通过数据采集卡与串口线连接工控机的串口。In the embodiment of the present invention, the incremental rotary encoder 5 adopts the E6A2-CW3C incremental rotary encoder of OMRON Company. The E6A2-CW3C incremental rotary encoder adopts a two-phase speed measurement method, and its resolution is 500P/R. It is connected to the serial port of the industrial computer through the data acquisition card and the serial port line.
参照图3，为本发明的基于激光扫描雷达的煤块体积动态测量方法的流程图。该基于激光扫描雷达的煤块体积动态测量方法包括以下步骤：Referring to FIG. 3 , it is a flow chart of the method for dynamic measurement of coal block volume based on laser scanning radar according to the present invention. The method for dynamic measurement of coal block volume based on laser scanning radar comprises the following steps:
激光扫描雷达标定：由于激光扫描雷达所采集的点云数据对应的坐标系都是基于自身为原点而建立的，因此需要对三个激光扫描雷达进行标定，将点云数据转换至统一坐标系后，才能基于激光扫描雷达所采集的点云数据计算出对应的煤块截面面积。Laser scanning radar calibration: Since the coordinate system corresponding to the point cloud data collected by the laser scanning radar is established based on itself as the origin, it is necessary to calibrate the three laser scanning radars, and convert the point cloud data to a unified coordinate system , in order to calculate the corresponding cross-sectional area of the coal block based on the point cloud data collected by the laser scanning radar.
激光扫描雷达标定的具体过程为：制作一个八面体形状的标定物，该八面体具有两个底面和六个侧面，这两个底面分别为两个正六边形，两个正六边形的边长均为20cm，八面体的六个侧面均为矩形（长40cm，宽20cm）；然后将标定物放置在传送带上，标定物的六个侧面均与所述传送带的运动方向平行；使用传送带传送该标定物，由于第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4的采样频率均为20Hz，并且第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4位于同一竖直平面，所以在同一时刻，第一激光扫描雷达2、第二激光扫描雷达3和第三激光扫描雷达4可以对应采集到该标定物的一个截面的上轮廓线的点云数据、左轮廓线的点云数据和右轮廓线的点云数据。然后基于这些点云数据这三条轮廓曲线在工控机上描绘出来。The specific process of laser scanning radar calibration is: make an octahedron-shaped calibration object, the octahedron has two bottoms and six sides, the two bottoms are two regular hexagons, and the side lengths of the two regular hexagons are The six sides of the octahedron are all rectangular (length 40cm, width 20cm); then place the calibration object on the conveyor belt, and the six sides of the calibration object are parallel to the moving direction of the conveyor belt; use the conveyor belt to transport the The calibration object, since the sampling frequency of the first laser scanning radar 2, the second laser scanning radar 3 and the third laser scanning radar 4 is 20Hz, and the first laser scanning radar 2, the second laser scanning radar 3 and the third laser scanning radar The radar 4 is located on the same vertical plane, so at the same time, the first laser scanning radar 2, the second laser scanning radar 3 and the third laser scanning radar 4 can correspondingly collect the point cloud of the upper contour of a section of the calibration object data, point cloud data of the left contour and point cloud data of the right contour. Then based on these point cloud data, the three contour curves are drawn on the industrial computer.
然后以第一激光扫描雷达2的坐标系（第一激光扫描雷达采集到的标定物截面的点云数据所在的坐标系）为基准，固定该标定物截面的上轮廓曲线。根据标定物截面的上轮廓线、左轮廓线和右轮廓线的共有点，对该标定物截面的左轮廓线进行平移和旋转，并对该标定物截面的右轮廓线进行平移和旋转；使三条轮廓线拼接成一个正六边形的五个边。此时，记录下左轮廓线的平移量和旋转量以及右轮廓线的平移量和旋转量。左轮廓线的平移量和旋转量即为左轮廓线的点云数据对应的坐标转换的参数，右轮廓线的平移量和旋转量即为右轮廓线的点云数据对应的坐标转换的参数。上述标定物的截面为正六边形，可以较为精确地模拟煤块的截面形状，能够提高激光扫描雷达标定的精确度，从而能够提高煤块截面面积计算的精确度。本发明实施例中，还可以根据需要选择标定物的形状，例如选用截面为正八边形的十面体。Then, based on the coordinate system of the first laser scanning radar 2 (the coordinate system where the point cloud data of the cross section of the calibration object collected by the first laser scanning radar is located), the upper contour curve of the cross section of the calibration object is fixed. According to the common point of the upper contour line, left contour line and right contour line of the calibration object section, the left contour line of the calibration object section is translated and rotated, and the right contour line of the calibration object section is translated and rotated; The three contour lines are spliced to form five sides of a regular hexagon. At this point, the translation and rotation of the left contour and the translation and rotation of the right contour are recorded. The translation amount and rotation amount of the left contour line are the coordinate transformation parameters corresponding to the point cloud data of the left contour line, and the translation amount and rotation amount of the right contour line are the coordinate transformation parameters corresponding to the point cloud data of the right contour line. The cross-section of the above-mentioned calibration object is a regular hexagon, which can more accurately simulate the cross-sectional shape of the coal block, and can improve the accuracy of the laser scanning radar calibration, thereby improving the accuracy of the calculation of the cross-sectional area of the coal block. In the embodiment of the present invention, the shape of the calibration object can also be selected according to needs, for example, a decahedron whose cross section is a regular octagon is selected.
本发明实施例中，还可以在标定物的位置向前移动5mm时，再进行如上激光扫描雷达标定，得到对应的平移量和旋转量数据。多次进行如上激光扫描雷达标定过程并对所有标定的平移量和旋转量求平均值后，确定出第二激光扫描雷达3所采集的左轮廓线的点云数据对应的平移量和旋转量，以及第三激光扫描雷达4所采集的右轮廓线的点云数据对应的平移量和旋转量。最终使第二激光扫描雷达3所采集的左轮廓线的点云数据的坐标和第三激光扫描雷达4所采集的右轮廓线的点云数据的坐标变换至第一激光扫描雷达2所在的坐标系，形成一个统一的坐标系。In the embodiment of the present invention, when the position of the calibration object moves forward by 5mm, the laser scanning radar calibration as above can be performed again to obtain the corresponding translation and rotation data. After carrying out the laser scanning radar calibration process as above many times and averaging all the calibrated translations and rotations, determine the translation and rotation corresponding to the point cloud data of the left contour line collected by the second laser scanning radar 3, And the translation amount and rotation amount corresponding to the point cloud data of the right contour collected by the third laser scanning radar 4 . Finally, the coordinates of the point cloud data of the left contour line collected by the second laser scanning radar 3 and the point cloud data of the right contour line collected by the third laser scanning radar 4 are transformed to the coordinates where the first laser scanning radar 2 is located system to form a unified coordinate system.
本发明实施例中，还可以在传送煤块前，预先设定传送带的运转速度。为保证煤块体积计算的实时性和高精度，设定煤块的采样距离D为5mm。由于激光扫描雷达的采样频率f为20Hz，因此设定传送带的运转速度v为：In the embodiment of the present invention, the running speed of the conveyor belt can also be preset before the coal is conveyed. In order to ensure the real-time and high precision of coal volume calculation, the sampling distance D of coal is set to 5mm. Since the sampling frequency f of the laser scanning radar is 20Hz, the running speed v of the conveyor belt is set as:
v=D*f=5′10-3*20=0.1msv=D*f=5′10-3 *20=0.1ms
然后采集传送带运转速度和煤块截面轮廓的点云数据：传送带刚启动时，传送带以设定速度0.1m/s运转。煤块随着传送带向前运动时，煤块的重量会使传送带的运转速度发生一定的变化，此时，增量式旋转编码器5启动对传送带运转速度的实时采集，同时三个激光扫描雷达启动对煤块的截面轮廓线的点云数据的实时采集。工控机利用串口实时采集来自增量式旋转编码器的脉冲数据，根据脉冲数据精确计算出传送带的实时运转速度。工控机利用网络接口实时采集来自三个激光扫描雷达的煤块截面轮廓线的点云数据，具体过程如下：第一激光扫描雷达按时间顺序依次采集第1煤块截面至第M煤块截面的上轮廓线的点云数据，M为大于1的自然数；第i煤块截面为：第一激光扫描雷达对煤块进行第i次采样所对应的煤块截面，i取1至M，第i煤块截面为竖直截面，并与传送带运动方向垂直；第二激光扫描雷达按时间顺序依次采集第1煤块截面至第M煤块截面的左轮廓线的点云数据，第三激光扫描雷达按时间顺序依次采集第1煤块截面至第M煤块截面的右轮廓线的点云数据；将采集到的点云数据通过交换机输入至工控机。Then collect the point cloud data of the running speed of the conveyor belt and the cross-sectional profile of the coal block: when the conveyor belt is just started, the conveyor belt runs at a set speed of 0.1m/s. When the coal block moves forward with the conveyor belt, the weight of the coal block will cause a certain change in the running speed of the conveyor belt. At this time, the incremental rotary encoder 5 starts the real-time acquisition of the running speed of the conveyor belt, and the three laser scanning radars simultaneously Start the real-time collection of point cloud data of the cross-sectional outline of the coal block. The industrial computer uses the serial port to collect the pulse data from the incremental rotary encoder in real time, and accurately calculates the real-time running speed of the conveyor belt according to the pulse data. The industrial computer uses the network interface to collect the point cloud data of the coal block section contour lines from the three laser scanning radars in real time. For the point cloud data of the upper contour line, M is a natural number greater than 1; the section of the i-th coal block is: the section of the coal block corresponding to the i-th sampling of the coal block by the first laser scanning radar, i takes 1 to M, and the i-th block The coal block section is a vertical section and is perpendicular to the moving direction of the conveyor belt; the second laser scanning radar collects the point cloud data of the left contour line from the first coal block section to the Mth coal block section in chronological order, and the third laser scanning radar Collect the point cloud data of the right contour line from the first coal block section to the Mth coal block section in chronological order; input the collected point cloud data to the industrial computer through the switch.
然后进行坐标转换，工控机按照坐标转换的参数，对第一激光扫描雷达、第二激光扫描雷达和第三激光扫描雷达同一时间采集的点云数据进行对应的坐标转换（即进行对应的平移和旋转），工控机根据坐标转换的结果构造出对应的煤块截面图像；坐标转换的参数指：第二激光扫描雷达3所采集的左轮廓曲线的点云数据对应的平移量和旋转量，以及第三激光扫描雷达4所采集的右轮廓曲线的点云数据对应的平移量和旋转量。Then carry out coordinate transformation, and the industrial computer performs corresponding coordinate transformation on the point cloud data collected at the same time by the first laser scanning radar, the second laser scanning radar and the third laser scanning radar according to the parameters of the coordinate transformation (that is, corresponding translation and rotation), the industrial computer constructs a corresponding coal block section image according to the result of the coordinate transformation; the parameters of the coordinate transformation refer to: the translation amount and the rotation amount corresponding to the point cloud data of the left contour curve collected by the second laser scanning radar 3, and The translation amount and the rotation amount corresponding to the point cloud data of the right contour curve collected by the third laser scanning radar 4 .
然后进行煤块截面面积计算：采用分割法计算每个煤块截面的面积，参照图4，为煤块截面的面积计算示意图。从坐标原点出发，沿x轴方向每隔Dx选取一条垂直于x轴的直线，从而将煤块的每个截面分割成N个小梯形。通过求取每条垂直于x轴的直线与煤块截面线段之间的两个交点yj和y'j，计算得到每个小梯形的边长值lj为：Then calculate the cross-sectional area of the coal block: use the segmentation method to calculate the cross-sectional area of each coal block. Referring to Figure 4, it is a schematic diagram for calculating the area of the coal block cross-section. Starting from the coordinate origin, select a straight line perpendicular to the x-axis every Dx along the x-axis direction, so as to divide each section of the coal block into N small trapezoids. By calculating the two intersection points yj and y'j between each straight line perpendicular to the x-axis and the section line segment of the coal block, the side length lj of each small trapezoid is calculated as:
lj=|y'j-yj|lj =|y'j -yj |
则第i煤块截面的面积Si为：Then the area Si of the i-th coal block section is:
计算每个煤块截面对应的采样距离：在三个激光扫描雷达采集第i煤块截面轮廓线对应的点云数据时，测量得到的传送带的实时运转速度为v'i，由于三个激光扫描雷达的采样频率均为f，则三个激光扫描雷达的采样时间均为1/f，则第i煤块截面对应的采样距离Di为：Calculate the sampling distance corresponding to each coal block section: when three laser scanning radars collect point cloud data corresponding to the i-th coal block section contour line, the measured real-time running speed of the conveyor belt is v'i , due to the three laser scanning The sampling frequency of the radar is f, and the sampling time of the three laser scanning radars is 1/f, then the sampling distance Di corresponding to the i-th coal block section is:
煤块截体体积计算，煤块截体体积为位于两个相邻的煤块截面之间的煤块的体积。根据第i煤块截面的面积Si和第i煤块截面对应的采样距离Di，采用棱台计算方法得出位于两个相邻的煤块截面之间的煤块截体的体积Vi，The truncated volume of the coal block is calculated, and the truncated volume of the coal block is the volume of the coal block located between two adjacent coal block sections. According to the area Si of the i-th coal block section and the sampling distance Di corresponding to the i-th coal block section, the volume Vi of the coal block section between two adjacent coal block sections is obtained by using the edge calculation method ,
计算煤块体积：所有煤块截体体积的总和即为煤块的实际体积大小。由于煤块截面的个数为M，则煤块截体的个数为M-1，所以煤块体积V为：Calculating the volume of the coal block: the sum of the truncated volumes of all the coal blocks is the actual volume of the coal block. Since the number of coal block sections is M, the number of coal block sections is M-1, so the volume V of the coal block is:
本发明采用一种非接触式的、无破坏性的装置和方法对传送带上运输的煤块的体积进行动态测量。本发明的体积动态测量装置，采用激光扫描雷达、增量式旋转编码器和工控机，投资费用少，设计简单，可靠性高；本发明的体积动态测量方法，基于上述的体积动态测量装置，对煤块体积的计算由工控机自动完成，其智能化高，测量精度高，而且对煤块的测量结果直观、可靠。本发明不仅可用于测量煤块体积，还可以广泛应用于医药、化工、食品、建材等行业的相关物体的体积测量。The invention adopts a non-contact, non-destructive device and method to dynamically measure the volume of the coal lumps transported on the conveyor belt. The volume dynamic measuring device of the present invention adopts laser scanning radar, incremental rotary encoder and industrial computer, has low investment cost, simple design and high reliability; the volume dynamic measuring method of the present invention is based on the above-mentioned volume dynamic measuring device, The calculation of the volume of the coal block is automatically completed by the industrial computer, which has high intelligence and high measurement accuracy, and the measurement result of the coal block is intuitive and reliable. The invention can not only be used to measure the volume of coal block, but also can be widely used in the volume measurement of related objects in industries such as medicine, chemical industry, food, building materials and the like.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.
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| CN201310285510.3ACN103411531B (en) | 2013-07-09 | 2013-07-09 | Volume dynamic measurement device based on scanning laser radar and measuring method |
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